diff --git a/equivalence_easy/run_20260411_181558__pair_002019_A_traj_002019_meta.json b/equivalence_easy/run_20260411_181558__pair_002019_A_traj_002019_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..24d8a5a441a4c49c187fcd768851f200163a1ee9 --- /dev/null +++ b/equivalence_easy/run_20260411_181558__pair_002019_A_traj_002019_meta.json @@ -0,0 +1,1464 @@ +{ + "trajectory_id": 2019, + "episode_id": 0, + "state_id": 1502, + "sample_index": 1502, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_A", + "partner_trajectory_id": 2020, + "primary_trajectory_id": 2019, + "paired_trajectory_id": 2020, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 29360.0, + -5740.0, + -11140.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_left", + "look_up", + "move_left", + "turn_right", + "move_forward", + "move_left", + "move_forward", + "move_forward", + "turn_left", + "move_left", + "no_op", + "move_right", + "move_forward", + "look_down", + "turn_left", + "move_right", + "move_right", + "move_forward", + "turn_right", + "move_forward", + "move_right", + "move_right", + "no_op", + "turn_right", + "move_backward", + "no_op", + "move_backward", + "move_left", + "turn_right", + "no_op", + "move_forward", + "move_forward", + "move_left", + "move_forward", + "turn_left", + "look_up", + "move_left", + "no_op", + "move_forward" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29360.0, + -5740.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29360.0, + -5640.0, + -11140.0 + ], + "actual_end_pos": [ + 29360.0, + -5640.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29360.0, + -5640.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29260.0, + -5640.0, + -11140.0 + ], + "actual_end_pos": [ + 29260.0, + -5640.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 29260.0, + -5640.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29260.0, + -5640.0, + -11140.0 + ], + "actual_end_pos": [ + 29260.0, + -5640.0, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29260.0, + -5640.0, + -11140.0 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29160.0, + -5640.0, + -11140.0 + ], + "actual_end_pos": [ + 29160.0, + -5640.0, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29160.0, + -5640.0, + -11140.0 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29160.0, + -5640.0, + -11140.0 + ], + "actual_end_pos": [ + 29160.0, + -5640.0, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + -75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29160.0, + -5640.0, + -11140.0 + ], + "start_rot": [ + 7.5, + -75.0, + -0.0 + ], + "expected_end_pos": [ + 29185.6605, + -5735.7662, + -11126.9474 + ], + "actual_end_pos": [ + 29185.6605, + -5735.7662, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + -75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29185.6605, + -5735.7662, + -11126.9474 + ], + "start_rot": [ + 7.5, + -75.0, + -0.0 + ], + "expected_end_pos": [ + 29089.0679, + -5761.6481, + -11126.9474 + ], + "actual_end_pos": [ + 29089.0679, + -5761.6481, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + -75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29089.0679, + -5761.6481, + -11126.9474 + ], + "start_rot": [ + 7.5, + -75.0, + -0.0 + ], + "expected_end_pos": [ + 29114.7284, + -5857.4143, + -11113.8948 + ], + "actual_end_pos": [ + 29114.7284, + -5857.4143, + -11113.8948 + ], + "actual_end_rot": [ + 7.5, + -75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29114.7284, + -5857.4143, + -11113.8948 + ], + "start_rot": [ + 7.5, + -75.0, + -0.0 + ], + "expected_end_pos": [ + 29140.3889, + -5953.1806, + -11100.8421 + ], + "actual_end_pos": [ + 29140.3889, + -5953.1806, + -11100.8421 + ], + "actual_end_rot": [ + 7.5, + -75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29140.3889, + -5953.1806, + -11100.8421 + ], + "start_rot": [ + 7.5, + -75.0, + -0.0 + ], + "expected_end_pos": [ + 29140.3889, + -5953.1806, + -11100.8421 + ], + "actual_end_pos": [ + 29140.3889, + -5953.1806, + -11100.8421 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29140.3889, + -5953.1806, + -11100.8421 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29040.3889, + -5953.1806, + -11100.8421 + ], + "actual_end_pos": [ + 29040.3889, + -5953.1806, + -11100.8421 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29040.3889, + -5953.1806, + -11100.8421 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29040.3889, + -5953.1806, + -11100.8421 + ], + "actual_end_pos": [ + 29040.3889, + -5953.1806, + -11100.8421 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29040.3889, + -5953.1806, + -11100.8421 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29140.3889, + -5953.1806, + -11100.8421 + ], + "actual_end_pos": [ + 29140.3889, + -5953.1806, + -11100.8421 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29140.3889, + -5953.1806, + -11100.8421 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29140.3889, + -6052.3251, + -11087.7895 + ], + "actual_end_pos": [ + 29140.3889, + -6052.3251, + -11087.7895 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 29140.3889, + -6052.3251, + -11087.7895 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29140.3889, + -6052.3251, + -11087.7895 + ], + "actual_end_pos": [ + 29140.3889, + -6052.3251, + -11087.7895 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29140.3889, + -6052.3251, + -11087.7895 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29140.3889, + -6052.3251, + -11087.7895 + ], + "actual_end_pos": [ + 29140.3889, + -6052.3251, + -11087.7895 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29140.3889, + -6052.3251, + -11087.7895 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 29236.9814, + -6078.207, + -11087.7895 + ], + "actual_end_pos": [ + 29236.9814, + -6078.207, + -11087.7895 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29236.9814, + -6078.207, + -11087.7895 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 29333.574, + -6104.0889, + -11087.7895 + ], + "actual_end_pos": [ + 29333.574, + -6104.0889, + -11087.7895 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29333.574, + -6104.0889, + -11087.7895 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 29307.6921, + -6200.6814, + -11087.7895 + ], + "actual_end_pos": [ + 29307.6921, + -6200.6814, + -11087.7895 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29307.6921, + -6200.6814, + -11087.7895 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 29307.6921, + -6200.6814, + -11087.7895 + ], + "actual_end_pos": [ + 29307.6921, + -6200.6814, + -11087.7895 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29307.6921, + -6200.6814, + -11087.7895 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29307.6921, + -6300.6814, + -11087.7895 + ], + "actual_end_pos": [ + 29307.6921, + -6300.6814, + -11087.7895 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29307.6921, + -6300.6814, + -11087.7895 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29407.6921, + -6300.6814, + -11087.7895 + ], + "actual_end_pos": [ + 29407.6921, + -6300.6814, + -11087.7895 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29407.6921, + -6300.6814, + -11087.7895 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29507.6921, + -6300.6814, + -11087.7895 + ], + "actual_end_pos": [ + 29507.6921, + -6300.6814, + -11087.7895 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29507.6921, + -6300.6814, + -11087.7895 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29507.6921, + -6300.6814, + -11087.7895 + ], + "actual_end_pos": [ + 29507.6921, + -6300.6814, + -11087.7895 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29507.6921, + -6300.6814, + -11087.7895 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29507.6921, + -6300.6814, + -11087.7895 + ], + "actual_end_pos": [ + 29507.6921, + -6300.6814, + -11087.7895 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29507.6921, + -6300.6814, + -11087.7895 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29481.8102, + -6204.0889, + -11087.7895 + ], + "actual_end_pos": [ + 29481.8102, + -6204.0889, + -11087.7895 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29481.8102, + -6204.0889, + -11087.7895 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29481.8102, + -6204.0889, + -11087.7895 + ], + "actual_end_pos": [ + 29481.8102, + -6204.0889, + -11087.7895 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29481.8102, + -6204.0889, + -11087.7895 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29455.9283, + -6107.4963, + -11087.7895 + ], + "actual_end_pos": [ + 29455.9283, + -6107.4963, + -11087.7895 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29455.9283, + -6107.4963, + -11087.7895 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29359.3357, + -6133.3782, + -11087.7895 + ], + "actual_end_pos": [ + 29359.3357, + -6133.3782, + -11087.7895 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29359.3357, + -6133.3782, + -11087.7895 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29359.3357, + -6133.3782, + -11087.7895 + ], + "actual_end_pos": [ + 29359.3357, + -6133.3782, + -11087.7895 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29359.3357, + -6133.3782, + -11087.7895 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 29359.3357, + -6133.3782, + -11087.7895 + ], + "actual_end_pos": [ + 29359.3357, + -6133.3782, + -11087.7895 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29359.3357, + -6133.3782, + -11087.7895 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 29409.3357, + -6219.9807, + -11087.7895 + ], + "actual_end_pos": [ + 29409.3357, + -6219.9807, + -11087.7895 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29409.3357, + -6219.9807, + -11087.7895 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 29459.3357, + -6306.5833, + -11087.7895 + ], + "actual_end_pos": [ + 29459.3357, + -6306.5833, + -11087.7895 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29459.3357, + -6306.5833, + -11087.7895 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 29372.7332, + -6356.5833, + -11087.7895 + ], + "actual_end_pos": [ + 29372.7332, + -6356.5833, + -11087.7895 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29372.7332, + -6356.5833, + -11087.7895 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 29422.7332, + -6443.1858, + -11087.7895 + ], + "actual_end_pos": [ + 29422.7332, + -6443.1858, + -11087.7895 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29422.7332, + -6443.1858, + -11087.7895 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 29422.7332, + -6443.1858, + -11087.7895 + ], + "actual_end_pos": [ + 29422.7332, + -6443.1858, + -11087.7895 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 29422.7332, + -6443.1858, + -11087.7895 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29422.7332, + -6443.1858, + -11087.7895 + ], + "actual_end_pos": [ + 29422.7332, + -6443.1858, + -11087.7895 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29422.7332, + -6443.1858, + -11087.7895 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29326.1406, + -6469.0677, + -11087.7895 + ], + "actual_end_pos": [ + 29326.1406, + -6469.0677, + -11087.7895 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29326.1406, + -6469.0677, + -11087.7895 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29326.1406, + -6469.0677, + -11087.7895 + ], + "actual_end_pos": [ + 29326.1406, + -6469.0677, + -11087.7895 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29326.1406, + -6469.0677, + -11087.7895 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29351.8011, + -6564.8339, + -11074.7369 + ], + "actual_end_pos": [ + 29351.8011, + -6564.8339, + -11074.7369 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260411_181558__pair_002019_B_traj_002020_meta.json b/equivalence_easy/run_20260411_181558__pair_002019_B_traj_002020_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1d5ea4cee5ec3fd2bd3a6b05cd714de9eb3dd2ca --- /dev/null +++ b/equivalence_easy/run_20260411_181558__pair_002019_B_traj_002020_meta.json @@ -0,0 +1,1464 @@ +{ + "trajectory_id": 2020, + "episode_id": 0, + "state_id": 1502, + "sample_index": 1502, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_B", + "partner_trajectory_id": 2019, + "primary_trajectory_id": 2019, + "paired_trajectory_id": 2020, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 29360.0, + -5740.0, + -11140.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "move_backward", + "look_up", + "move_left", + "turn_right", + "move_left", + "move_forward", + "move_forward", + "move_forward", + "turn_left", + "move_left", + "no_op", + "move_forward", + "move_right", + "look_down", + "turn_left", + "move_right", + "move_forward", + "move_right", + "turn_right", + "move_forward", + "move_right", + "move_right", + "no_op", + "turn_right", + "move_backward", + "no_op", + "move_backward", + "move_left", + "turn_right", + "no_op", + "move_left", + "move_forward", + "move_forward", + "move_forward", + "turn_left", + "look_up", + "move_left", + "no_op", + "move_forward" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29360.0, + -5740.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29260.0, + -5740.0, + -11140.0 + ], + "actual_end_pos": [ + 29260.0, + -5740.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29260.0, + -5740.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29260.0, + -5640.0, + -11140.0 + ], + "actual_end_pos": [ + 29260.0, + -5640.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 29260.0, + -5640.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29260.0, + -5640.0, + -11140.0 + ], + "actual_end_pos": [ + 29260.0, + -5640.0, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29260.0, + -5640.0, + -11140.0 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29160.0, + -5640.0, + -11140.0 + ], + "actual_end_pos": [ + 29160.0, + -5640.0, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29160.0, + -5640.0, + -11140.0 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29160.0, + -5640.0, + -11140.0 + ], + "actual_end_pos": [ + 29160.0, + -5640.0, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + -75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29160.0, + -5640.0, + -11140.0 + ], + "start_rot": [ + 7.5, + -75.0, + -0.0 + ], + "expected_end_pos": [ + 29063.4074, + -5665.8819, + -11140.0 + ], + "actual_end_pos": [ + 29063.4074, + -5665.8819, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + -75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29063.4074, + -5665.8819, + -11140.0 + ], + "start_rot": [ + 7.5, + -75.0, + -0.0 + ], + "expected_end_pos": [ + 29089.0679, + -5761.6481, + -11126.9474 + ], + "actual_end_pos": [ + 29089.0679, + -5761.6481, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + -75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29089.0679, + -5761.6481, + -11126.9474 + ], + "start_rot": [ + 7.5, + -75.0, + -0.0 + ], + "expected_end_pos": [ + 29114.7284, + -5857.4143, + -11113.8948 + ], + "actual_end_pos": [ + 29114.7284, + -5857.4143, + -11113.8948 + ], + "actual_end_rot": [ + 7.5, + -75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29114.7284, + -5857.4143, + -11113.8948 + ], + "start_rot": [ + 7.5, + -75.0, + -0.0 + ], + "expected_end_pos": [ + 29140.3889, + -5953.1806, + -11100.8421 + ], + "actual_end_pos": [ + 29140.3889, + -5953.1806, + -11100.8421 + ], + "actual_end_rot": [ + 7.5, + -75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29140.3889, + -5953.1806, + -11100.8421 + ], + "start_rot": [ + 7.5, + -75.0, + -0.0 + ], + "expected_end_pos": [ + 29140.3889, + -5953.1806, + -11100.8421 + ], + "actual_end_pos": [ + 29140.3889, + -5953.1806, + -11100.8421 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29140.3889, + -5953.1806, + -11100.8421 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29040.3889, + -5953.1806, + -11100.8421 + ], + "actual_end_pos": [ + 29040.3889, + -5953.1806, + -11100.8421 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29040.3889, + -5953.1806, + -11100.8421 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29040.3889, + -5953.1806, + -11100.8421 + ], + "actual_end_pos": [ + 29040.3889, + -5953.1806, + -11100.8421 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29040.3889, + -5953.1806, + -11100.8421 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29040.3889, + -6052.3251, + -11087.7895 + ], + "actual_end_pos": [ + 29040.3889, + -6052.3251, + -11087.7895 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29040.3889, + -6052.3251, + -11087.7895 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29140.3889, + -6052.3251, + -11087.7895 + ], + "actual_end_pos": [ + 29140.3889, + -6052.3251, + -11087.7895 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 29140.3889, + -6052.3251, + -11087.7895 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29140.3889, + -6052.3251, + -11087.7895 + ], + "actual_end_pos": [ + 29140.3889, + -6052.3251, + -11087.7895 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29140.3889, + -6052.3251, + -11087.7895 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29140.3889, + -6052.3251, + -11087.7895 + ], + "actual_end_pos": [ + 29140.3889, + -6052.3251, + -11087.7895 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29140.3889, + -6052.3251, + -11087.7895 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 29236.9814, + -6078.207, + -11087.7895 + ], + "actual_end_pos": [ + 29236.9814, + -6078.207, + -11087.7895 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29236.9814, + -6078.207, + -11087.7895 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 29211.0995, + -6174.7995, + -11087.7895 + ], + "actual_end_pos": [ + 29211.0995, + -6174.7995, + -11087.7895 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29211.0995, + -6174.7995, + -11087.7895 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 29307.6921, + -6200.6814, + -11087.7895 + ], + "actual_end_pos": [ + 29307.6921, + -6200.6814, + -11087.7895 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29307.6921, + -6200.6814, + -11087.7895 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 29307.6921, + -6200.6814, + -11087.7895 + ], + "actual_end_pos": [ + 29307.6921, + -6200.6814, + -11087.7895 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29307.6921, + -6200.6814, + -11087.7895 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29307.6921, + -6300.6814, + -11087.7895 + ], + "actual_end_pos": [ + 29307.6921, + -6300.6814, + -11087.7895 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29307.6921, + -6300.6814, + -11087.7895 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29407.6921, + -6300.6814, + -11087.7895 + ], + "actual_end_pos": [ + 29407.6921, + -6300.6814, + -11087.7895 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29407.6921, + -6300.6814, + -11087.7895 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29507.6921, + -6300.6814, + -11087.7895 + ], + "actual_end_pos": [ + 29507.6921, + -6300.6814, + -11087.7895 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29507.6921, + -6300.6814, + -11087.7895 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29507.6921, + -6300.6814, + -11087.7895 + ], + "actual_end_pos": [ + 29507.6921, + -6300.6814, + -11087.7895 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29507.6921, + -6300.6814, + -11087.7895 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29507.6921, + -6300.6814, + -11087.7895 + ], + "actual_end_pos": [ + 29507.6921, + -6300.6814, + -11087.7895 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29507.6921, + -6300.6814, + -11087.7895 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29481.8102, + -6204.0889, + -11087.7895 + ], + "actual_end_pos": [ + 29481.8102, + -6204.0889, + -11087.7895 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29481.8102, + -6204.0889, + -11087.7895 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29481.8102, + -6204.0889, + -11087.7895 + ], + "actual_end_pos": [ + 29481.8102, + -6204.0889, + -11087.7895 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29481.8102, + -6204.0889, + -11087.7895 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29455.9283, + -6107.4963, + -11087.7895 + ], + "actual_end_pos": [ + 29455.9283, + -6107.4963, + -11087.7895 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29455.9283, + -6107.4963, + -11087.7895 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29359.3357, + -6133.3782, + -11087.7895 + ], + "actual_end_pos": [ + 29359.3357, + -6133.3782, + -11087.7895 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29359.3357, + -6133.3782, + -11087.7895 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29359.3357, + -6133.3782, + -11087.7895 + ], + "actual_end_pos": [ + 29359.3357, + -6133.3782, + -11087.7895 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29359.3357, + -6133.3782, + -11087.7895 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 29359.3357, + -6133.3782, + -11087.7895 + ], + "actual_end_pos": [ + 29359.3357, + -6133.3782, + -11087.7895 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29359.3357, + -6133.3782, + -11087.7895 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 29272.7332, + -6183.3782, + -11087.7895 + ], + "actual_end_pos": [ + 29272.7332, + -6183.3782, + -11087.7895 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29272.7332, + -6183.3782, + -11087.7895 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 29322.7332, + -6269.9807, + -11087.7895 + ], + "actual_end_pos": [ + 29322.7332, + -6269.9807, + -11087.7895 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29322.7332, + -6269.9807, + -11087.7895 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 29372.7332, + -6356.5833, + -11087.7895 + ], + "actual_end_pos": [ + 29372.7332, + -6356.5833, + -11087.7895 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29372.7332, + -6356.5833, + -11087.7895 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 29422.7332, + -6443.1858, + -11087.7895 + ], + "actual_end_pos": [ + 29422.7332, + -6443.1858, + -11087.7895 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29422.7332, + -6443.1858, + -11087.7895 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 29422.7332, + -6443.1858, + -11087.7895 + ], + "actual_end_pos": [ + 29422.7332, + -6443.1858, + -11087.7895 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 29422.7332, + -6443.1858, + -11087.7895 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29422.7332, + -6443.1858, + -11087.7895 + ], + "actual_end_pos": [ + 29422.7332, + -6443.1858, + -11087.7895 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29422.7332, + -6443.1858, + -11087.7895 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29326.1406, + -6469.0677, + -11087.7895 + ], + "actual_end_pos": [ + 29326.1406, + -6469.0677, + -11087.7895 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29326.1406, + -6469.0677, + -11087.7895 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29326.1406, + -6469.0677, + -11087.7895 + ], + "actual_end_pos": [ + 29326.1406, + -6469.0677, + -11087.7895 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29326.1406, + -6469.0677, + -11087.7895 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29351.8011, + -6564.8339, + -11074.7369 + ], + "actual_end_pos": [ + 29351.8011, + -6564.8339, + -11074.7369 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260411_181558__pair_002052_A_traj_002052_meta.json b/equivalence_easy/run_20260411_181558__pair_002052_A_traj_002052_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e51a807e29c8fff3932aa7b3dbab1237d45e7b04 --- /dev/null +++ b/equivalence_easy/run_20260411_181558__pair_002052_A_traj_002052_meta.json @@ -0,0 +1,1464 @@ +{ + "trajectory_id": 2052, + "episode_id": 0, + "state_id": 1527, + "sample_index": 1527, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_A", + "partner_trajectory_id": 2053, + "primary_trajectory_id": 2052, + "paired_trajectory_id": 2053, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 29560.0, + -9340.0, + -11140.0 + ], + "rotation": [ + 0.0, + 315.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "turn_left", + "move_forward", + "move_right", + "turn_right", + "move_left", + "move_forward", + "move_forward", + "look_up", + "move_forward", + "move_forward", + "move_forward", + "move_right", + "turn_right", + "move_forward", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "no_op", + "turn_right", + "turn_right", + "move_forward", + "move_left", + "look_down", + "move_backward", + "look_up", + "no_op", + "look_down", + "move_forward", + "look_down", + "move_forward", + "move_forward", + "no_op", + "move_backward", + "move_backward", + "move_left", + "move_left", + "turn_right", + "move_left" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29560.0, + -9340.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 29489.2893, + -9410.7107, + -11140.0 + ], + "actual_end_pos": [ + 29489.2893, + -9410.7107, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29489.2893, + -9410.7107, + -11140.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 29489.2893, + -9410.7107, + -11140.0 + ], + "actual_end_pos": [ + 29489.2893, + -9410.7107, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29489.2893, + -9410.7107, + -11140.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 29539.2893, + -9497.3132, + -11140.0 + ], + "actual_end_pos": [ + 29539.2893, + -9497.3132, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29539.2893, + -9497.3132, + -11140.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 29625.8919, + -9447.3132, + -11140.0 + ], + "actual_end_pos": [ + 29625.8919, + -9447.3132, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29625.8919, + -9447.3132, + -11140.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 29625.8919, + -9447.3132, + -11140.0 + ], + "actual_end_pos": [ + 29625.8919, + -9447.3132, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29625.8919, + -9447.3132, + -11140.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 29555.1812, + -9518.0239, + -11140.0 + ], + "actual_end_pos": [ + 29555.1812, + -9518.0239, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29555.1812, + -9518.0239, + -11140.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 29625.8919, + -9588.7346, + -11140.0 + ], + "actual_end_pos": [ + 29625.8919, + -9588.7346, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29625.8919, + -9588.7346, + -11140.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 29696.6025, + -9659.4453, + -11140.0 + ], + "actual_end_pos": [ + 29696.6025, + -9659.4453, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 29696.6025, + -9659.4453, + -11140.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 29696.6025, + -9659.4453, + -11140.0 + ], + "actual_end_pos": [ + 29696.6025, + -9659.4453, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29696.6025, + -9659.4453, + -11140.0 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 29766.7083, + -9729.551, + -11126.9474 + ], + "actual_end_pos": [ + 29766.7083, + -9729.551, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29766.7083, + -9729.551, + -11126.9474 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 29836.814, + -9799.6567, + -11113.8948 + ], + "actual_end_pos": [ + 29836.814, + -9799.6567, + -11113.8948 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29836.814, + -9799.6567, + -11113.8948 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 29906.9198, + -9869.7625, + -11100.8421 + ], + "actual_end_pos": [ + 29906.9198, + -9869.7625, + -11100.8421 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29906.9198, + -9869.7625, + -11100.8421 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 29977.6304, + -9799.0518, + -11100.8421 + ], + "actual_end_pos": [ + 29977.6304, + -9799.0518, + -11100.8421 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29977.6304, + -9799.0518, + -11100.8421 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 29977.6304, + -9799.0518, + -11100.8421 + ], + "actual_end_pos": [ + 29977.6304, + -9799.0518, + -11100.8421 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29977.6304, + -9799.0518, + -11100.8421 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 30063.4921, + -9848.624, + -11087.7895 + ], + "actual_end_pos": [ + 30063.4921, + -9848.624, + -11087.7895 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30063.4921, + -9848.624, + -11087.7895 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 30063.4921, + -9848.624, + -11087.7895 + ], + "actual_end_pos": [ + 30063.4921, + -9848.624, + -11087.7895 + ], + "actual_end_rot": [ + 7.5, + -45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30063.4921, + -9848.624, + -11087.7895 + ], + "start_rot": [ + 7.5, + -45.0, + -0.0 + ], + "expected_end_pos": [ + 30063.4921, + -9848.624, + -11087.7895 + ], + "actual_end_pos": [ + 30063.4921, + -9848.624, + -11087.7895 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30063.4921, + -9848.624, + -11087.7895 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 30013.9198, + -9762.7624, + -11100.8421 + ], + "actual_end_pos": [ + 30013.9198, + -9762.7624, + -11100.8421 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30013.9198, + -9762.7624, + -11100.8421 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 29964.3476, + -9676.9007, + -11113.8948 + ], + "actual_end_pos": [ + 29964.3476, + -9676.9007, + -11113.8948 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29964.3476, + -9676.9007, + -11113.8948 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 29964.3476, + -9676.9007, + -11113.8948 + ], + "actual_end_pos": [ + 29964.3476, + -9676.9007, + -11113.8948 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29964.3476, + -9676.9007, + -11113.8948 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 29964.3476, + -9676.9007, + -11113.8948 + ], + "actual_end_pos": [ + 29964.3476, + -9676.9007, + -11113.8948 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29964.3476, + -9676.9007, + -11113.8948 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 29964.3476, + -9676.9007, + -11113.8948 + ], + "actual_end_pos": [ + 29964.3476, + -9676.9007, + -11113.8948 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29964.3476, + -9676.9007, + -11113.8948 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 30050.2092, + -9726.473, + -11100.8421 + ], + "actual_end_pos": [ + 30050.2092, + -9726.473, + -11100.8421 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30050.2092, + -9726.473, + -11100.8421 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 30000.2092, + -9813.0755, + -11100.8421 + ], + "actual_end_pos": [ + 30000.2092, + -9813.0755, + -11100.8421 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 30000.2092, + -9813.0755, + -11100.8421 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 30000.2092, + -9813.0755, + -11100.8421 + ], + "actual_end_pos": [ + 30000.2092, + -9813.0755, + -11100.8421 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30000.2092, + -9813.0755, + -11100.8421 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 29913.6067, + -9763.0755, + -11100.8421 + ], + "actual_end_pos": [ + 29913.6067, + -9763.0755, + -11100.8421 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 29913.6067, + -9763.0755, + -11100.8421 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 29913.6067, + -9763.0755, + -11100.8421 + ], + "actual_end_pos": [ + 29913.6067, + -9763.0755, + -11100.8421 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29913.6067, + -9763.0755, + -11100.8421 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 29913.6067, + -9763.0755, + -11100.8421 + ], + "actual_end_pos": [ + 29913.6067, + -9763.0755, + -11100.8421 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 29913.6067, + -9763.0755, + -11100.8421 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 29913.6067, + -9763.0755, + -11100.8421 + ], + "actual_end_pos": [ + 29913.6067, + -9763.0755, + -11100.8421 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29913.6067, + -9763.0755, + -11100.8421 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 30000.2092, + -9813.0755, + -11100.8421 + ], + "actual_end_pos": [ + 30000.2092, + -9813.0755, + -11100.8421 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 30000.2092, + -9813.0755, + -11100.8421 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 30000.2092, + -9813.0755, + -11100.8421 + ], + "actual_end_pos": [ + 30000.2092, + -9813.0755, + -11100.8421 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30000.2092, + -9813.0755, + -11100.8421 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 30086.0709, + -9862.6478, + -11113.8948 + ], + "actual_end_pos": [ + 30086.0709, + -9862.6478, + -11113.8948 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30086.0709, + -9862.6478, + -11113.8948 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 30171.9325, + -9912.22, + -11126.9474 + ], + "actual_end_pos": [ + 30171.9325, + -9912.22, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30171.9325, + -9912.22, + -11126.9474 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 30171.9325, + -9912.22, + -11126.9474 + ], + "actual_end_pos": [ + 30171.9325, + -9912.22, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30171.9325, + -9912.22, + -11126.9474 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 30086.0709, + -9862.6478, + -11113.8948 + ], + "actual_end_pos": [ + 30086.0709, + -9862.6478, + -11113.8948 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30086.0709, + -9862.6478, + -11113.8948 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 30000.2092, + -9813.0755, + -11100.8421 + ], + "actual_end_pos": [ + 30000.2092, + -9813.0755, + -11100.8421 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30000.2092, + -9813.0755, + -11100.8421 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 29950.2092, + -9899.6781, + -11100.8421 + ], + "actual_end_pos": [ + 29950.2092, + -9899.6781, + -11100.8421 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29950.2092, + -9899.6781, + -11100.8421 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 29900.2092, + -9986.2806, + -11100.8421 + ], + "actual_end_pos": [ + 29900.2092, + -9986.2806, + -11100.8421 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29900.2092, + -9986.2806, + -11100.8421 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 29900.2092, + -9986.2806, + -11100.8421 + ], + "actual_end_pos": [ + 29900.2092, + -9986.2806, + -11100.8421 + ], + "actual_end_rot": [ + -7.5, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29900.2092, + -9986.2806, + -11100.8421 + ], + "start_rot": [ + -7.5, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 29874.3273, + -10082.8732, + -11100.8421 + ], + "actual_end_pos": [ + 29874.3273, + -10082.8732, + -11100.8421 + ], + "actual_end_rot": [ + -7.5, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260411_181558__pair_002052_B_traj_002053_meta.json b/equivalence_easy/run_20260411_181558__pair_002052_B_traj_002053_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..78e0514e302a3a50c852032f15205477e8b17b69 --- /dev/null +++ b/equivalence_easy/run_20260411_181558__pair_002052_B_traj_002053_meta.json @@ -0,0 +1,1464 @@ +{ + "trajectory_id": 2053, + "episode_id": 0, + "state_id": 1527, + "sample_index": 1527, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_B", + "partner_trajectory_id": 2052, + "primary_trajectory_id": 2052, + "paired_trajectory_id": 2053, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 29560.0, + -9340.0, + -11140.0 + ], + "rotation": [ + 0.0, + 315.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "turn_left", + "move_right", + "move_forward", + "turn_right", + "move_left", + "move_forward", + "move_forward", + "look_up", + "move_right", + "move_forward", + "move_forward", + "move_forward", + "turn_right", + "move_forward", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "no_op", + "turn_right", + "turn_right", + "move_left", + "move_forward", + "look_down", + "move_backward", + "look_up", + "no_op", + "look_down", + "move_forward", + "look_down", + "move_forward", + "move_forward", + "no_op", + "move_backward", + "move_backward", + "move_left", + "move_left", + "turn_right", + "move_left" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29560.0, + -9340.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 29489.2893, + -9410.7107, + -11140.0 + ], + "actual_end_pos": [ + 29489.2893, + -9410.7107, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29489.2893, + -9410.7107, + -11140.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 29489.2893, + -9410.7107, + -11140.0 + ], + "actual_end_pos": [ + 29489.2893, + -9410.7107, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29489.2893, + -9410.7107, + -11140.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 29575.8919, + -9360.7107, + -11140.0 + ], + "actual_end_pos": [ + 29575.8919, + -9360.7107, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29575.8919, + -9360.7107, + -11140.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 29625.8919, + -9447.3132, + -11140.0 + ], + "actual_end_pos": [ + 29625.8919, + -9447.3132, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29625.8919, + -9447.3132, + -11140.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 29625.8919, + -9447.3132, + -11140.0 + ], + "actual_end_pos": [ + 29625.8919, + -9447.3132, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29625.8919, + -9447.3132, + -11140.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 29555.1812, + -9518.0239, + -11140.0 + ], + "actual_end_pos": [ + 29555.1812, + -9518.0239, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29555.1812, + -9518.0239, + -11140.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 29625.8919, + -9588.7346, + -11140.0 + ], + "actual_end_pos": [ + 29625.8919, + -9588.7346, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29625.8919, + -9588.7346, + -11140.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 29696.6025, + -9659.4453, + -11140.0 + ], + "actual_end_pos": [ + 29696.6025, + -9659.4453, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 29696.6025, + -9659.4453, + -11140.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 29696.6025, + -9659.4453, + -11140.0 + ], + "actual_end_pos": [ + 29696.6025, + -9659.4453, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29696.6025, + -9659.4453, + -11140.0 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 29767.3132, + -9588.7346, + -11140.0 + ], + "actual_end_pos": [ + 29767.3132, + -9588.7346, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29767.3132, + -9588.7346, + -11140.0 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 29837.419, + -9658.8403, + -11126.9474 + ], + "actual_end_pos": [ + 29837.419, + -9658.8403, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29837.419, + -9658.8403, + -11126.9474 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 29907.5247, + -9728.946, + -11113.8948 + ], + "actual_end_pos": [ + 29907.5247, + -9728.946, + -11113.8948 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29907.5247, + -9728.946, + -11113.8948 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 29977.6304, + -9799.0518, + -11100.8421 + ], + "actual_end_pos": [ + 29977.6304, + -9799.0518, + -11100.8421 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29977.6304, + -9799.0518, + -11100.8421 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 29977.6304, + -9799.0518, + -11100.8421 + ], + "actual_end_pos": [ + 29977.6304, + -9799.0518, + -11100.8421 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29977.6304, + -9799.0518, + -11100.8421 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 30063.4921, + -9848.624, + -11087.7895 + ], + "actual_end_pos": [ + 30063.4921, + -9848.624, + -11087.7895 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30063.4921, + -9848.624, + -11087.7895 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 30063.4921, + -9848.624, + -11087.7895 + ], + "actual_end_pos": [ + 30063.4921, + -9848.624, + -11087.7895 + ], + "actual_end_rot": [ + 7.5, + -45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30063.4921, + -9848.624, + -11087.7895 + ], + "start_rot": [ + 7.5, + -45.0, + -0.0 + ], + "expected_end_pos": [ + 30063.4921, + -9848.624, + -11087.7895 + ], + "actual_end_pos": [ + 30063.4921, + -9848.624, + -11087.7895 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30063.4921, + -9848.624, + -11087.7895 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 30013.9198, + -9762.7624, + -11100.8421 + ], + "actual_end_pos": [ + 30013.9198, + -9762.7624, + -11100.8421 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30013.9198, + -9762.7624, + -11100.8421 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 29964.3476, + -9676.9007, + -11113.8948 + ], + "actual_end_pos": [ + 29964.3476, + -9676.9007, + -11113.8948 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29964.3476, + -9676.9007, + -11113.8948 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 29964.3476, + -9676.9007, + -11113.8948 + ], + "actual_end_pos": [ + 29964.3476, + -9676.9007, + -11113.8948 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29964.3476, + -9676.9007, + -11113.8948 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 29964.3476, + -9676.9007, + -11113.8948 + ], + "actual_end_pos": [ + 29964.3476, + -9676.9007, + -11113.8948 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29964.3476, + -9676.9007, + -11113.8948 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 29964.3476, + -9676.9007, + -11113.8948 + ], + "actual_end_pos": [ + 29964.3476, + -9676.9007, + -11113.8948 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29964.3476, + -9676.9007, + -11113.8948 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 29914.3476, + -9763.5033, + -11113.8948 + ], + "actual_end_pos": [ + 29914.3476, + -9763.5033, + -11113.8948 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29914.3476, + -9763.5033, + -11113.8948 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 30000.2092, + -9813.0755, + -11100.8421 + ], + "actual_end_pos": [ + 30000.2092, + -9813.0755, + -11100.8421 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 30000.2092, + -9813.0755, + -11100.8421 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 30000.2092, + -9813.0755, + -11100.8421 + ], + "actual_end_pos": [ + 30000.2092, + -9813.0755, + -11100.8421 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30000.2092, + -9813.0755, + -11100.8421 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 29913.6067, + -9763.0755, + -11100.8421 + ], + "actual_end_pos": [ + 29913.6067, + -9763.0755, + -11100.8421 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 29913.6067, + -9763.0755, + -11100.8421 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 29913.6067, + -9763.0755, + -11100.8421 + ], + "actual_end_pos": [ + 29913.6067, + -9763.0755, + -11100.8421 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29913.6067, + -9763.0755, + -11100.8421 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 29913.6067, + -9763.0755, + -11100.8421 + ], + "actual_end_pos": [ + 29913.6067, + -9763.0755, + -11100.8421 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 29913.6067, + -9763.0755, + -11100.8421 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 29913.6067, + -9763.0755, + -11100.8421 + ], + "actual_end_pos": [ + 29913.6067, + -9763.0755, + -11100.8421 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29913.6067, + -9763.0755, + -11100.8421 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 30000.2092, + -9813.0755, + -11100.8421 + ], + "actual_end_pos": [ + 30000.2092, + -9813.0755, + -11100.8421 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 30000.2092, + -9813.0755, + -11100.8421 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 30000.2092, + -9813.0755, + -11100.8421 + ], + "actual_end_pos": [ + 30000.2092, + -9813.0755, + -11100.8421 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30000.2092, + -9813.0755, + -11100.8421 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 30086.0709, + -9862.6478, + -11113.8948 + ], + "actual_end_pos": [ + 30086.0709, + -9862.6478, + -11113.8948 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30086.0709, + -9862.6478, + -11113.8948 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 30171.9325, + -9912.22, + -11126.9474 + ], + "actual_end_pos": [ + 30171.9325, + -9912.22, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30171.9325, + -9912.22, + -11126.9474 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 30171.9325, + -9912.22, + -11126.9474 + ], + "actual_end_pos": [ + 30171.9325, + -9912.22, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30171.9325, + -9912.22, + -11126.9474 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 30086.0709, + -9862.6478, + -11113.8948 + ], + "actual_end_pos": [ + 30086.0709, + -9862.6478, + -11113.8948 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30086.0709, + -9862.6478, + -11113.8948 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 30000.2092, + -9813.0755, + -11100.8421 + ], + "actual_end_pos": [ + 30000.2092, + -9813.0755, + -11100.8421 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30000.2092, + -9813.0755, + -11100.8421 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 29950.2092, + -9899.6781, + -11100.8421 + ], + "actual_end_pos": [ + 29950.2092, + -9899.6781, + -11100.8421 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29950.2092, + -9899.6781, + -11100.8421 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 29900.2092, + -9986.2806, + -11100.8421 + ], + "actual_end_pos": [ + 29900.2092, + -9986.2806, + -11100.8421 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29900.2092, + -9986.2806, + -11100.8421 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 29900.2092, + -9986.2806, + -11100.8421 + ], + "actual_end_pos": [ + 29900.2092, + -9986.2806, + -11100.8421 + ], + "actual_end_rot": [ + -7.5, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29900.2092, + -9986.2806, + -11100.8421 + ], + "start_rot": [ + -7.5, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 29874.3273, + -10082.8732, + -11100.8421 + ], + "actual_end_pos": [ + 29874.3273, + -10082.8732, + -11100.8421 + ], + "actual_end_rot": [ + -7.5, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260411_181558__pair_002170_A_traj_002170_meta.json b/equivalence_easy/run_20260411_181558__pair_002170_A_traj_002170_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8b1f958f95be6998387cc59c2bf06b5e2d0333fb --- /dev/null +++ b/equivalence_easy/run_20260411_181558__pair_002170_A_traj_002170_meta.json @@ -0,0 +1,1464 @@ +{ + "trajectory_id": 2170, + "episode_id": 0, + "state_id": 1614, + "sample_index": 1614, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_A", + "partner_trajectory_id": 2171, + "primary_trajectory_id": 2170, + "paired_trajectory_id": 2171, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 29560.0, + -7140.0, + -11140.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "no_op", + "turn_right", + "look_up", + "look_down", + "move_left", + "no_op", + "move_right", + "turn_right", + "look_up", + "turn_left", + "move_forward", + "turn_right", + "move_backward", + "move_right", + "turn_left", + "look_down", + "move_right", + "move_backward", + "move_left", + "move_backward", + "turn_right", + "look_down", + "move_backward", + "move_right", + "turn_right", + "move_forward", + "move_forward", + "move_left", + "turn_right", + "move_right", + "turn_left", + "move_backward", + "move_left", + "move_left", + "look_down", + "look_down", + "move_right", + "move_right", + "turn_left" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29560.0, + -7140.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29560.0, + -7240.0, + -11140.0 + ], + "actual_end_pos": [ + 29560.0, + -7240.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29560.0, + -7240.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29560.0, + -7240.0, + -11140.0 + ], + "actual_end_pos": [ + 29560.0, + -7240.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29560.0, + -7240.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29560.0, + -7240.0, + -11140.0 + ], + "actual_end_pos": [ + 29560.0, + -7240.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 29560.0, + -7240.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29560.0, + -7240.0, + -11140.0 + ], + "actual_end_pos": [ + 29560.0, + -7240.0, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 29560.0, + -7240.0, + -11140.0 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29560.0, + -7240.0, + -11140.0 + ], + "actual_end_pos": [ + 29560.0, + -7240.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29560.0, + -7240.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29463.4074, + -7265.8819, + -11140.0 + ], + "actual_end_pos": [ + 29463.4074, + -7265.8819, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29463.4074, + -7265.8819, + -11140.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29463.4074, + -7265.8819, + -11140.0 + ], + "actual_end_pos": [ + 29463.4074, + -7265.8819, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29463.4074, + -7265.8819, + -11140.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29560.0, + -7240.0, + -11140.0 + ], + "actual_end_pos": [ + 29560.0, + -7240.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29560.0, + -7240.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29560.0, + -7240.0, + -11140.0 + ], + "actual_end_pos": [ + 29560.0, + -7240.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 29560.0, + -7240.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 29560.0, + -7240.0, + -11140.0 + ], + "actual_end_pos": [ + 29560.0, + -7240.0, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29560.0, + -7240.0, + -11140.0 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 29560.0, + -7240.0, + -11140.0 + ], + "actual_end_pos": [ + 29560.0, + -7240.0, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29560.0, + -7240.0, + -11140.0 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29585.6605, + -7335.7662, + -11126.9474 + ], + "actual_end_pos": [ + 29585.6605, + -7335.7662, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29585.6605, + -7335.7662, + -11126.9474 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29585.6605, + -7335.7662, + -11126.9474 + ], + "actual_end_pos": [ + 29585.6605, + -7335.7662, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29585.6605, + -7335.7662, + -11126.9474 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 29536.0882, + -7249.9046, + -11140.0 + ], + "actual_end_pos": [ + 29536.0882, + -7249.9046, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29536.0882, + -7249.9046, + -11140.0 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 29622.6908, + -7199.9046, + -11140.0 + ], + "actual_end_pos": [ + 29622.6908, + -7199.9046, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29622.6908, + -7199.9046, + -11140.0 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 29622.6908, + -7199.9046, + -11140.0 + ], + "actual_end_pos": [ + 29622.6908, + -7199.9046, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 29622.6908, + -7199.9046, + -11140.0 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29622.6908, + -7199.9046, + -11140.0 + ], + "actual_end_pos": [ + 29622.6908, + -7199.9046, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29622.6908, + -7199.9046, + -11140.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29719.2834, + -7174.0227, + -11140.0 + ], + "actual_end_pos": [ + 29719.2834, + -7174.0227, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29719.2834, + -7174.0227, + -11140.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29693.4015, + -7077.4301, + -11140.0 + ], + "actual_end_pos": [ + 29693.4015, + -7077.4301, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29693.4015, + -7077.4301, + -11140.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29596.8089, + -7103.312, + -11140.0 + ], + "actual_end_pos": [ + 29596.8089, + -7103.312, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29596.8089, + -7103.312, + -11140.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29570.927, + -7006.7194, + -11140.0 + ], + "actual_end_pos": [ + 29570.927, + -7006.7194, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29570.927, + -7006.7194, + -11140.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29570.927, + -7006.7194, + -11140.0 + ], + "actual_end_pos": [ + 29570.927, + -7006.7194, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 29570.927, + -7006.7194, + -11140.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 29570.927, + -7006.7194, + -11140.0 + ], + "actual_end_pos": [ + 29570.927, + -7006.7194, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29570.927, + -7006.7194, + -11140.0 + ], + "start_rot": [ + -7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 29521.3547, + -6920.8578, + -11126.9474 + ], + "actual_end_pos": [ + 29521.3547, + -6920.8578, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29521.3547, + -6920.8578, + -11126.9474 + ], + "start_rot": [ + -7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 29607.9573, + -6870.8578, + -11126.9474 + ], + "actual_end_pos": [ + 29607.9573, + -6870.8578, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29607.9573, + -6870.8578, + -11126.9474 + ], + "start_rot": [ + -7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 29607.9573, + -6870.8578, + -11126.9474 + ], + "actual_end_pos": [ + 29607.9573, + -6870.8578, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29607.9573, + -6870.8578, + -11126.9474 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 29678.063, + -6940.9635, + -11140.0 + ], + "actual_end_pos": [ + 29678.063, + -6940.9635, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29678.063, + -6940.9635, + -11140.0 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 29748.1687, + -7011.0692, + -11153.0526 + ], + "actual_end_pos": [ + 29748.1687, + -7011.0692, + -11153.0526 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29748.1687, + -7011.0692, + -11153.0526 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 29677.4581, + -7081.7799, + -11153.0526 + ], + "actual_end_pos": [ + 29677.4581, + -7081.7799, + -11153.0526 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29677.4581, + -7081.7799, + -11153.0526 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 29677.4581, + -7081.7799, + -11153.0526 + ], + "actual_end_pos": [ + 29677.4581, + -7081.7799, + -11153.0526 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29677.4581, + -7081.7799, + -11153.0526 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 29727.4581, + -6995.1774, + -11153.0526 + ], + "actual_end_pos": [ + 29727.4581, + -6995.1774, + -11153.0526 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29727.4581, + -6995.1774, + -11153.0526 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 29727.4581, + -6995.1774, + -11153.0526 + ], + "actual_end_pos": [ + 29727.4581, + -6995.1774, + -11153.0526 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29727.4581, + -6995.1774, + -11153.0526 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 29657.3523, + -6925.0716, + -11140.0 + ], + "actual_end_pos": [ + 29657.3523, + -6925.0716, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29657.3523, + -6925.0716, + -11140.0 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 29586.6416, + -6995.7823, + -11140.0 + ], + "actual_end_pos": [ + 29586.6416, + -6995.7823, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29586.6416, + -6995.7823, + -11140.0 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 29515.931, + -7066.493, + -11140.0 + ], + "actual_end_pos": [ + 29515.931, + -7066.493, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 29515.931, + -7066.493, + -11140.0 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 29515.931, + -7066.493, + -11140.0 + ], + "actual_end_pos": [ + 29515.931, + -7066.493, + -11140.0 + ], + "actual_end_rot": [ + -15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 29515.931, + -7066.493, + -11140.0 + ], + "start_rot": [ + -15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 29515.931, + -7066.493, + -11140.0 + ], + "actual_end_pos": [ + 29515.931, + -7066.493, + -11140.0 + ], + "actual_end_rot": [ + -22.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29515.931, + -7066.493, + -11140.0 + ], + "start_rot": [ + -22.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 29586.6416, + -6995.7823, + -11140.0 + ], + "actual_end_pos": [ + 29586.6416, + -6995.7823, + -11140.0 + ], + "actual_end_rot": [ + -22.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29586.6416, + -6995.7823, + -11140.0 + ], + "start_rot": [ + -22.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 29657.3523, + -6925.0716, + -11140.0 + ], + "actual_end_pos": [ + 29657.3523, + -6925.0716, + -11140.0 + ], + "actual_end_rot": [ + -22.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29657.3523, + -6925.0716, + -11140.0 + ], + "start_rot": [ + -22.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 29657.3523, + -6925.0716, + -11140.0 + ], + "actual_end_pos": [ + 29657.3523, + -6925.0716, + -11140.0 + ], + "actual_end_rot": [ + -22.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260411_181558__pair_002170_B_traj_002171_meta.json b/equivalence_easy/run_20260411_181558__pair_002170_B_traj_002171_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f1bd124298e1e0a81e38f1bb77c29ba8b011235b --- /dev/null +++ b/equivalence_easy/run_20260411_181558__pair_002170_B_traj_002171_meta.json @@ -0,0 +1,1464 @@ +{ + "trajectory_id": 2171, + "episode_id": 0, + "state_id": 1614, + "sample_index": 1614, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_B", + "partner_trajectory_id": 2170, + "primary_trajectory_id": 2170, + "paired_trajectory_id": 2171, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 29560.0, + -7140.0, + -11140.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "no_op", + "turn_right", + "look_down", + "look_up", + "move_left", + "no_op", + "move_right", + "turn_left", + "look_up", + "turn_right", + "move_forward", + "turn_right", + "move_right", + "move_backward", + "turn_left", + "look_down", + "move_backward", + "move_right", + "move_backward", + "move_left", + "look_down", + "turn_right", + "move_right", + "move_backward", + "turn_right", + "move_left", + "move_forward", + "move_forward", + "turn_right", + "move_right", + "turn_left", + "move_left", + "move_left", + "move_backward", + "look_down", + "look_down", + "move_right", + "move_right", + "turn_left" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29560.0, + -7140.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29560.0, + -7240.0, + -11140.0 + ], + "actual_end_pos": [ + 29560.0, + -7240.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29560.0, + -7240.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29560.0, + -7240.0, + -11140.0 + ], + "actual_end_pos": [ + 29560.0, + -7240.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29560.0, + -7240.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29560.0, + -7240.0, + -11140.0 + ], + "actual_end_pos": [ + 29560.0, + -7240.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 29560.0, + -7240.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29560.0, + -7240.0, + -11140.0 + ], + "actual_end_pos": [ + 29560.0, + -7240.0, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 29560.0, + -7240.0, + -11140.0 + ], + "start_rot": [ + -7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29560.0, + -7240.0, + -11140.0 + ], + "actual_end_pos": [ + 29560.0, + -7240.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29560.0, + -7240.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29463.4074, + -7265.8819, + -11140.0 + ], + "actual_end_pos": [ + 29463.4074, + -7265.8819, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29463.4074, + -7265.8819, + -11140.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29463.4074, + -7265.8819, + -11140.0 + ], + "actual_end_pos": [ + 29463.4074, + -7265.8819, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29463.4074, + -7265.8819, + -11140.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29560.0, + -7240.0, + -11140.0 + ], + "actual_end_pos": [ + 29560.0, + -7240.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29560.0, + -7240.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29560.0, + -7240.0, + -11140.0 + ], + "actual_end_pos": [ + 29560.0, + -7240.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 29560.0, + -7240.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29560.0, + -7240.0, + -11140.0 + ], + "actual_end_pos": [ + 29560.0, + -7240.0, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29560.0, + -7240.0, + -11140.0 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29560.0, + -7240.0, + -11140.0 + ], + "actual_end_pos": [ + 29560.0, + -7240.0, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29560.0, + -7240.0, + -11140.0 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29585.6605, + -7335.7662, + -11126.9474 + ], + "actual_end_pos": [ + 29585.6605, + -7335.7662, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29585.6605, + -7335.7662, + -11126.9474 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29585.6605, + -7335.7662, + -11126.9474 + ], + "actual_end_pos": [ + 29585.6605, + -7335.7662, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29585.6605, + -7335.7662, + -11126.9474 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 29672.263, + -7285.7662, + -11126.9474 + ], + "actual_end_pos": [ + 29672.263, + -7285.7662, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29672.263, + -7285.7662, + -11126.9474 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 29622.6908, + -7199.9046, + -11140.0 + ], + "actual_end_pos": [ + 29622.6908, + -7199.9046, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29622.6908, + -7199.9046, + -11140.0 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 29622.6908, + -7199.9046, + -11140.0 + ], + "actual_end_pos": [ + 29622.6908, + -7199.9046, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 29622.6908, + -7199.9046, + -11140.0 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29622.6908, + -7199.9046, + -11140.0 + ], + "actual_end_pos": [ + 29622.6908, + -7199.9046, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29622.6908, + -7199.9046, + -11140.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29596.8089, + -7103.312, + -11140.0 + ], + "actual_end_pos": [ + 29596.8089, + -7103.312, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29596.8089, + -7103.312, + -11140.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29693.4015, + -7077.4301, + -11140.0 + ], + "actual_end_pos": [ + 29693.4015, + -7077.4301, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29693.4015, + -7077.4301, + -11140.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29667.5196, + -6980.8375, + -11140.0 + ], + "actual_end_pos": [ + 29667.5196, + -6980.8375, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29667.5196, + -6980.8375, + -11140.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29570.927, + -7006.7194, + -11140.0 + ], + "actual_end_pos": [ + 29570.927, + -7006.7194, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 29570.927, + -7006.7194, + -11140.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29570.927, + -7006.7194, + -11140.0 + ], + "actual_end_pos": [ + 29570.927, + -7006.7194, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29570.927, + -7006.7194, + -11140.0 + ], + "start_rot": [ + -7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29570.927, + -7006.7194, + -11140.0 + ], + "actual_end_pos": [ + 29570.927, + -7006.7194, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29570.927, + -7006.7194, + -11140.0 + ], + "start_rot": [ + -7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 29657.5295, + -6956.7194, + -11140.0 + ], + "actual_end_pos": [ + 29657.5295, + -6956.7194, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29657.5295, + -6956.7194, + -11140.0 + ], + "start_rot": [ + -7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 29607.9573, + -6870.8578, + -11126.9474 + ], + "actual_end_pos": [ + 29607.9573, + -6870.8578, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29607.9573, + -6870.8578, + -11126.9474 + ], + "start_rot": [ + -7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 29607.9573, + -6870.8578, + -11126.9474 + ], + "actual_end_pos": [ + 29607.9573, + -6870.8578, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29607.9573, + -6870.8578, + -11126.9474 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 29537.2466, + -6941.5684, + -11126.9474 + ], + "actual_end_pos": [ + 29537.2466, + -6941.5684, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29537.2466, + -6941.5684, + -11126.9474 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 29607.3523, + -7011.6742, + -11140.0 + ], + "actual_end_pos": [ + 29607.3523, + -7011.6742, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29607.3523, + -7011.6742, + -11140.0 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 29677.4581, + -7081.7799, + -11153.0526 + ], + "actual_end_pos": [ + 29677.4581, + -7081.7799, + -11153.0526 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29677.4581, + -7081.7799, + -11153.0526 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 29677.4581, + -7081.7799, + -11153.0526 + ], + "actual_end_pos": [ + 29677.4581, + -7081.7799, + -11153.0526 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29677.4581, + -7081.7799, + -11153.0526 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 29727.4581, + -6995.1774, + -11153.0526 + ], + "actual_end_pos": [ + 29727.4581, + -6995.1774, + -11153.0526 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29727.4581, + -6995.1774, + -11153.0526 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 29727.4581, + -6995.1774, + -11153.0526 + ], + "actual_end_pos": [ + 29727.4581, + -6995.1774, + -11153.0526 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29727.4581, + -6995.1774, + -11153.0526 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 29656.7474, + -7065.8881, + -11153.0526 + ], + "actual_end_pos": [ + 29656.7474, + -7065.8881, + -11153.0526 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29656.7474, + -7065.8881, + -11153.0526 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 29586.0367, + -7136.5987, + -11153.0526 + ], + "actual_end_pos": [ + 29586.0367, + -7136.5987, + -11153.0526 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29586.0367, + -7136.5987, + -11153.0526 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 29515.931, + -7066.493, + -11140.0 + ], + "actual_end_pos": [ + 29515.931, + -7066.493, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 29515.931, + -7066.493, + -11140.0 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 29515.931, + -7066.493, + -11140.0 + ], + "actual_end_pos": [ + 29515.931, + -7066.493, + -11140.0 + ], + "actual_end_rot": [ + -15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 29515.931, + -7066.493, + -11140.0 + ], + "start_rot": [ + -15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 29515.931, + -7066.493, + -11140.0 + ], + "actual_end_pos": [ + 29515.931, + -7066.493, + -11140.0 + ], + "actual_end_rot": [ + -22.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29515.931, + -7066.493, + -11140.0 + ], + "start_rot": [ + -22.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 29586.6416, + -6995.7823, + -11140.0 + ], + "actual_end_pos": [ + 29586.6416, + -6995.7823, + -11140.0 + ], + "actual_end_rot": [ + -22.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29586.6416, + -6995.7823, + -11140.0 + ], + "start_rot": [ + -22.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 29657.3523, + -6925.0716, + -11140.0 + ], + "actual_end_pos": [ + 29657.3523, + -6925.0716, + -11140.0 + ], + "actual_end_rot": [ + -22.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29657.3523, + -6925.0716, + -11140.0 + ], + "start_rot": [ + -22.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 29657.3523, + -6925.0716, + -11140.0 + ], + "actual_end_pos": [ + 29657.3523, + -6925.0716, + -11140.0 + ], + "actual_end_rot": [ + -22.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260411_181558__pair_002275_A_traj_002275_meta.json b/equivalence_easy/run_20260411_181558__pair_002275_A_traj_002275_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c48e66a8870f43632fe95d671191763c9978dd63 --- /dev/null +++ b/equivalence_easy/run_20260411_181558__pair_002275_A_traj_002275_meta.json @@ -0,0 +1,1464 @@ +{ + "trajectory_id": 2275, + "episode_id": 0, + "state_id": 1689, + "sample_index": 1689, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_A", + "partner_trajectory_id": 2276, + "primary_trajectory_id": 2275, + "paired_trajectory_id": 2276, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 29760.0, + -9340.0, + -11140.0 + ], + "rotation": [ + 0.0, + 45.0, + 0.0 + ] + }, + "action_sequence": [ + "no_op", + "move_forward", + "move_forward", + "move_right", + "move_right", + "look_down", + "no_op", + "move_forward", + "move_left", + "move_forward", + "move_forward", + "move_forward", + "no_op", + "move_right", + "move_right", + "turn_left", + "move_left", + "no_op", + "move_backward", + "move_right", + "move_forward", + "move_left", + "turn_right", + "move_left", + "move_left", + "move_forward", + "move_right", + "move_right", + "turn_right", + "move_forward", + "look_up", + "move_forward", + "turn_left", + "move_forward", + "turn_right", + "turn_right", + "move_forward", + "look_up", + "turn_right", + "move_left" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29760.0, + -9340.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29760.0, + -9340.0, + -11140.0 + ], + "actual_end_pos": [ + 29760.0, + -9340.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29760.0, + -9340.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29830.7107, + -9269.2893, + -11140.0 + ], + "actual_end_pos": [ + 29830.7107, + -9269.2893, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29830.7107, + -9269.2893, + -11140.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29901.4214, + -9198.5786, + -11140.0 + ], + "actual_end_pos": [ + 29901.4214, + -9198.5786, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29901.4214, + -9198.5786, + -11140.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29830.7107, + -9127.868, + -11140.0 + ], + "actual_end_pos": [ + 29830.7107, + -9127.868, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29830.7107, + -9127.868, + -11140.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29760.0, + -9057.1573, + -11140.0 + ], + "actual_end_pos": [ + 29760.0, + -9057.1573, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 29760.0, + -9057.1573, + -11140.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29760.0, + -9057.1573, + -11140.0 + ], + "actual_end_pos": [ + 29760.0, + -9057.1573, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29760.0, + -9057.1573, + -11140.0 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29760.0, + -9057.1573, + -11140.0 + ], + "actual_end_pos": [ + 29760.0, + -9057.1573, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29760.0, + -9057.1573, + -11140.0 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29830.1057, + -8987.0515, + -11153.0526 + ], + "actual_end_pos": [ + 29830.1057, + -8987.0515, + -11153.0526 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29830.1057, + -8987.0515, + -11153.0526 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29900.8164, + -9057.7622, + -11153.0526 + ], + "actual_end_pos": [ + 29900.8164, + -9057.7622, + -11153.0526 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29900.8164, + -9057.7622, + -11153.0526 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29970.9222, + -8987.6565, + -11166.1052 + ], + "actual_end_pos": [ + 29970.9222, + -8987.6565, + -11166.1052 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29970.9222, + -8987.6565, + -11166.1052 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 30041.0279, + -8917.5508, + -11179.1579 + ], + "actual_end_pos": [ + 30041.0279, + -8917.5508, + -11179.1579 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30041.0279, + -8917.5508, + -11179.1579 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 30111.1336, + -8847.445, + -11192.2105 + ], + "actual_end_pos": [ + 30111.1336, + -8847.445, + -11192.2105 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30111.1336, + -8847.445, + -11192.2105 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 30111.1336, + -8847.445, + -11192.2105 + ], + "actual_end_pos": [ + 30111.1336, + -8847.445, + -11192.2105 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30111.1336, + -8847.445, + -11192.2105 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 30040.423, + -8776.7343, + -11192.2105 + ], + "actual_end_pos": [ + 30040.423, + -8776.7343, + -11192.2105 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30040.423, + -8776.7343, + -11192.2105 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29969.7123, + -8706.0237, + -11192.2105 + ], + "actual_end_pos": [ + 29969.7123, + -8706.0237, + -11192.2105 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29969.7123, + -8706.0237, + -11192.2105 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29969.7123, + -8706.0237, + -11192.2105 + ], + "actual_end_pos": [ + 29969.7123, + -8706.0237, + -11192.2105 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29969.7123, + -8706.0237, + -11192.2105 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 30019.7123, + -8792.6262, + -11192.2105 + ], + "actual_end_pos": [ + 30019.7123, + -8792.6262, + -11192.2105 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30019.7123, + -8792.6262, + -11192.2105 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 30019.7123, + -8792.6262, + -11192.2105 + ], + "actual_end_pos": [ + 30019.7123, + -8792.6262, + -11192.2105 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30019.7123, + -8792.6262, + -11192.2105 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 29933.8506, + -8842.1984, + -11179.1579 + ], + "actual_end_pos": [ + 29933.8506, + -8842.1984, + -11179.1579 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29933.8506, + -8842.1984, + -11179.1579 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 29883.8506, + -8755.5959, + -11179.1579 + ], + "actual_end_pos": [ + 29883.8506, + -8755.5959, + -11179.1579 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29883.8506, + -8755.5959, + -11179.1579 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 29969.7123, + -8706.0237, + -11192.2105 + ], + "actual_end_pos": [ + 29969.7123, + -8706.0237, + -11192.2105 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29969.7123, + -8706.0237, + -11192.2105 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 30019.7123, + -8792.6262, + -11192.2105 + ], + "actual_end_pos": [ + 30019.7123, + -8792.6262, + -11192.2105 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30019.7123, + -8792.6262, + -11192.2105 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 30019.7123, + -8792.6262, + -11192.2105 + ], + "actual_end_pos": [ + 30019.7123, + -8792.6262, + -11192.2105 + ], + "actual_end_rot": [ + -7.5, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30019.7123, + -8792.6262, + -11192.2105 + ], + "start_rot": [ + -7.5, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 30090.423, + -8863.3369, + -11192.2105 + ], + "actual_end_pos": [ + 30090.423, + -8863.3369, + -11192.2105 + ], + "actual_end_rot": [ + -7.5, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30090.423, + -8863.3369, + -11192.2105 + ], + "start_rot": [ + -7.5, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 30161.1336, + -8934.0476, + -11192.2105 + ], + "actual_end_pos": [ + 30161.1336, + -8934.0476, + -11192.2105 + ], + "actual_end_rot": [ + -7.5, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30161.1336, + -8934.0476, + -11192.2105 + ], + "start_rot": [ + -7.5, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 30231.2394, + -8863.9418, + -11205.2631 + ], + "actual_end_pos": [ + 30231.2394, + -8863.9418, + -11205.2631 + ], + "actual_end_rot": [ + -7.5, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30231.2394, + -8863.9418, + -11205.2631 + ], + "start_rot": [ + -7.5, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 30160.5287, + -8793.2311, + -11205.2631 + ], + "actual_end_pos": [ + 30160.5287, + -8793.2311, + -11205.2631 + ], + "actual_end_rot": [ + -7.5, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30160.5287, + -8793.2311, + -11205.2631 + ], + "start_rot": [ + -7.5, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 30089.818, + -8722.5205, + -11205.2631 + ], + "actual_end_pos": [ + 30089.818, + -8722.5205, + -11205.2631 + ], + "actual_end_rot": [ + -7.5, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30089.818, + -8722.5205, + -11205.2631 + ], + "start_rot": [ + -7.5, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 30089.818, + -8722.5205, + -11205.2631 + ], + "actual_end_pos": [ + 30089.818, + -8722.5205, + -11205.2631 + ], + "actual_end_rot": [ + -7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30089.818, + -8722.5205, + -11205.2631 + ], + "start_rot": [ + -7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 30139.3903, + -8636.6588, + -11218.3157 + ], + "actual_end_pos": [ + 30139.3903, + -8636.6588, + -11218.3157 + ], + "actual_end_rot": [ + -7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 30139.3903, + -8636.6588, + -11218.3157 + ], + "start_rot": [ + -7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 30139.3903, + -8636.6588, + -11218.3157 + ], + "actual_end_pos": [ + 30139.3903, + -8636.6588, + -11218.3157 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30139.3903, + -8636.6588, + -11218.3157 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 30189.3903, + -8550.0563, + -11218.3157 + ], + "actual_end_pos": [ + 30189.3903, + -8550.0563, + -11218.3157 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30189.3903, + -8550.0563, + -11218.3157 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 30189.3903, + -8550.0563, + -11218.3157 + ], + "actual_end_pos": [ + 30189.3903, + -8550.0563, + -11218.3157 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30189.3903, + -8550.0563, + -11218.3157 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 30260.1009, + -8479.3456, + -11218.3157 + ], + "actual_end_pos": [ + 30260.1009, + -8479.3456, + -11218.3157 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30260.1009, + -8479.3456, + -11218.3157 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 30260.1009, + -8479.3456, + -11218.3157 + ], + "actual_end_pos": [ + 30260.1009, + -8479.3456, + -11218.3157 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30260.1009, + -8479.3456, + -11218.3157 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 30260.1009, + -8479.3456, + -11218.3157 + ], + "actual_end_pos": [ + 30260.1009, + -8479.3456, + -11218.3157 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30260.1009, + -8479.3456, + -11218.3157 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 30285.9828, + -8382.753, + -11218.3157 + ], + "actual_end_pos": [ + 30285.9828, + -8382.753, + -11218.3157 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 30285.9828, + -8382.753, + -11218.3157 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 30285.9828, + -8382.753, + -11218.3157 + ], + "actual_end_pos": [ + 30285.9828, + -8382.753, + -11218.3157 + ], + "actual_end_rot": [ + 7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30285.9828, + -8382.753, + -11218.3157 + ], + "start_rot": [ + 7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 30285.9828, + -8382.753, + -11218.3157 + ], + "actual_end_pos": [ + 30285.9828, + -8382.753, + -11218.3157 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30285.9828, + -8382.753, + -11218.3157 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 30385.9828, + -8382.753, + -11218.3157 + ], + "actual_end_pos": [ + 30385.9828, + -8382.753, + -11218.3157 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260411_181558__pair_002275_B_traj_002276_meta.json b/equivalence_easy/run_20260411_181558__pair_002275_B_traj_002276_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5bb8cd4b7453fb33448852fb486365652d4a844d --- /dev/null +++ b/equivalence_easy/run_20260411_181558__pair_002275_B_traj_002276_meta.json @@ -0,0 +1,1464 @@ +{ + "trajectory_id": 2276, + "episode_id": 0, + "state_id": 1689, + "sample_index": 1689, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_B", + "partner_trajectory_id": 2275, + "primary_trajectory_id": 2275, + "paired_trajectory_id": 2276, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 29760.0, + -9340.0, + -11140.0 + ], + "rotation": [ + 0.0, + 45.0, + 0.0 + ] + }, + "action_sequence": [ + "no_op", + "move_right", + "move_right", + "move_forward", + "move_forward", + "look_down", + "no_op", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "move_left", + "no_op", + "move_right", + "move_right", + "turn_left", + "move_left", + "no_op", + "move_left", + "move_right", + "move_backward", + "move_forward", + "turn_right", + "move_left", + "move_right", + "move_left", + "move_forward", + "move_right", + "turn_right", + "move_forward", + "look_up", + "move_forward", + "turn_left", + "move_forward", + "turn_right", + "turn_right", + "move_forward", + "turn_right", + "look_up", + "move_left" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29760.0, + -9340.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29760.0, + -9340.0, + -11140.0 + ], + "actual_end_pos": [ + 29760.0, + -9340.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29760.0, + -9340.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29689.2893, + -9269.2893, + -11140.0 + ], + "actual_end_pos": [ + 29689.2893, + -9269.2893, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29689.2893, + -9269.2893, + -11140.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29618.5786, + -9198.5786, + -11140.0 + ], + "actual_end_pos": [ + 29618.5786, + -9198.5786, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29618.5786, + -9198.5786, + -11140.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29689.2893, + -9127.868, + -11140.0 + ], + "actual_end_pos": [ + 29689.2893, + -9127.868, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29689.2893, + -9127.868, + -11140.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29760.0, + -9057.1573, + -11140.0 + ], + "actual_end_pos": [ + 29760.0, + -9057.1573, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 29760.0, + -9057.1573, + -11140.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29760.0, + -9057.1573, + -11140.0 + ], + "actual_end_pos": [ + 29760.0, + -9057.1573, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29760.0, + -9057.1573, + -11140.0 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29760.0, + -9057.1573, + -11140.0 + ], + "actual_end_pos": [ + 29760.0, + -9057.1573, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29760.0, + -9057.1573, + -11140.0 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29830.1057, + -8987.0515, + -11153.0526 + ], + "actual_end_pos": [ + 29830.1057, + -8987.0515, + -11153.0526 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29830.1057, + -8987.0515, + -11153.0526 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29900.2115, + -8916.9458, + -11166.1052 + ], + "actual_end_pos": [ + 29900.2115, + -8916.9458, + -11166.1052 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29900.2115, + -8916.9458, + -11166.1052 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29970.3172, + -8846.8401, + -11179.1579 + ], + "actual_end_pos": [ + 29970.3172, + -8846.8401, + -11179.1579 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29970.3172, + -8846.8401, + -11179.1579 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 30040.423, + -8776.7343, + -11192.2105 + ], + "actual_end_pos": [ + 30040.423, + -8776.7343, + -11192.2105 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30040.423, + -8776.7343, + -11192.2105 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 30111.1336, + -8847.445, + -11192.2105 + ], + "actual_end_pos": [ + 30111.1336, + -8847.445, + -11192.2105 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30111.1336, + -8847.445, + -11192.2105 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 30111.1336, + -8847.445, + -11192.2105 + ], + "actual_end_pos": [ + 30111.1336, + -8847.445, + -11192.2105 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30111.1336, + -8847.445, + -11192.2105 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 30040.423, + -8776.7343, + -11192.2105 + ], + "actual_end_pos": [ + 30040.423, + -8776.7343, + -11192.2105 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30040.423, + -8776.7343, + -11192.2105 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29969.7123, + -8706.0237, + -11192.2105 + ], + "actual_end_pos": [ + 29969.7123, + -8706.0237, + -11192.2105 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29969.7123, + -8706.0237, + -11192.2105 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29969.7123, + -8706.0237, + -11192.2105 + ], + "actual_end_pos": [ + 29969.7123, + -8706.0237, + -11192.2105 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29969.7123, + -8706.0237, + -11192.2105 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 30019.7123, + -8792.6262, + -11192.2105 + ], + "actual_end_pos": [ + 30019.7123, + -8792.6262, + -11192.2105 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30019.7123, + -8792.6262, + -11192.2105 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 30019.7123, + -8792.6262, + -11192.2105 + ], + "actual_end_pos": [ + 30019.7123, + -8792.6262, + -11192.2105 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30019.7123, + -8792.6262, + -11192.2105 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 30069.7123, + -8879.2287, + -11192.2105 + ], + "actual_end_pos": [ + 30069.7123, + -8879.2287, + -11192.2105 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30069.7123, + -8879.2287, + -11192.2105 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 30019.7123, + -8792.6262, + -11192.2105 + ], + "actual_end_pos": [ + 30019.7123, + -8792.6262, + -11192.2105 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30019.7123, + -8792.6262, + -11192.2105 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 29933.8506, + -8842.1984, + -11179.1579 + ], + "actual_end_pos": [ + 29933.8506, + -8842.1984, + -11179.1579 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29933.8506, + -8842.1984, + -11179.1579 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 30019.7123, + -8792.6262, + -11192.2105 + ], + "actual_end_pos": [ + 30019.7123, + -8792.6262, + -11192.2105 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30019.7123, + -8792.6262, + -11192.2105 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 30019.7123, + -8792.6262, + -11192.2105 + ], + "actual_end_pos": [ + 30019.7123, + -8792.6262, + -11192.2105 + ], + "actual_end_rot": [ + -7.5, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30019.7123, + -8792.6262, + -11192.2105 + ], + "start_rot": [ + -7.5, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 30090.423, + -8863.3369, + -11192.2105 + ], + "actual_end_pos": [ + 30090.423, + -8863.3369, + -11192.2105 + ], + "actual_end_rot": [ + -7.5, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30090.423, + -8863.3369, + -11192.2105 + ], + "start_rot": [ + -7.5, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 30019.7123, + -8792.6262, + -11192.2105 + ], + "actual_end_pos": [ + 30019.7123, + -8792.6262, + -11192.2105 + ], + "actual_end_rot": [ + -7.5, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30019.7123, + -8792.6262, + -11192.2105 + ], + "start_rot": [ + -7.5, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 30090.423, + -8863.3369, + -11192.2105 + ], + "actual_end_pos": [ + 30090.423, + -8863.3369, + -11192.2105 + ], + "actual_end_rot": [ + -7.5, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30090.423, + -8863.3369, + -11192.2105 + ], + "start_rot": [ + -7.5, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 30160.5287, + -8793.2311, + -11205.2631 + ], + "actual_end_pos": [ + 30160.5287, + -8793.2311, + -11205.2631 + ], + "actual_end_rot": [ + -7.5, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30160.5287, + -8793.2311, + -11205.2631 + ], + "start_rot": [ + -7.5, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 30089.818, + -8722.5205, + -11205.2631 + ], + "actual_end_pos": [ + 30089.818, + -8722.5205, + -11205.2631 + ], + "actual_end_rot": [ + -7.5, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30089.818, + -8722.5205, + -11205.2631 + ], + "start_rot": [ + -7.5, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 30089.818, + -8722.5205, + -11205.2631 + ], + "actual_end_pos": [ + 30089.818, + -8722.5205, + -11205.2631 + ], + "actual_end_rot": [ + -7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30089.818, + -8722.5205, + -11205.2631 + ], + "start_rot": [ + -7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 30139.3903, + -8636.6588, + -11218.3157 + ], + "actual_end_pos": [ + 30139.3903, + -8636.6588, + -11218.3157 + ], + "actual_end_rot": [ + -7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 30139.3903, + -8636.6588, + -11218.3157 + ], + "start_rot": [ + -7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 30139.3903, + -8636.6588, + -11218.3157 + ], + "actual_end_pos": [ + 30139.3903, + -8636.6588, + -11218.3157 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30139.3903, + -8636.6588, + -11218.3157 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 30189.3903, + -8550.0563, + -11218.3157 + ], + "actual_end_pos": [ + 30189.3903, + -8550.0563, + -11218.3157 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30189.3903, + -8550.0563, + -11218.3157 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 30189.3903, + -8550.0563, + -11218.3157 + ], + "actual_end_pos": [ + 30189.3903, + -8550.0563, + -11218.3157 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30189.3903, + -8550.0563, + -11218.3157 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 30260.1009, + -8479.3456, + -11218.3157 + ], + "actual_end_pos": [ + 30260.1009, + -8479.3456, + -11218.3157 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30260.1009, + -8479.3456, + -11218.3157 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 30260.1009, + -8479.3456, + -11218.3157 + ], + "actual_end_pos": [ + 30260.1009, + -8479.3456, + -11218.3157 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30260.1009, + -8479.3456, + -11218.3157 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 30260.1009, + -8479.3456, + -11218.3157 + ], + "actual_end_pos": [ + 30260.1009, + -8479.3456, + -11218.3157 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30260.1009, + -8479.3456, + -11218.3157 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 30285.9828, + -8382.753, + -11218.3157 + ], + "actual_end_pos": [ + 30285.9828, + -8382.753, + -11218.3157 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30285.9828, + -8382.753, + -11218.3157 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 30285.9828, + -8382.753, + -11218.3157 + ], + "actual_end_pos": [ + 30285.9828, + -8382.753, + -11218.3157 + ], + "actual_end_rot": [ + 0.0, + 90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 30285.9828, + -8382.753, + -11218.3157 + ], + "start_rot": [ + 0.0, + 90.0, + -0.0 + ], + "expected_end_pos": [ + 30285.9828, + -8382.753, + -11218.3157 + ], + "actual_end_pos": [ + 30285.9828, + -8382.753, + -11218.3157 + ], + "actual_end_rot": [ + 7.5, + 90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30285.9828, + -8382.753, + -11218.3157 + ], + "start_rot": [ + 7.5, + 90.0, + -0.0 + ], + "expected_end_pos": [ + 30385.9828, + -8382.753, + -11218.3157 + ], + "actual_end_pos": [ + 30385.9828, + -8382.753, + -11218.3157 + ], + "actual_end_rot": [ + 7.5, + 90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260411_181558__pair_002323_A_traj_002323_meta.json b/equivalence_easy/run_20260411_181558__pair_002323_A_traj_002323_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9584fc916a35923e1ba6b2db3637d4aa5bc515d1 --- /dev/null +++ b/equivalence_easy/run_20260411_181558__pair_002323_A_traj_002323_meta.json @@ -0,0 +1,1464 @@ +{ + "trajectory_id": 2323, + "episode_id": 0, + "state_id": 1724, + "sample_index": 1724, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_A", + "partner_trajectory_id": 2324, + "primary_trajectory_id": 2323, + "paired_trajectory_id": 2324, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 29760.0, + -8340.0, + -11140.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "move_forward", + "no_op", + "move_right", + "move_backward", + "turn_left", + "move_left", + "move_backward", + "move_right", + "move_forward", + "turn_right", + "move_left", + "move_left", + "turn_left", + "move_backward", + "move_backward", + "move_left", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "turn_right", + "move_right", + "move_right", + "no_op", + "turn_left", + "move_right", + "move_forward", + "look_down", + "move_left", + "no_op", + "move_backward", + "look_up", + "turn_right", + "move_forward", + "move_right", + "move_right", + "move_right", + "turn_left", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29760.0, + -8340.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29760.0, + -8440.0, + -11140.0 + ], + "actual_end_pos": [ + 29760.0, + -8440.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29760.0, + -8440.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29660.0, + -8440.0, + -11140.0 + ], + "actual_end_pos": [ + 29660.0, + -8440.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29660.0, + -8440.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29660.0, + -8440.0, + -11140.0 + ], + "actual_end_pos": [ + 29660.0, + -8440.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29660.0, + -8440.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29660.0, + -8540.0, + -11140.0 + ], + "actual_end_pos": [ + 29660.0, + -8540.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29660.0, + -8540.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29760.0, + -8540.0, + -11140.0 + ], + "actual_end_pos": [ + 29760.0, + -8540.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29760.0, + -8540.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29760.0, + -8540.0, + -11140.0 + ], + "actual_end_pos": [ + 29760.0, + -8540.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29760.0, + -8540.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 29785.8819, + -8443.4074, + -11140.0 + ], + "actual_end_pos": [ + 29785.8819, + -8443.4074, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29785.8819, + -8443.4074, + -11140.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 29882.4745, + -8469.2893, + -11140.0 + ], + "actual_end_pos": [ + 29882.4745, + -8469.2893, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29882.4745, + -8469.2893, + -11140.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 29856.5926, + -8565.8819, + -11140.0 + ], + "actual_end_pos": [ + 29856.5926, + -8565.8819, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29856.5926, + -8565.8819, + -11140.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 29760.0, + -8540.0, + -11140.0 + ], + "actual_end_pos": [ + 29760.0, + -8540.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29760.0, + -8540.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 29760.0, + -8540.0, + -11140.0 + ], + "actual_end_pos": [ + 29760.0, + -8540.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29760.0, + -8540.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29760.0, + -8440.0, + -11140.0 + ], + "actual_end_pos": [ + 29760.0, + -8440.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29760.0, + -8440.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29760.0, + -8340.0, + -11140.0 + ], + "actual_end_pos": [ + 29760.0, + -8340.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29760.0, + -8340.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29760.0, + -8340.0, + -11140.0 + ], + "actual_end_pos": [ + 29760.0, + -8340.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29760.0, + -8340.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 29856.5926, + -8365.8819, + -11140.0 + ], + "actual_end_pos": [ + 29856.5926, + -8365.8819, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29856.5926, + -8365.8819, + -11140.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 29953.1852, + -8391.7638, + -11140.0 + ], + "actual_end_pos": [ + 29953.1852, + -8391.7638, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29953.1852, + -8391.7638, + -11140.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 29979.0671, + -8295.1712, + -11140.0 + ], + "actual_end_pos": [ + 29979.0671, + -8295.1712, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29979.0671, + -8295.1712, + -11140.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 29979.0671, + -8295.1712, + -11140.0 + ], + "actual_end_pos": [ + 29979.0671, + -8295.1712, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29979.0671, + -8295.1712, + -11140.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29979.0671, + -8295.1712, + -11140.0 + ], + "actual_end_pos": [ + 29979.0671, + -8295.1712, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29979.0671, + -8295.1712, + -11140.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 29882.4745, + -8321.0531, + -11140.0 + ], + "actual_end_pos": [ + 29882.4745, + -8321.0531, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29882.4745, + -8321.0531, + -11140.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 29785.8819, + -8346.935, + -11140.0 + ], + "actual_end_pos": [ + 29785.8819, + -8346.935, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29785.8819, + -8346.935, + -11140.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 29785.8819, + -8346.935, + -11140.0 + ], + "actual_end_pos": [ + 29785.8819, + -8346.935, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29785.8819, + -8346.935, + -11140.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 29835.8819, + -8433.5376, + -11140.0 + ], + "actual_end_pos": [ + 29835.8819, + -8433.5376, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29835.8819, + -8433.5376, + -11140.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 29885.8819, + -8520.1401, + -11140.0 + ], + "actual_end_pos": [ + 29885.8819, + -8520.1401, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29885.8819, + -8520.1401, + -11140.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 29885.8819, + -8520.1401, + -11140.0 + ], + "actual_end_pos": [ + 29885.8819, + -8520.1401, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29885.8819, + -8520.1401, + -11140.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 29885.8819, + -8520.1401, + -11140.0 + ], + "actual_end_pos": [ + 29885.8819, + -8520.1401, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29885.8819, + -8520.1401, + -11140.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 29911.7638, + -8616.7327, + -11140.0 + ], + "actual_end_pos": [ + 29911.7638, + -8616.7327, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29911.7638, + -8616.7327, + -11140.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 29815.1712, + -8642.6146, + -11140.0 + ], + "actual_end_pos": [ + 29815.1712, + -8642.6146, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 29815.1712, + -8642.6146, + -11140.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 29815.1712, + -8642.6146, + -11140.0 + ], + "actual_end_pos": [ + 29815.1712, + -8642.6146, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29815.1712, + -8642.6146, + -11140.0 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 29789.2893, + -8546.022, + -11140.0 + ], + "actual_end_pos": [ + 29789.2893, + -8546.022, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29789.2893, + -8546.022, + -11140.0 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 29789.2893, + -8546.022, + -11140.0 + ], + "actual_end_pos": [ + 29789.2893, + -8546.022, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29789.2893, + -8546.022, + -11140.0 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 29885.0555, + -8520.3615, + -11126.9474 + ], + "actual_end_pos": [ + 29885.0555, + -8520.3615, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 29885.0555, + -8520.3615, + -11126.9474 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 29885.0555, + -8520.3615, + -11126.9474 + ], + "actual_end_pos": [ + 29885.0555, + -8520.3615, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29885.0555, + -8520.3615, + -11126.9474 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 29885.0555, + -8520.3615, + -11126.9474 + ], + "actual_end_pos": [ + 29885.0555, + -8520.3615, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29885.0555, + -8520.3615, + -11126.9474 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 29798.453, + -8570.3615, + -11126.9474 + ], + "actual_end_pos": [ + 29798.453, + -8570.3615, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29798.453, + -8570.3615, + -11126.9474 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 29848.453, + -8656.9641, + -11126.9474 + ], + "actual_end_pos": [ + 29848.453, + -8656.9641, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29848.453, + -8656.9641, + -11126.9474 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 29898.453, + -8743.5666, + -11126.9474 + ], + "actual_end_pos": [ + 29898.453, + -8743.5666, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29898.453, + -8743.5666, + -11126.9474 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 29948.453, + -8830.1692, + -11126.9474 + ], + "actual_end_pos": [ + 29948.453, + -8830.1692, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29948.453, + -8830.1692, + -11126.9474 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 29948.453, + -8830.1692, + -11126.9474 + ], + "actual_end_pos": [ + 29948.453, + -8830.1692, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29948.453, + -8830.1692, + -11126.9474 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 29948.453, + -8830.1692, + -11126.9474 + ], + "actual_end_pos": [ + 29948.453, + -8830.1692, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260411_181558__pair_002323_B_traj_002324_meta.json b/equivalence_easy/run_20260411_181558__pair_002323_B_traj_002324_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0f4dda013d89f2272bd99ee150436c32611f0e93 --- /dev/null +++ b/equivalence_easy/run_20260411_181558__pair_002323_B_traj_002324_meta.json @@ -0,0 +1,1464 @@ +{ + "trajectory_id": 2324, + "episode_id": 0, + "state_id": 1724, + "sample_index": 1724, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_B", + "partner_trajectory_id": 2323, + "primary_trajectory_id": 2323, + "paired_trajectory_id": 2324, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 29760.0, + -8340.0, + -11140.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_right", + "no_op", + "move_backward", + "move_right", + "turn_left", + "move_backward", + "move_right", + "move_left", + "move_forward", + "turn_right", + "move_left", + "move_left", + "turn_left", + "move_left", + "move_backward", + "move_backward", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "turn_right", + "move_right", + "move_right", + "no_op", + "turn_left", + "move_right", + "move_forward", + "look_down", + "move_left", + "no_op", + "move_backward", + "look_up", + "turn_right", + "move_right", + "move_forward", + "move_right", + "move_right", + "turn_left", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29760.0, + -8340.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29660.0, + -8340.0, + -11140.0 + ], + "actual_end_pos": [ + 29660.0, + -8340.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29660.0, + -8340.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29660.0, + -8440.0, + -11140.0 + ], + "actual_end_pos": [ + 29660.0, + -8440.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29660.0, + -8440.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29660.0, + -8440.0, + -11140.0 + ], + "actual_end_pos": [ + 29660.0, + -8440.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29660.0, + -8440.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29760.0, + -8440.0, + -11140.0 + ], + "actual_end_pos": [ + 29760.0, + -8440.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29760.0, + -8440.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29760.0, + -8540.0, + -11140.0 + ], + "actual_end_pos": [ + 29760.0, + -8540.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29760.0, + -8540.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29760.0, + -8540.0, + -11140.0 + ], + "actual_end_pos": [ + 29760.0, + -8540.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29760.0, + -8540.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 29856.5926, + -8565.8819, + -11140.0 + ], + "actual_end_pos": [ + 29856.5926, + -8565.8819, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29856.5926, + -8565.8819, + -11140.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 29830.7107, + -8662.4745, + -11140.0 + ], + "actual_end_pos": [ + 29830.7107, + -8662.4745, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29830.7107, + -8662.4745, + -11140.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 29856.5926, + -8565.8819, + -11140.0 + ], + "actual_end_pos": [ + 29856.5926, + -8565.8819, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29856.5926, + -8565.8819, + -11140.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 29760.0, + -8540.0, + -11140.0 + ], + "actual_end_pos": [ + 29760.0, + -8540.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29760.0, + -8540.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 29760.0, + -8540.0, + -11140.0 + ], + "actual_end_pos": [ + 29760.0, + -8540.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29760.0, + -8540.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29760.0, + -8440.0, + -11140.0 + ], + "actual_end_pos": [ + 29760.0, + -8440.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29760.0, + -8440.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29760.0, + -8340.0, + -11140.0 + ], + "actual_end_pos": [ + 29760.0, + -8340.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29760.0, + -8340.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29760.0, + -8340.0, + -11140.0 + ], + "actual_end_pos": [ + 29760.0, + -8340.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29760.0, + -8340.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 29785.8819, + -8243.4074, + -11140.0 + ], + "actual_end_pos": [ + 29785.8819, + -8243.4074, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29785.8819, + -8243.4074, + -11140.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 29882.4745, + -8269.2893, + -11140.0 + ], + "actual_end_pos": [ + 29882.4745, + -8269.2893, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29882.4745, + -8269.2893, + -11140.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 29979.0671, + -8295.1712, + -11140.0 + ], + "actual_end_pos": [ + 29979.0671, + -8295.1712, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29979.0671, + -8295.1712, + -11140.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 29979.0671, + -8295.1712, + -11140.0 + ], + "actual_end_pos": [ + 29979.0671, + -8295.1712, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29979.0671, + -8295.1712, + -11140.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29979.0671, + -8295.1712, + -11140.0 + ], + "actual_end_pos": [ + 29979.0671, + -8295.1712, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29979.0671, + -8295.1712, + -11140.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 29882.4745, + -8321.0531, + -11140.0 + ], + "actual_end_pos": [ + 29882.4745, + -8321.0531, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29882.4745, + -8321.0531, + -11140.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 29785.8819, + -8346.935, + -11140.0 + ], + "actual_end_pos": [ + 29785.8819, + -8346.935, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29785.8819, + -8346.935, + -11140.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 29785.8819, + -8346.935, + -11140.0 + ], + "actual_end_pos": [ + 29785.8819, + -8346.935, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29785.8819, + -8346.935, + -11140.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 29835.8819, + -8433.5376, + -11140.0 + ], + "actual_end_pos": [ + 29835.8819, + -8433.5376, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29835.8819, + -8433.5376, + -11140.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 29885.8819, + -8520.1401, + -11140.0 + ], + "actual_end_pos": [ + 29885.8819, + -8520.1401, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29885.8819, + -8520.1401, + -11140.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 29885.8819, + -8520.1401, + -11140.0 + ], + "actual_end_pos": [ + 29885.8819, + -8520.1401, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29885.8819, + -8520.1401, + -11140.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 29885.8819, + -8520.1401, + -11140.0 + ], + "actual_end_pos": [ + 29885.8819, + -8520.1401, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29885.8819, + -8520.1401, + -11140.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 29911.7638, + -8616.7327, + -11140.0 + ], + "actual_end_pos": [ + 29911.7638, + -8616.7327, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29911.7638, + -8616.7327, + -11140.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 29815.1712, + -8642.6146, + -11140.0 + ], + "actual_end_pos": [ + 29815.1712, + -8642.6146, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 29815.1712, + -8642.6146, + -11140.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 29815.1712, + -8642.6146, + -11140.0 + ], + "actual_end_pos": [ + 29815.1712, + -8642.6146, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29815.1712, + -8642.6146, + -11140.0 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 29789.2893, + -8546.022, + -11140.0 + ], + "actual_end_pos": [ + 29789.2893, + -8546.022, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29789.2893, + -8546.022, + -11140.0 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 29789.2893, + -8546.022, + -11140.0 + ], + "actual_end_pos": [ + 29789.2893, + -8546.022, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29789.2893, + -8546.022, + -11140.0 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 29885.0555, + -8520.3615, + -11126.9474 + ], + "actual_end_pos": [ + 29885.0555, + -8520.3615, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 29885.0555, + -8520.3615, + -11126.9474 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 29885.0555, + -8520.3615, + -11126.9474 + ], + "actual_end_pos": [ + 29885.0555, + -8520.3615, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29885.0555, + -8520.3615, + -11126.9474 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 29885.0555, + -8520.3615, + -11126.9474 + ], + "actual_end_pos": [ + 29885.0555, + -8520.3615, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29885.0555, + -8520.3615, + -11126.9474 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 29935.0555, + -8606.9641, + -11126.9474 + ], + "actual_end_pos": [ + 29935.0555, + -8606.9641, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29935.0555, + -8606.9641, + -11126.9474 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 29848.453, + -8656.9641, + -11126.9474 + ], + "actual_end_pos": [ + 29848.453, + -8656.9641, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29848.453, + -8656.9641, + -11126.9474 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 29898.453, + -8743.5666, + -11126.9474 + ], + "actual_end_pos": [ + 29898.453, + -8743.5666, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29898.453, + -8743.5666, + -11126.9474 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 29948.453, + -8830.1692, + -11126.9474 + ], + "actual_end_pos": [ + 29948.453, + -8830.1692, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29948.453, + -8830.1692, + -11126.9474 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 29948.453, + -8830.1692, + -11126.9474 + ], + "actual_end_pos": [ + 29948.453, + -8830.1692, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29948.453, + -8830.1692, + -11126.9474 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 29948.453, + -8830.1692, + -11126.9474 + ], + "actual_end_pos": [ + 29948.453, + -8830.1692, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260411_181558__pair_002346_A_traj_002346_meta.json b/equivalence_easy/run_20260411_181558__pair_002346_A_traj_002346_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..21b65c860ee537c9f96afe1f7bd599e64ca38e75 --- /dev/null +++ b/equivalence_easy/run_20260411_181558__pair_002346_A_traj_002346_meta.json @@ -0,0 +1,1464 @@ +{ + "trajectory_id": 2346, + "episode_id": 0, + "state_id": 1739, + "sample_index": 1739, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_A", + "partner_trajectory_id": 2347, + "primary_trajectory_id": 2346, + "paired_trajectory_id": 2347, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 29760.0, + -7940.0, + -11140.0 + ], + "rotation": [ + 0.0, + 135.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_right", + "move_right", + "move_forward", + "move_forward", + "move_forward", + "move_left", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "move_forward", + "move_left", + "move_backward", + "move_left", + "move_left", + "move_backward", + "move_right", + "move_forward", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "move_forward", + "turn_right", + "look_up", + "move_forward", + "look_down", + "look_down", + "move_left", + "move_left", + "turn_left", + "move_right", + "move_right", + "move_right", + "turn_left", + "move_backward", + "turn_right", + "move_left", + "turn_right" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29760.0, + -7940.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29689.2893, + -7869.2893, + -11140.0 + ], + "actual_end_pos": [ + 29689.2893, + -7869.2893, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29689.2893, + -7869.2893, + -11140.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29618.5786, + -7940.0, + -11140.0 + ], + "actual_end_pos": [ + 29618.5786, + -7940.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29618.5786, + -7940.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29547.868, + -8010.7107, + -11140.0 + ], + "actual_end_pos": [ + 29547.868, + -8010.7107, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29547.868, + -8010.7107, + -11140.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29477.1573, + -7940.0, + -11140.0 + ], + "actual_end_pos": [ + 29477.1573, + -7940.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29477.1573, + -7940.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29406.4466, + -7869.2893, + -11140.0 + ], + "actual_end_pos": [ + 29406.4466, + -7869.2893, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29406.4466, + -7869.2893, + -11140.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29335.7359, + -7798.5786, + -11140.0 + ], + "actual_end_pos": [ + 29335.7359, + -7798.5786, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29335.7359, + -7798.5786, + -11140.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29406.4466, + -7727.868, + -11140.0 + ], + "actual_end_pos": [ + 29406.4466, + -7727.868, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29406.4466, + -7727.868, + -11140.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29335.7359, + -7657.1573, + -11140.0 + ], + "actual_end_pos": [ + 29335.7359, + -7657.1573, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29335.7359, + -7657.1573, + -11140.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29265.0253, + -7586.4466, + -11140.0 + ], + "actual_end_pos": [ + 29265.0253, + -7586.4466, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29265.0253, + -7586.4466, + -11140.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29265.0253, + -7586.4466, + -11140.0 + ], + "actual_end_pos": [ + 29265.0253, + -7586.4466, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29265.0253, + -7586.4466, + -11140.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 29265.0253, + -7586.4466, + -11140.0 + ], + "actual_end_pos": [ + 29265.0253, + -7586.4466, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29265.0253, + -7586.4466, + -11140.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 29168.4327, + -7560.5647, + -11140.0 + ], + "actual_end_pos": [ + 29168.4327, + -7560.5647, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29168.4327, + -7560.5647, + -11140.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 29194.3146, + -7463.9721, + -11140.0 + ], + "actual_end_pos": [ + 29194.3146, + -7463.9721, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29194.3146, + -7463.9721, + -11140.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 29290.9072, + -7489.854, + -11140.0 + ], + "actual_end_pos": [ + 29290.9072, + -7489.854, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29290.9072, + -7489.854, + -11140.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 29316.7891, + -7393.2614, + -11140.0 + ], + "actual_end_pos": [ + 29316.7891, + -7393.2614, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29316.7891, + -7393.2614, + -11140.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 29342.671, + -7296.6689, + -11140.0 + ], + "actual_end_pos": [ + 29342.671, + -7296.6689, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29342.671, + -7296.6689, + -11140.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 29439.2636, + -7322.5508, + -11140.0 + ], + "actual_end_pos": [ + 29439.2636, + -7322.5508, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29439.2636, + -7322.5508, + -11140.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 29413.3817, + -7419.1433, + -11140.0 + ], + "actual_end_pos": [ + 29413.3817, + -7419.1433, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29413.3817, + -7419.1433, + -11140.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 29316.7891, + -7393.2614, + -11140.0 + ], + "actual_end_pos": [ + 29316.7891, + -7393.2614, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29316.7891, + -7393.2614, + -11140.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 29220.1965, + -7367.3795, + -11140.0 + ], + "actual_end_pos": [ + 29220.1965, + -7367.3795, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29220.1965, + -7367.3795, + -11140.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 29123.6039, + -7341.4976, + -11140.0 + ], + "actual_end_pos": [ + 29123.6039, + -7341.4976, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29123.6039, + -7341.4976, + -11140.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 29123.6039, + -7341.4976, + -11140.0 + ], + "actual_end_pos": [ + 29123.6039, + -7341.4976, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29123.6039, + -7341.4976, + -11140.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29123.6039, + -7341.4976, + -11140.0 + ], + "actual_end_pos": [ + 29123.6039, + -7341.4976, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29123.6039, + -7341.4976, + -11140.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 29027.0113, + -7367.3795, + -11140.0 + ], + "actual_end_pos": [ + 29027.0113, + -7367.3795, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29027.0113, + -7367.3795, + -11140.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 29027.0113, + -7367.3795, + -11140.0 + ], + "actual_end_pos": [ + 29027.0113, + -7367.3795, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 29027.0113, + -7367.3795, + -11140.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 29027.0113, + -7367.3795, + -11140.0 + ], + "actual_end_pos": [ + 29027.0113, + -7367.3795, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29027.0113, + -7367.3795, + -11140.0 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 28941.1497, + -7416.9518, + -11126.9474 + ], + "actual_end_pos": [ + 28941.1497, + -7416.9518, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 28941.1497, + -7416.9518, + -11126.9474 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 28941.1497, + -7416.9518, + -11126.9474 + ], + "actual_end_pos": [ + 28941.1497, + -7416.9518, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 28941.1497, + -7416.9518, + -11126.9474 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 28941.1497, + -7416.9518, + -11126.9474 + ], + "actual_end_pos": [ + 28941.1497, + -7416.9518, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 28941.1497, + -7416.9518, + -11126.9474 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 28891.1497, + -7330.3492, + -11126.9474 + ], + "actual_end_pos": [ + 28891.1497, + -7330.3492, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 28891.1497, + -7330.3492, + -11126.9474 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 28841.1497, + -7243.7467, + -11126.9474 + ], + "actual_end_pos": [ + 28841.1497, + -7243.7467, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 28841.1497, + -7243.7467, + -11126.9474 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 28841.1497, + -7243.7467, + -11126.9474 + ], + "actual_end_pos": [ + 28841.1497, + -7243.7467, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 28841.1497, + -7243.7467, + -11126.9474 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 28867.0316, + -7340.3393, + -11126.9474 + ], + "actual_end_pos": [ + 28867.0316, + -7340.3393, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 28867.0316, + -7340.3393, + -11126.9474 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 28892.9135, + -7436.9319, + -11126.9474 + ], + "actual_end_pos": [ + 28892.9135, + -7436.9319, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 28892.9135, + -7436.9319, + -11126.9474 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 28918.7954, + -7533.5244, + -11126.9474 + ], + "actual_end_pos": [ + 28918.7954, + -7533.5244, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 28918.7954, + -7533.5244, + -11126.9474 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 28918.7954, + -7533.5244, + -11126.9474 + ], + "actual_end_pos": [ + 28918.7954, + -7533.5244, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 28918.7954, + -7533.5244, + -11126.9474 + ], + "start_rot": [ + -7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29017.9399, + -7533.5244, + -11113.8948 + ], + "actual_end_pos": [ + 29017.9399, + -7533.5244, + -11113.8948 + ], + "actual_end_rot": [ + -7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29017.9399, + -7533.5244, + -11113.8948 + ], + "start_rot": [ + -7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29017.9399, + -7533.5244, + -11113.8948 + ], + "actual_end_pos": [ + 29017.9399, + -7533.5244, + -11113.8948 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29017.9399, + -7533.5244, + -11113.8948 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 28992.058, + -7436.9319, + -11113.8948 + ], + "actual_end_pos": [ + 28992.058, + -7436.9319, + -11113.8948 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 28992.058, + -7436.9319, + -11113.8948 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 28992.058, + -7436.9319, + -11113.8948 + ], + "actual_end_pos": [ + 28992.058, + -7436.9319, + -11113.8948 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260411_181558__pair_002346_B_traj_002347_meta.json b/equivalence_easy/run_20260411_181558__pair_002346_B_traj_002347_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..79301347e6ea48dd3c260deaf279fcca6b3af3af --- /dev/null +++ b/equivalence_easy/run_20260411_181558__pair_002346_B_traj_002347_meta.json @@ -0,0 +1,1464 @@ +{ + "trajectory_id": 2347, + "episode_id": 0, + "state_id": 1739, + "sample_index": 1739, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_B", + "partner_trajectory_id": 2346, + "primary_trajectory_id": 2346, + "paired_trajectory_id": 2347, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 29760.0, + -7940.0, + -11140.0 + ], + "rotation": [ + 0.0, + 135.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "move_right", + "move_left", + "move_forward", + "move_forward", + "move_right", + "turn_right", + "turn_right", + "move_forward", + "move_backward", + "move_left", + "move_backward", + "move_left", + "move_left", + "move_forward", + "move_forward", + "move_right", + "move_forward", + "turn_right", + "turn_right", + "move_forward", + "turn_right", + "look_up", + "move_forward", + "look_down", + "look_down", + "move_left", + "move_left", + "turn_left", + "move_right", + "move_right", + "move_right", + "turn_left", + "move_backward", + "turn_right", + "move_left", + "turn_right" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29760.0, + -7940.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29689.2893, + -7869.2893, + -11140.0 + ], + "actual_end_pos": [ + 29689.2893, + -7869.2893, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29689.2893, + -7869.2893, + -11140.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29618.5786, + -7798.5786, + -11140.0 + ], + "actual_end_pos": [ + 29618.5786, + -7798.5786, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29618.5786, + -7798.5786, + -11140.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29547.868, + -7727.868, + -11140.0 + ], + "actual_end_pos": [ + 29547.868, + -7727.868, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29547.868, + -7727.868, + -11140.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29477.1573, + -7657.1573, + -11140.0 + ], + "actual_end_pos": [ + 29477.1573, + -7657.1573, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29477.1573, + -7657.1573, + -11140.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29406.4466, + -7727.868, + -11140.0 + ], + "actual_end_pos": [ + 29406.4466, + -7727.868, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29406.4466, + -7727.868, + -11140.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29477.1573, + -7657.1573, + -11140.0 + ], + "actual_end_pos": [ + 29477.1573, + -7657.1573, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29477.1573, + -7657.1573, + -11140.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29406.4466, + -7586.4466, + -11140.0 + ], + "actual_end_pos": [ + 29406.4466, + -7586.4466, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29406.4466, + -7586.4466, + -11140.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29335.7359, + -7515.7359, + -11140.0 + ], + "actual_end_pos": [ + 29335.7359, + -7515.7359, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29335.7359, + -7515.7359, + -11140.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29265.0253, + -7586.4466, + -11140.0 + ], + "actual_end_pos": [ + 29265.0253, + -7586.4466, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29265.0253, + -7586.4466, + -11140.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29265.0253, + -7586.4466, + -11140.0 + ], + "actual_end_pos": [ + 29265.0253, + -7586.4466, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29265.0253, + -7586.4466, + -11140.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 29265.0253, + -7586.4466, + -11140.0 + ], + "actual_end_pos": [ + 29265.0253, + -7586.4466, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29265.0253, + -7586.4466, + -11140.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 29168.4327, + -7560.5647, + -11140.0 + ], + "actual_end_pos": [ + 29168.4327, + -7560.5647, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29168.4327, + -7560.5647, + -11140.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 29265.0253, + -7586.4466, + -11140.0 + ], + "actual_end_pos": [ + 29265.0253, + -7586.4466, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29265.0253, + -7586.4466, + -11140.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 29290.9072, + -7489.854, + -11140.0 + ], + "actual_end_pos": [ + 29290.9072, + -7489.854, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29290.9072, + -7489.854, + -11140.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 29387.4997, + -7515.7359, + -11140.0 + ], + "actual_end_pos": [ + 29387.4997, + -7515.7359, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29387.4997, + -7515.7359, + -11140.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 29413.3817, + -7419.1433, + -11140.0 + ], + "actual_end_pos": [ + 29413.3817, + -7419.1433, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29413.3817, + -7419.1433, + -11140.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 29439.2636, + -7322.5508, + -11140.0 + ], + "actual_end_pos": [ + 29439.2636, + -7322.5508, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29439.2636, + -7322.5508, + -11140.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 29342.671, + -7296.6689, + -11140.0 + ], + "actual_end_pos": [ + 29342.671, + -7296.6689, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29342.671, + -7296.6689, + -11140.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 29246.0784, + -7270.7869, + -11140.0 + ], + "actual_end_pos": [ + 29246.0784, + -7270.7869, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29246.0784, + -7270.7869, + -11140.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 29220.1965, + -7367.3795, + -11140.0 + ], + "actual_end_pos": [ + 29220.1965, + -7367.3795, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29220.1965, + -7367.3795, + -11140.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 29123.6039, + -7341.4976, + -11140.0 + ], + "actual_end_pos": [ + 29123.6039, + -7341.4976, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29123.6039, + -7341.4976, + -11140.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 29123.6039, + -7341.4976, + -11140.0 + ], + "actual_end_pos": [ + 29123.6039, + -7341.4976, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29123.6039, + -7341.4976, + -11140.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29123.6039, + -7341.4976, + -11140.0 + ], + "actual_end_pos": [ + 29123.6039, + -7341.4976, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29123.6039, + -7341.4976, + -11140.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 29027.0113, + -7367.3795, + -11140.0 + ], + "actual_end_pos": [ + 29027.0113, + -7367.3795, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29027.0113, + -7367.3795, + -11140.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 29027.0113, + -7367.3795, + -11140.0 + ], + "actual_end_pos": [ + 29027.0113, + -7367.3795, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 29027.0113, + -7367.3795, + -11140.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 29027.0113, + -7367.3795, + -11140.0 + ], + "actual_end_pos": [ + 29027.0113, + -7367.3795, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29027.0113, + -7367.3795, + -11140.0 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 28941.1497, + -7416.9518, + -11126.9474 + ], + "actual_end_pos": [ + 28941.1497, + -7416.9518, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 28941.1497, + -7416.9518, + -11126.9474 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 28941.1497, + -7416.9518, + -11126.9474 + ], + "actual_end_pos": [ + 28941.1497, + -7416.9518, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 28941.1497, + -7416.9518, + -11126.9474 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 28941.1497, + -7416.9518, + -11126.9474 + ], + "actual_end_pos": [ + 28941.1497, + -7416.9518, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 28941.1497, + -7416.9518, + -11126.9474 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 28891.1497, + -7330.3492, + -11126.9474 + ], + "actual_end_pos": [ + 28891.1497, + -7330.3492, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 28891.1497, + -7330.3492, + -11126.9474 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 28841.1497, + -7243.7467, + -11126.9474 + ], + "actual_end_pos": [ + 28841.1497, + -7243.7467, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 28841.1497, + -7243.7467, + -11126.9474 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 28841.1497, + -7243.7467, + -11126.9474 + ], + "actual_end_pos": [ + 28841.1497, + -7243.7467, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 28841.1497, + -7243.7467, + -11126.9474 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 28867.0316, + -7340.3393, + -11126.9474 + ], + "actual_end_pos": [ + 28867.0316, + -7340.3393, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 28867.0316, + -7340.3393, + -11126.9474 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 28892.9135, + -7436.9319, + -11126.9474 + ], + "actual_end_pos": [ + 28892.9135, + -7436.9319, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 28892.9135, + -7436.9319, + -11126.9474 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 28918.7954, + -7533.5244, + -11126.9474 + ], + "actual_end_pos": [ + 28918.7954, + -7533.5244, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 28918.7954, + -7533.5244, + -11126.9474 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 28918.7954, + -7533.5244, + -11126.9474 + ], + "actual_end_pos": [ + 28918.7954, + -7533.5244, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 28918.7954, + -7533.5244, + -11126.9474 + ], + "start_rot": [ + -7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29017.9399, + -7533.5244, + -11113.8948 + ], + "actual_end_pos": [ + 29017.9399, + -7533.5244, + -11113.8948 + ], + "actual_end_rot": [ + -7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29017.9399, + -7533.5244, + -11113.8948 + ], + "start_rot": [ + -7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29017.9399, + -7533.5244, + -11113.8948 + ], + "actual_end_pos": [ + 29017.9399, + -7533.5244, + -11113.8948 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29017.9399, + -7533.5244, + -11113.8948 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 28992.058, + -7436.9319, + -11113.8948 + ], + "actual_end_pos": [ + 28992.058, + -7436.9319, + -11113.8948 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 28992.058, + -7436.9319, + -11113.8948 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 28992.058, + -7436.9319, + -11113.8948 + ], + "actual_end_pos": [ + 28992.058, + -7436.9319, + -11113.8948 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260411_181558__pair_002378_A_traj_002378_meta.json b/equivalence_easy/run_20260411_181558__pair_002378_A_traj_002378_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a0c24ca16e33b7b55139f2e9b4b68446c72d64ba --- /dev/null +++ b/equivalence_easy/run_20260411_181558__pair_002378_A_traj_002378_meta.json @@ -0,0 +1,1464 @@ +{ + "trajectory_id": 2378, + "episode_id": 0, + "state_id": 1761, + "sample_index": 1761, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_A", + "partner_trajectory_id": 2379, + "primary_trajectory_id": 2378, + "paired_trajectory_id": 2379, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 29760.0, + -7340.0, + -11140.0 + ], + "rotation": [ + 0.0, + 45.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_left", + "move_forward", + "look_up", + "no_op", + "move_right", + "move_right", + "move_forward", + "turn_right", + "look_down", + "move_forward", + "move_left", + "move_left", + "turn_right", + "move_backward", + "turn_right", + "move_right", + "move_right", + "turn_left", + "move_backward", + "move_backward", + "turn_right", + "look_down", + "turn_right", + "move_backward", + "move_right", + "move_forward", + "no_op", + "move_forward", + "move_left", + "move_forward", + "move_forward", + "move_left", + "move_left", + "move_forward", + "move_backward", + "move_left", + "no_op", + "move_right", + "move_right", + "move_backward" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29760.0, + -7340.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29760.0, + -7340.0, + -11140.0 + ], + "actual_end_pos": [ + 29760.0, + -7340.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29760.0, + -7340.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 29846.6025, + -7290.0, + -11140.0 + ], + "actual_end_pos": [ + 29846.6025, + -7290.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 29846.6025, + -7290.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 29846.6025, + -7290.0, + -11140.0 + ], + "actual_end_pos": [ + 29846.6025, + -7290.0, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29846.6025, + -7290.0, + -11140.0 + ], + "start_rot": [ + 7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 29846.6025, + -7290.0, + -11140.0 + ], + "actual_end_pos": [ + 29846.6025, + -7290.0, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29846.6025, + -7290.0, + -11140.0 + ], + "start_rot": [ + 7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 29796.6025, + -7203.3975, + -11140.0 + ], + "actual_end_pos": [ + 29796.6025, + -7203.3975, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29796.6025, + -7203.3975, + -11140.0 + ], + "start_rot": [ + 7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 29746.6025, + -7116.7949, + -11140.0 + ], + "actual_end_pos": [ + 29746.6025, + -7116.7949, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29746.6025, + -7116.7949, + -11140.0 + ], + "start_rot": [ + 7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 29832.4642, + -7067.2227, + -11126.9474 + ], + "actual_end_pos": [ + 29832.4642, + -7067.2227, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29832.4642, + -7067.2227, + -11126.9474 + ], + "start_rot": [ + 7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 29832.4642, + -7067.2227, + -11126.9474 + ], + "actual_end_pos": [ + 29832.4642, + -7067.2227, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 29832.4642, + -7067.2227, + -11126.9474 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29832.4642, + -7067.2227, + -11126.9474 + ], + "actual_end_pos": [ + 29832.4642, + -7067.2227, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29832.4642, + -7067.2227, + -11126.9474 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29903.1749, + -6996.512, + -11126.9474 + ], + "actual_end_pos": [ + 29903.1749, + -6996.512, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29903.1749, + -6996.512, + -11126.9474 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29973.8855, + -7067.2227, + -11126.9474 + ], + "actual_end_pos": [ + 29973.8855, + -7067.2227, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29973.8855, + -7067.2227, + -11126.9474 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 30044.5962, + -7137.9334, + -11126.9474 + ], + "actual_end_pos": [ + 30044.5962, + -7137.9334, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30044.5962, + -7137.9334, + -11126.9474 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 30044.5962, + -7137.9334, + -11126.9474 + ], + "actual_end_pos": [ + 30044.5962, + -7137.9334, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30044.5962, + -7137.9334, + -11126.9474 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 29994.5962, + -7224.5359, + -11126.9474 + ], + "actual_end_pos": [ + 29994.5962, + -7224.5359, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29994.5962, + -7224.5359, + -11126.9474 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 29994.5962, + -7224.5359, + -11126.9474 + ], + "actual_end_pos": [ + 29994.5962, + -7224.5359, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29994.5962, + -7224.5359, + -11126.9474 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 29898.0036, + -7198.654, + -11126.9474 + ], + "actual_end_pos": [ + 29898.0036, + -7198.654, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29898.0036, + -7198.654, + -11126.9474 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 29801.4111, + -7172.7721, + -11126.9474 + ], + "actual_end_pos": [ + 29801.4111, + -7172.7721, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29801.4111, + -7172.7721, + -11126.9474 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 29801.4111, + -7172.7721, + -11126.9474 + ], + "actual_end_pos": [ + 29801.4111, + -7172.7721, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29801.4111, + -7172.7721, + -11126.9474 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 29751.4111, + -7259.3746, + -11126.9474 + ], + "actual_end_pos": [ + 29751.4111, + -7259.3746, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29751.4111, + -7259.3746, + -11126.9474 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 29701.4111, + -7345.9772, + -11126.9474 + ], + "actual_end_pos": [ + 29701.4111, + -7345.9772, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29701.4111, + -7345.9772, + -11126.9474 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 29701.4111, + -7345.9772, + -11126.9474 + ], + "actual_end_pos": [ + 29701.4111, + -7345.9772, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 29701.4111, + -7345.9772, + -11126.9474 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 29701.4111, + -7345.9772, + -11126.9474 + ], + "actual_end_pos": [ + 29701.4111, + -7345.9772, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29701.4111, + -7345.9772, + -11126.9474 + ], + "start_rot": [ + -7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 29701.4111, + -7345.9772, + -11126.9474 + ], + "actual_end_pos": [ + 29701.4111, + -7345.9772, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29701.4111, + -7345.9772, + -11126.9474 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29701.4111, + -7445.1217, + -11113.8948 + ], + "actual_end_pos": [ + 29701.4111, + -7445.1217, + -11113.8948 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29701.4111, + -7445.1217, + -11113.8948 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29601.4111, + -7445.1216, + -11113.8948 + ], + "actual_end_pos": [ + 29601.4111, + -7445.1216, + -11113.8948 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29601.4111, + -7445.1216, + -11113.8948 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29601.4111, + -7345.9772, + -11126.9474 + ], + "actual_end_pos": [ + 29601.4111, + -7345.9772, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29601.4111, + -7345.9772, + -11126.9474 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29601.4111, + -7345.9772, + -11126.9474 + ], + "actual_end_pos": [ + 29601.4111, + -7345.9772, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29601.4111, + -7345.9772, + -11126.9474 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29601.4111, + -7246.8327, + -11140.0 + ], + "actual_end_pos": [ + 29601.4111, + -7246.8327, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29601.4111, + -7246.8327, + -11140.0 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29701.4111, + -7246.8327, + -11140.0 + ], + "actual_end_pos": [ + 29701.4111, + -7246.8327, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29701.4111, + -7246.8327, + -11140.0 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29701.4111, + -7147.6882, + -11153.0526 + ], + "actual_end_pos": [ + 29701.4111, + -7147.6882, + -11153.0526 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29701.4111, + -7147.6882, + -11153.0526 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29701.4111, + -7048.5437, + -11166.1052 + ], + "actual_end_pos": [ + 29701.4111, + -7048.5437, + -11166.1052 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29701.4111, + -7048.5437, + -11166.1052 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29801.4111, + -7048.5437, + -11166.1052 + ], + "actual_end_pos": [ + 29801.4111, + -7048.5437, + -11166.1052 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29801.4111, + -7048.5437, + -11166.1052 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29901.4111, + -7048.5437, + -11166.1052 + ], + "actual_end_pos": [ + 29901.4111, + -7048.5437, + -11166.1052 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29901.4111, + -7048.5437, + -11166.1052 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29901.4111, + -6949.3992, + -11179.1579 + ], + "actual_end_pos": [ + 29901.4111, + -6949.3992, + -11179.1579 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29901.4111, + -6949.3992, + -11179.1579 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29901.4111, + -7048.5437, + -11166.1052 + ], + "actual_end_pos": [ + 29901.4111, + -7048.5437, + -11166.1052 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29901.4111, + -7048.5437, + -11166.1052 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 30001.4111, + -7048.5437, + -11166.1052 + ], + "actual_end_pos": [ + 30001.4111, + -7048.5437, + -11166.1052 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30001.4111, + -7048.5437, + -11166.1052 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 30001.4111, + -7048.5437, + -11166.1052 + ], + "actual_end_pos": [ + 30001.4111, + -7048.5437, + -11166.1052 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30001.4111, + -7048.5437, + -11166.1052 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29901.4111, + -7048.5437, + -11166.1052 + ], + "actual_end_pos": [ + 29901.4111, + -7048.5437, + -11166.1052 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29901.4111, + -7048.5437, + -11166.1052 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29801.4111, + -7048.5437, + -11166.1052 + ], + "actual_end_pos": [ + 29801.4111, + -7048.5437, + -11166.1052 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29801.4111, + -7048.5437, + -11166.1052 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29801.4111, + -7147.6882, + -11153.0526 + ], + "actual_end_pos": [ + 29801.4111, + -7147.6882, + -11153.0526 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260411_181558__pair_002378_B_traj_002379_meta.json b/equivalence_easy/run_20260411_181558__pair_002378_B_traj_002379_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..779b474e6ca038029e21658cc64779fa27d079c0 --- /dev/null +++ b/equivalence_easy/run_20260411_181558__pair_002378_B_traj_002379_meta.json @@ -0,0 +1,1464 @@ +{ + "trajectory_id": 2379, + "episode_id": 0, + "state_id": 1761, + "sample_index": 1761, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_B", + "partner_trajectory_id": 2378, + "primary_trajectory_id": 2378, + "paired_trajectory_id": 2379, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 29760.0, + -7340.0, + -11140.0 + ], + "rotation": [ + 0.0, + 45.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_left", + "move_forward", + "look_up", + "no_op", + "move_forward", + "move_right", + "move_right", + "look_down", + "turn_right", + "move_left", + "move_left", + "move_forward", + "turn_right", + "move_backward", + "turn_right", + "move_right", + "move_right", + "turn_left", + "move_backward", + "move_backward", + "turn_right", + "turn_right", + "look_down", + "move_right", + "move_backward", + "move_forward", + "no_op", + "move_backward", + "move_left", + "move_forward", + "move_forward", + "move_forward", + "move_left", + "move_left", + "move_forward", + "move_left", + "no_op", + "move_right", + "move_right", + "move_backward" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29760.0, + -7340.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29760.0, + -7340.0, + -11140.0 + ], + "actual_end_pos": [ + 29760.0, + -7340.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29760.0, + -7340.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 29846.6025, + -7290.0, + -11140.0 + ], + "actual_end_pos": [ + 29846.6025, + -7290.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 29846.6025, + -7290.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 29846.6025, + -7290.0, + -11140.0 + ], + "actual_end_pos": [ + 29846.6025, + -7290.0, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29846.6025, + -7290.0, + -11140.0 + ], + "start_rot": [ + 7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 29846.6025, + -7290.0, + -11140.0 + ], + "actual_end_pos": [ + 29846.6025, + -7290.0, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29846.6025, + -7290.0, + -11140.0 + ], + "start_rot": [ + 7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 29932.4642, + -7240.4278, + -11126.9474 + ], + "actual_end_pos": [ + 29932.4642, + -7240.4278, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29932.4642, + -7240.4278, + -11126.9474 + ], + "start_rot": [ + 7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 29882.4642, + -7153.8252, + -11126.9474 + ], + "actual_end_pos": [ + 29882.4642, + -7153.8252, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29882.4642, + -7153.8252, + -11126.9474 + ], + "start_rot": [ + 7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 29832.4642, + -7067.2227, + -11126.9474 + ], + "actual_end_pos": [ + 29832.4642, + -7067.2227, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 29832.4642, + -7067.2227, + -11126.9474 + ], + "start_rot": [ + 7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 29832.4642, + -7067.2227, + -11126.9474 + ], + "actual_end_pos": [ + 29832.4642, + -7067.2227, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + 30.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29832.4642, + -7067.2227, + -11126.9474 + ], + "start_rot": [ + 0.0, + 30.0, + -0.0 + ], + "expected_end_pos": [ + 29832.4642, + -7067.2227, + -11126.9474 + ], + "actual_end_pos": [ + 29832.4642, + -7067.2227, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29832.4642, + -7067.2227, + -11126.9474 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 29903.1749, + -7137.9334, + -11126.9474 + ], + "actual_end_pos": [ + 29903.1749, + -7137.9334, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29903.1749, + -7137.9334, + -11126.9474 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 29973.8855, + -7208.644, + -11126.9474 + ], + "actual_end_pos": [ + 29973.8855, + -7208.644, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29973.8855, + -7208.644, + -11126.9474 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 30044.5962, + -7137.9334, + -11126.9474 + ], + "actual_end_pos": [ + 30044.5962, + -7137.9334, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30044.5962, + -7137.9334, + -11126.9474 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 30044.5962, + -7137.9334, + -11126.9474 + ], + "actual_end_pos": [ + 30044.5962, + -7137.9334, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30044.5962, + -7137.9334, + -11126.9474 + ], + "start_rot": [ + 0.0, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 29994.5962, + -7224.5359, + -11126.9474 + ], + "actual_end_pos": [ + 29994.5962, + -7224.5359, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29994.5962, + -7224.5359, + -11126.9474 + ], + "start_rot": [ + 0.0, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 29994.5962, + -7224.5359, + -11126.9474 + ], + "actual_end_pos": [ + 29994.5962, + -7224.5359, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29994.5962, + -7224.5359, + -11126.9474 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 29898.0036, + -7198.654, + -11126.9474 + ], + "actual_end_pos": [ + 29898.0036, + -7198.654, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29898.0036, + -7198.654, + -11126.9474 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 29801.4111, + -7172.7721, + -11126.9474 + ], + "actual_end_pos": [ + 29801.4111, + -7172.7721, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29801.4111, + -7172.7721, + -11126.9474 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 29801.4111, + -7172.7721, + -11126.9474 + ], + "actual_end_pos": [ + 29801.4111, + -7172.7721, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29801.4111, + -7172.7721, + -11126.9474 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 29751.4111, + -7259.3746, + -11126.9474 + ], + "actual_end_pos": [ + 29751.4111, + -7259.3746, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29751.4111, + -7259.3746, + -11126.9474 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 29701.4111, + -7345.9772, + -11126.9474 + ], + "actual_end_pos": [ + 29701.4111, + -7345.9772, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29701.4111, + -7345.9772, + -11126.9474 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 29701.4111, + -7345.9772, + -11126.9474 + ], + "actual_end_pos": [ + 29701.4111, + -7345.9772, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + 75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29701.4111, + -7345.9772, + -11126.9474 + ], + "start_rot": [ + 0.0, + 75.0, + -0.0 + ], + "expected_end_pos": [ + 29701.4111, + -7345.9772, + -11126.9474 + ], + "actual_end_pos": [ + 29701.4111, + -7345.9772, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 29701.4111, + -7345.9772, + -11126.9474 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29701.4111, + -7345.9772, + -11126.9474 + ], + "actual_end_pos": [ + 29701.4111, + -7345.9772, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29701.4111, + -7345.9772, + -11126.9474 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29601.4111, + -7345.9772, + -11126.9474 + ], + "actual_end_pos": [ + 29601.4111, + -7345.9772, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29601.4111, + -7345.9772, + -11126.9474 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29601.4111, + -7445.1216, + -11113.8948 + ], + "actual_end_pos": [ + 29601.4111, + -7445.1216, + -11113.8948 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29601.4111, + -7445.1216, + -11113.8948 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29601.4111, + -7345.9772, + -11126.9474 + ], + "actual_end_pos": [ + 29601.4111, + -7345.9772, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29601.4111, + -7345.9772, + -11126.9474 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29601.4111, + -7345.9772, + -11126.9474 + ], + "actual_end_pos": [ + 29601.4111, + -7345.9772, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29601.4111, + -7345.9772, + -11126.9474 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29601.4111, + -7445.1216, + -11113.8948 + ], + "actual_end_pos": [ + 29601.4111, + -7445.1216, + -11113.8948 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29601.4111, + -7445.1216, + -11113.8948 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29701.4111, + -7445.1217, + -11113.8948 + ], + "actual_end_pos": [ + 29701.4111, + -7445.1217, + -11113.8948 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29701.4111, + -7445.1217, + -11113.8948 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29701.4111, + -7345.9772, + -11126.9474 + ], + "actual_end_pos": [ + 29701.4111, + -7345.9772, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29701.4111, + -7345.9772, + -11126.9474 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29701.4111, + -7246.8327, + -11140.0 + ], + "actual_end_pos": [ + 29701.4111, + -7246.8327, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29701.4111, + -7246.8327, + -11140.0 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29701.4111, + -7147.6882, + -11153.0526 + ], + "actual_end_pos": [ + 29701.4111, + -7147.6882, + -11153.0526 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29701.4111, + -7147.6882, + -11153.0526 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29801.4111, + -7147.6882, + -11153.0526 + ], + "actual_end_pos": [ + 29801.4111, + -7147.6882, + -11153.0526 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29801.4111, + -7147.6882, + -11153.0526 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29901.4111, + -7147.6882, + -11153.0526 + ], + "actual_end_pos": [ + 29901.4111, + -7147.6882, + -11153.0526 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29901.4111, + -7147.6882, + -11153.0526 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29901.4111, + -7048.5437, + -11166.1052 + ], + "actual_end_pos": [ + 29901.4111, + -7048.5437, + -11166.1052 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29901.4111, + -7048.5437, + -11166.1052 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 30001.4111, + -7048.5437, + -11166.1052 + ], + "actual_end_pos": [ + 30001.4111, + -7048.5437, + -11166.1052 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30001.4111, + -7048.5437, + -11166.1052 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 30001.4111, + -7048.5437, + -11166.1052 + ], + "actual_end_pos": [ + 30001.4111, + -7048.5437, + -11166.1052 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30001.4111, + -7048.5437, + -11166.1052 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29901.4111, + -7048.5437, + -11166.1052 + ], + "actual_end_pos": [ + 29901.4111, + -7048.5437, + -11166.1052 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29901.4111, + -7048.5437, + -11166.1052 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29801.4111, + -7048.5437, + -11166.1052 + ], + "actual_end_pos": [ + 29801.4111, + -7048.5437, + -11166.1052 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29801.4111, + -7048.5437, + -11166.1052 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29801.4111, + -7147.6882, + -11153.0526 + ], + "actual_end_pos": [ + 29801.4111, + -7147.6882, + -11153.0526 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260411_181558__pair_002415_A_traj_002415_meta.json b/equivalence_easy/run_20260411_181558__pair_002415_A_traj_002415_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..89a57afe9f3577f91ad2792b8187c2f0ba7fbe46 --- /dev/null +++ b/equivalence_easy/run_20260411_181558__pair_002415_A_traj_002415_meta.json @@ -0,0 +1,1464 @@ +{ + "trajectory_id": 2415, + "episode_id": 0, + "state_id": 1788, + "sample_index": 1788, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_A", + "partner_trajectory_id": 2416, + "primary_trajectory_id": 2415, + "paired_trajectory_id": 2416, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 29760.0, + -6740.0, + -11140.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "look_down", + "move_backward", + "turn_right", + "move_left", + "turn_right", + "move_forward", + "turn_left", + "move_left", + "turn_left", + "move_right", + "move_right", + "turn_left", + "move_left", + "move_left", + "move_backward", + "move_right", + "turn_left", + "move_backward", + "move_left", + "turn_left", + "turn_left", + "turn_left", + "move_backward", + "turn_right", + "turn_right", + "move_right", + "move_right", + "move_right", + "move_right", + "no_op", + "move_left", + "move_left", + "move_left", + "move_left", + "move_forward", + "move_forward", + "look_down", + "move_forward", + "move_forward" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29760.0, + -6740.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29660.0, + -6740.0, + -11140.0 + ], + "actual_end_pos": [ + 29660.0, + -6740.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 29660.0, + -6740.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29660.0, + -6740.0, + -11140.0 + ], + "actual_end_pos": [ + 29660.0, + -6740.0, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + 180.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29660.0, + -6740.0, + -11140.0 + ], + "start_rot": [ + -7.5, + 180.0, + -0.0 + ], + "expected_end_pos": [ + 29759.1445, + -6740.0, + -11126.9474 + ], + "actual_end_pos": [ + 29759.1445, + -6740.0, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + 180.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29759.1445, + -6740.0, + -11126.9474 + ], + "start_rot": [ + -7.5, + 180.0, + -0.0 + ], + "expected_end_pos": [ + 29759.1445, + -6740.0, + -11126.9474 + ], + "actual_end_pos": [ + 29759.1445, + -6740.0, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29759.1445, + -6740.0, + -11126.9474 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 29733.2626, + -6643.4074, + -11126.9474 + ], + "actual_end_pos": [ + 29733.2626, + -6643.4074, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29733.2626, + -6643.4074, + -11126.9474 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 29733.2626, + -6643.4074, + -11126.9474 + ], + "actual_end_pos": [ + 29733.2626, + -6643.4074, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29733.2626, + -6643.4074, + -11126.9474 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 29647.4009, + -6692.9797, + -11140.0 + ], + "actual_end_pos": [ + 29647.4009, + -6692.9797, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29647.4009, + -6692.9797, + -11140.0 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 29647.4009, + -6692.9797, + -11140.0 + ], + "actual_end_pos": [ + 29647.4009, + -6692.9797, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29647.4009, + -6692.9797, + -11140.0 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 29621.519, + -6596.3871, + -11140.0 + ], + "actual_end_pos": [ + 29621.519, + -6596.3871, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29621.519, + -6596.3871, + -11140.0 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 29621.519, + -6596.3871, + -11140.0 + ], + "actual_end_pos": [ + 29621.519, + -6596.3871, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29621.519, + -6596.3871, + -11140.0 + ], + "start_rot": [ + -7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29621.519, + -6696.3871, + -11140.0 + ], + "actual_end_pos": [ + 29621.519, + -6696.3871, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29621.519, + -6696.3871, + -11140.0 + ], + "start_rot": [ + -7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29621.519, + -6796.3871, + -11140.0 + ], + "actual_end_pos": [ + 29621.519, + -6796.3871, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29621.519, + -6796.3871, + -11140.0 + ], + "start_rot": [ + -7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29621.519, + -6796.3871, + -11140.0 + ], + "actual_end_pos": [ + 29621.519, + -6796.3871, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29621.519, + -6796.3871, + -11140.0 + ], + "start_rot": [ + -7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 29647.4009, + -6699.7945, + -11140.0 + ], + "actual_end_pos": [ + 29647.4009, + -6699.7945, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29647.4009, + -6699.7945, + -11140.0 + ], + "start_rot": [ + -7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 29673.2828, + -6603.2019, + -11140.0 + ], + "actual_end_pos": [ + 29673.2828, + -6603.2019, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29673.2828, + -6603.2019, + -11140.0 + ], + "start_rot": [ + -7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 29769.0491, + -6628.8624, + -11126.9474 + ], + "actual_end_pos": [ + 29769.0491, + -6628.8624, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29769.0491, + -6628.8624, + -11126.9474 + ], + "start_rot": [ + -7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 29743.1672, + -6725.455, + -11126.9474 + ], + "actual_end_pos": [ + 29743.1672, + -6725.455, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29743.1672, + -6725.455, + -11126.9474 + ], + "start_rot": [ + -7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 29743.1672, + -6725.455, + -11126.9474 + ], + "actual_end_pos": [ + 29743.1672, + -6725.455, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29743.1672, + -6725.455, + -11126.9474 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 29829.0288, + -6775.0272, + -11113.8948 + ], + "actual_end_pos": [ + 29829.0288, + -6775.0272, + -11113.8948 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29829.0288, + -6775.0272, + -11113.8948 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 29879.0288, + -6688.4247, + -11113.8948 + ], + "actual_end_pos": [ + 29879.0288, + -6688.4247, + -11113.8948 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29879.0288, + -6688.4247, + -11113.8948 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 29879.0288, + -6688.4247, + -11113.8948 + ], + "actual_end_pos": [ + 29879.0288, + -6688.4247, + -11113.8948 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29879.0288, + -6688.4247, + -11113.8948 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29879.0288, + -6688.4247, + -11113.8948 + ], + "actual_end_pos": [ + 29879.0288, + -6688.4247, + -11113.8948 + ], + "actual_end_rot": [ + -7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29879.0288, + -6688.4247, + -11113.8948 + ], + "start_rot": [ + -7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 29879.0288, + -6688.4247, + -11113.8948 + ], + "actual_end_pos": [ + 29879.0288, + -6688.4247, + -11113.8948 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29879.0288, + -6688.4247, + -11113.8948 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 29904.6893, + -6784.1909, + -11100.8421 + ], + "actual_end_pos": [ + 29904.6893, + -6784.1909, + -11100.8421 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29904.6893, + -6784.1909, + -11100.8421 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 29904.6893, + -6784.1909, + -11100.8421 + ], + "actual_end_pos": [ + 29904.6893, + -6784.1909, + -11100.8421 + ], + "actual_end_rot": [ + -7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29904.6893, + -6784.1909, + -11100.8421 + ], + "start_rot": [ + -7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 29904.6893, + -6784.1909, + -11100.8421 + ], + "actual_end_pos": [ + 29904.6893, + -6784.1909, + -11100.8421 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29904.6893, + -6784.1909, + -11100.8421 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29833.9786, + -6854.9016, + -11100.8421 + ], + "actual_end_pos": [ + 29833.9786, + -6854.9016, + -11100.8421 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29833.9786, + -6854.9016, + -11100.8421 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29763.2679, + -6925.6123, + -11100.8421 + ], + "actual_end_pos": [ + 29763.2679, + -6925.6123, + -11100.8421 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29763.2679, + -6925.6123, + -11100.8421 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29692.5572, + -6996.3229, + -11100.8421 + ], + "actual_end_pos": [ + 29692.5572, + -6996.3229, + -11100.8421 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29692.5572, + -6996.3229, + -11100.8421 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29621.8466, + -7067.0336, + -11100.8421 + ], + "actual_end_pos": [ + 29621.8466, + -7067.0336, + -11100.8421 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29621.8466, + -7067.0336, + -11100.8421 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29621.8466, + -7067.0336, + -11100.8421 + ], + "actual_end_pos": [ + 29621.8466, + -7067.0336, + -11100.8421 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29621.8466, + -7067.0336, + -11100.8421 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29692.5572, + -6996.3229, + -11100.8421 + ], + "actual_end_pos": [ + 29692.5572, + -6996.3229, + -11100.8421 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29692.5572, + -6996.3229, + -11100.8421 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29763.2679, + -6925.6123, + -11100.8421 + ], + "actual_end_pos": [ + 29763.2679, + -6925.6123, + -11100.8421 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29763.2679, + -6925.6123, + -11100.8421 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29833.9786, + -6854.9016, + -11100.8421 + ], + "actual_end_pos": [ + 29833.9786, + -6854.9016, + -11100.8421 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29833.9786, + -6854.9016, + -11100.8421 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29904.6893, + -6784.1909, + -11100.8421 + ], + "actual_end_pos": [ + 29904.6893, + -6784.1909, + -11100.8421 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29904.6893, + -6784.1909, + -11100.8421 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29834.5835, + -6714.0852, + -11113.8948 + ], + "actual_end_pos": [ + 29834.5835, + -6714.0852, + -11113.8948 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29834.5835, + -6714.0852, + -11113.8948 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29764.4778, + -6643.9794, + -11126.9474 + ], + "actual_end_pos": [ + 29764.4778, + -6643.9794, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 29764.4778, + -6643.9794, + -11126.9474 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29764.4778, + -6643.9794, + -11126.9474 + ], + "actual_end_pos": [ + 29764.4778, + -6643.9794, + -11126.9474 + ], + "actual_end_rot": [ + -15.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29764.4778, + -6643.9794, + -11126.9474 + ], + "start_rot": [ + -15.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29696.1765, + -6575.6782, + -11152.8293 + ], + "actual_end_pos": [ + 29696.1765, + -6575.6782, + -11152.8293 + ], + "actual_end_rot": [ + -15.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29696.1765, + -6575.6782, + -11152.8293 + ], + "start_rot": [ + -15.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29627.8753, + -6507.3769, + -11178.7112 + ], + "actual_end_pos": [ + 29627.8753, + -6507.3769, + -11178.7112 + ], + "actual_end_rot": [ + -15.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260411_181558__pair_002415_B_traj_002416_meta.json b/equivalence_easy/run_20260411_181558__pair_002415_B_traj_002416_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3d015491d4f730324de3587230020f54105b7c07 --- /dev/null +++ b/equivalence_easy/run_20260411_181558__pair_002415_B_traj_002416_meta.json @@ -0,0 +1,1464 @@ +{ + "trajectory_id": 2416, + "episode_id": 0, + "state_id": 1788, + "sample_index": 1788, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_B", + "partner_trajectory_id": 2415, + "primary_trajectory_id": 2415, + "paired_trajectory_id": 2416, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 29760.0, + -6740.0, + -11140.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "look_down", + "move_backward", + "turn_right", + "move_left", + "turn_right", + "move_forward", + "turn_left", + "move_left", + "turn_left", + "move_right", + "move_right", + "turn_left", + "move_left", + "move_backward", + "move_right", + "move_left", + "turn_left", + "move_left", + "move_backward", + "turn_left", + "turn_left", + "turn_left", + "move_backward", + "turn_right", + "turn_right", + "move_right", + "move_right", + "move_right", + "move_right", + "no_op", + "move_forward", + "move_left", + "move_left", + "move_left", + "move_left", + "move_forward", + "look_down", + "move_forward", + "move_forward" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29760.0, + -6740.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29660.0, + -6740.0, + -11140.0 + ], + "actual_end_pos": [ + 29660.0, + -6740.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 29660.0, + -6740.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29660.0, + -6740.0, + -11140.0 + ], + "actual_end_pos": [ + 29660.0, + -6740.0, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + 180.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29660.0, + -6740.0, + -11140.0 + ], + "start_rot": [ + -7.5, + 180.0, + -0.0 + ], + "expected_end_pos": [ + 29759.1445, + -6740.0, + -11126.9474 + ], + "actual_end_pos": [ + 29759.1445, + -6740.0, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + 180.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29759.1445, + -6740.0, + -11126.9474 + ], + "start_rot": [ + -7.5, + 180.0, + -0.0 + ], + "expected_end_pos": [ + 29759.1445, + -6740.0, + -11126.9474 + ], + "actual_end_pos": [ + 29759.1445, + -6740.0, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29759.1445, + -6740.0, + -11126.9474 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 29733.2626, + -6643.4074, + -11126.9474 + ], + "actual_end_pos": [ + 29733.2626, + -6643.4074, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29733.2626, + -6643.4074, + -11126.9474 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 29733.2626, + -6643.4074, + -11126.9474 + ], + "actual_end_pos": [ + 29733.2626, + -6643.4074, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29733.2626, + -6643.4074, + -11126.9474 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 29647.4009, + -6692.9797, + -11140.0 + ], + "actual_end_pos": [ + 29647.4009, + -6692.9797, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29647.4009, + -6692.9797, + -11140.0 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 29647.4009, + -6692.9797, + -11140.0 + ], + "actual_end_pos": [ + 29647.4009, + -6692.9797, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29647.4009, + -6692.9797, + -11140.0 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 29621.519, + -6596.3871, + -11140.0 + ], + "actual_end_pos": [ + 29621.519, + -6596.3871, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29621.519, + -6596.3871, + -11140.0 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 29621.519, + -6596.3871, + -11140.0 + ], + "actual_end_pos": [ + 29621.519, + -6596.3871, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29621.519, + -6596.3871, + -11140.0 + ], + "start_rot": [ + -7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29621.519, + -6696.3871, + -11140.0 + ], + "actual_end_pos": [ + 29621.519, + -6696.3871, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29621.519, + -6696.3871, + -11140.0 + ], + "start_rot": [ + -7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29621.519, + -6796.3871, + -11140.0 + ], + "actual_end_pos": [ + 29621.519, + -6796.3871, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29621.519, + -6796.3871, + -11140.0 + ], + "start_rot": [ + -7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29621.519, + -6796.3871, + -11140.0 + ], + "actual_end_pos": [ + 29621.519, + -6796.3871, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29621.519, + -6796.3871, + -11140.0 + ], + "start_rot": [ + -7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 29647.4009, + -6699.7945, + -11140.0 + ], + "actual_end_pos": [ + 29647.4009, + -6699.7945, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29647.4009, + -6699.7945, + -11140.0 + ], + "start_rot": [ + -7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 29743.1672, + -6725.455, + -11126.9474 + ], + "actual_end_pos": [ + 29743.1672, + -6725.455, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29743.1672, + -6725.455, + -11126.9474 + ], + "start_rot": [ + -7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 29717.2852, + -6822.0476, + -11126.9474 + ], + "actual_end_pos": [ + 29717.2852, + -6822.0476, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29717.2852, + -6822.0476, + -11126.9474 + ], + "start_rot": [ + -7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 29743.1672, + -6725.455, + -11126.9474 + ], + "actual_end_pos": [ + 29743.1672, + -6725.455, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29743.1672, + -6725.455, + -11126.9474 + ], + "start_rot": [ + -7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 29743.1672, + -6725.455, + -11126.9474 + ], + "actual_end_pos": [ + 29743.1672, + -6725.455, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29743.1672, + -6725.455, + -11126.9474 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 29793.1672, + -6638.8524, + -11126.9474 + ], + "actual_end_pos": [ + 29793.1672, + -6638.8524, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29793.1672, + -6638.8524, + -11126.9474 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 29879.0288, + -6688.4247, + -11113.8948 + ], + "actual_end_pos": [ + 29879.0288, + -6688.4247, + -11113.8948 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29879.0288, + -6688.4247, + -11113.8948 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 29879.0288, + -6688.4247, + -11113.8948 + ], + "actual_end_pos": [ + 29879.0288, + -6688.4247, + -11113.8948 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29879.0288, + -6688.4247, + -11113.8948 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29879.0288, + -6688.4247, + -11113.8948 + ], + "actual_end_pos": [ + 29879.0288, + -6688.4247, + -11113.8948 + ], + "actual_end_rot": [ + -7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29879.0288, + -6688.4247, + -11113.8948 + ], + "start_rot": [ + -7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 29879.0288, + -6688.4247, + -11113.8948 + ], + "actual_end_pos": [ + 29879.0288, + -6688.4247, + -11113.8948 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29879.0288, + -6688.4247, + -11113.8948 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 29904.6893, + -6784.1909, + -11100.8421 + ], + "actual_end_pos": [ + 29904.6893, + -6784.1909, + -11100.8421 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29904.6893, + -6784.1909, + -11100.8421 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 29904.6893, + -6784.1909, + -11100.8421 + ], + "actual_end_pos": [ + 29904.6893, + -6784.1909, + -11100.8421 + ], + "actual_end_rot": [ + -7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29904.6893, + -6784.1909, + -11100.8421 + ], + "start_rot": [ + -7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 29904.6893, + -6784.1909, + -11100.8421 + ], + "actual_end_pos": [ + 29904.6893, + -6784.1909, + -11100.8421 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29904.6893, + -6784.1909, + -11100.8421 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29833.9786, + -6854.9016, + -11100.8421 + ], + "actual_end_pos": [ + 29833.9786, + -6854.9016, + -11100.8421 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29833.9786, + -6854.9016, + -11100.8421 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29763.2679, + -6925.6123, + -11100.8421 + ], + "actual_end_pos": [ + 29763.2679, + -6925.6123, + -11100.8421 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29763.2679, + -6925.6123, + -11100.8421 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29692.5572, + -6996.3229, + -11100.8421 + ], + "actual_end_pos": [ + 29692.5572, + -6996.3229, + -11100.8421 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29692.5572, + -6996.3229, + -11100.8421 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29621.8466, + -7067.0336, + -11100.8421 + ], + "actual_end_pos": [ + 29621.8466, + -7067.0336, + -11100.8421 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29621.8466, + -7067.0336, + -11100.8421 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29621.8466, + -7067.0336, + -11100.8421 + ], + "actual_end_pos": [ + 29621.8466, + -7067.0336, + -11100.8421 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29621.8466, + -7067.0336, + -11100.8421 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29551.7408, + -6996.9279, + -11113.8948 + ], + "actual_end_pos": [ + 29551.7408, + -6996.9279, + -11113.8948 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29551.7408, + -6996.9279, + -11113.8948 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29622.4515, + -6926.2172, + -11113.8948 + ], + "actual_end_pos": [ + 29622.4515, + -6926.2172, + -11113.8948 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29622.4515, + -6926.2172, + -11113.8948 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29693.1622, + -6855.5065, + -11113.8948 + ], + "actual_end_pos": [ + 29693.1622, + -6855.5065, + -11113.8948 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29693.1622, + -6855.5065, + -11113.8948 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29763.8729, + -6784.7958, + -11113.8948 + ], + "actual_end_pos": [ + 29763.8729, + -6784.7958, + -11113.8948 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29763.8729, + -6784.7958, + -11113.8948 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29834.5835, + -6714.0852, + -11113.8948 + ], + "actual_end_pos": [ + 29834.5835, + -6714.0852, + -11113.8948 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29834.5835, + -6714.0852, + -11113.8948 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29764.4778, + -6643.9794, + -11126.9474 + ], + "actual_end_pos": [ + 29764.4778, + -6643.9794, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 29764.4778, + -6643.9794, + -11126.9474 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29764.4778, + -6643.9794, + -11126.9474 + ], + "actual_end_pos": [ + 29764.4778, + -6643.9794, + -11126.9474 + ], + "actual_end_rot": [ + -15.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29764.4778, + -6643.9794, + -11126.9474 + ], + "start_rot": [ + -15.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29696.1765, + -6575.6782, + -11152.8293 + ], + "actual_end_pos": [ + 29696.1765, + -6575.6782, + -11152.8293 + ], + "actual_end_rot": [ + -15.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29696.1765, + -6575.6782, + -11152.8293 + ], + "start_rot": [ + -15.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29627.8753, + -6507.3769, + -11178.7112 + ], + "actual_end_pos": [ + 29627.8753, + -6507.3769, + -11178.7112 + ], + "actual_end_rot": [ + -15.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260411_181558__pair_002477_A_traj_002477_meta.json b/equivalence_easy/run_20260411_181558__pair_002477_A_traj_002477_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9b05d2d6037e7c65d949828a44632c18c8aac305 --- /dev/null +++ b/equivalence_easy/run_20260411_181558__pair_002477_A_traj_002477_meta.json @@ -0,0 +1,1464 @@ +{ + "trajectory_id": 2477, + "episode_id": 0, + "state_id": 1834, + "sample_index": 1834, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_A", + "partner_trajectory_id": 2478, + "primary_trajectory_id": 2477, + "paired_trajectory_id": 2478, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 29960.0, + -9740.0, + -11140.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "no_op", + "move_right", + "move_right", + "move_right", + "look_down", + "move_right", + "move_forward", + "move_left", + "no_op", + "move_right", + "move_backward", + "turn_right", + "look_down", + "look_down", + "move_forward", + "move_right", + "move_backward", + "move_left", + "move_forward", + "move_right", + "move_forward", + "move_left", + "move_forward", + "turn_left", + "move_forward", + "turn_left", + "move_forward", + "look_up", + "turn_right", + "move_forward", + "move_forward", + "move_right", + "turn_right", + "move_forward", + "no_op", + "turn_right", + "turn_right", + "turn_right", + "move_right", + "move_backward" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29960.0, + -9740.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29960.0, + -9740.0, + -11140.0 + ], + "actual_end_pos": [ + 29960.0, + -9740.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29960.0, + -9740.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29860.0, + -9740.0, + -11140.0 + ], + "actual_end_pos": [ + 29860.0, + -9740.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29860.0, + -9740.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29760.0, + -9740.0, + -11140.0 + ], + "actual_end_pos": [ + 29760.0, + -9740.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29760.0, + -9740.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29660.0, + -9740.0, + -11140.0 + ], + "actual_end_pos": [ + 29660.0, + -9740.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 29660.0, + -9740.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29660.0, + -9740.0, + -11140.0 + ], + "actual_end_pos": [ + 29660.0, + -9740.0, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29660.0, + -9740.0, + -11140.0 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29560.0, + -9740.0, + -11140.0 + ], + "actual_end_pos": [ + 29560.0, + -9740.0, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29560.0, + -9740.0, + -11140.0 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29560.0, + -9640.8555, + -11153.0526 + ], + "actual_end_pos": [ + 29560.0, + -9640.8555, + -11153.0526 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29560.0, + -9640.8555, + -11153.0526 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29660.0, + -9640.8555, + -11153.0526 + ], + "actual_end_pos": [ + 29660.0, + -9640.8555, + -11153.0526 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29660.0, + -9640.8555, + -11153.0526 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29660.0, + -9640.8555, + -11153.0526 + ], + "actual_end_pos": [ + 29660.0, + -9640.8555, + -11153.0526 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29660.0, + -9640.8555, + -11153.0526 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29560.0, + -9640.8555, + -11153.0526 + ], + "actual_end_pos": [ + 29560.0, + -9640.8555, + -11153.0526 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29560.0, + -9640.8555, + -11153.0526 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29560.0, + -9740.0, + -11140.0 + ], + "actual_end_pos": [ + 29560.0, + -9740.0, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29560.0, + -9740.0, + -11140.0 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29560.0, + -9740.0, + -11140.0 + ], + "actual_end_pos": [ + 29560.0, + -9740.0, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 29560.0, + -9740.0, + -11140.0 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 29560.0, + -9740.0, + -11140.0 + ], + "actual_end_pos": [ + 29560.0, + -9740.0, + -11140.0 + ], + "actual_end_rot": [ + -15.0, + 105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 29560.0, + -9740.0, + -11140.0 + ], + "start_rot": [ + -15.0, + 105.0, + -0.0 + ], + "expected_end_pos": [ + 29560.0, + -9740.0, + -11140.0 + ], + "actual_end_pos": [ + 29560.0, + -9740.0, + -11140.0 + ], + "actual_end_rot": [ + -22.5, + 105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29560.0, + -9740.0, + -11140.0 + ], + "start_rot": [ + -22.5, + 105.0, + -0.0 + ], + "expected_end_pos": [ + 29536.0882, + -9650.7601, + -11178.2683 + ], + "actual_end_pos": [ + 29536.0882, + -9650.7601, + -11178.2683 + ], + "actual_end_rot": [ + -22.5, + 105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29536.0882, + -9650.7601, + -11178.2683 + ], + "start_rot": [ + -22.5, + 105.0, + -0.0 + ], + "expected_end_pos": [ + 29439.4957, + -9676.642, + -11178.2683 + ], + "actual_end_pos": [ + 29439.4957, + -9676.642, + -11178.2683 + ], + "actual_end_rot": [ + -22.5, + 105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29439.4957, + -9676.642, + -11178.2683 + ], + "start_rot": [ + -22.5, + 105.0, + -0.0 + ], + "expected_end_pos": [ + 29463.4074, + -9765.8819, + -11140.0 + ], + "actual_end_pos": [ + 29463.4074, + -9765.8819, + -11140.0 + ], + "actual_end_rot": [ + -22.5, + 105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29463.4074, + -9765.8819, + -11140.0 + ], + "start_rot": [ + -22.5, + 105.0, + -0.0 + ], + "expected_end_pos": [ + 29560.0, + -9740.0, + -11140.0 + ], + "actual_end_pos": [ + 29560.0, + -9740.0, + -11140.0 + ], + "actual_end_rot": [ + -22.5, + 105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29560.0, + -9740.0, + -11140.0 + ], + "start_rot": [ + -22.5, + 105.0, + -0.0 + ], + "expected_end_pos": [ + 29536.0882, + -9650.7601, + -11178.2683 + ], + "actual_end_pos": [ + 29536.0882, + -9650.7601, + -11178.2683 + ], + "actual_end_rot": [ + -22.5, + 105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29536.0882, + -9650.7601, + -11178.2683 + ], + "start_rot": [ + -22.5, + 105.0, + -0.0 + ], + "expected_end_pos": [ + 29439.4957, + -9676.642, + -11178.2683 + ], + "actual_end_pos": [ + 29439.4957, + -9676.642, + -11178.2683 + ], + "actual_end_rot": [ + -22.5, + 105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29439.4957, + -9676.642, + -11178.2683 + ], + "start_rot": [ + -22.5, + 105.0, + -0.0 + ], + "expected_end_pos": [ + 29415.5839, + -9587.4021, + -11216.5367 + ], + "actual_end_pos": [ + 29415.5839, + -9587.4021, + -11216.5367 + ], + "actual_end_rot": [ + -22.5, + 105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29415.5839, + -9587.4021, + -11216.5367 + ], + "start_rot": [ + -22.5, + 105.0, + -0.0 + ], + "expected_end_pos": [ + 29512.1765, + -9561.5202, + -11216.5367 + ], + "actual_end_pos": [ + 29512.1765, + -9561.5202, + -11216.5367 + ], + "actual_end_rot": [ + -22.5, + 105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29512.1765, + -9561.5202, + -11216.5367 + ], + "start_rot": [ + -22.5, + 105.0, + -0.0 + ], + "expected_end_pos": [ + 29488.2647, + -9472.2803, + -11254.805 + ], + "actual_end_pos": [ + 29488.2647, + -9472.2803, + -11254.805 + ], + "actual_end_rot": [ + -22.5, + 105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29488.2647, + -9472.2803, + -11254.805 + ], + "start_rot": [ + -22.5, + 105.0, + -0.0 + ], + "expected_end_pos": [ + 29488.2647, + -9472.2803, + -11254.805 + ], + "actual_end_pos": [ + 29488.2647, + -9472.2803, + -11254.805 + ], + "actual_end_rot": [ + -22.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29488.2647, + -9472.2803, + -11254.805 + ], + "start_rot": [ + -22.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29488.2647, + -9379.8923, + -11293.0734 + ], + "actual_end_pos": [ + 29488.2647, + -9379.8923, + -11293.0734 + ], + "actual_end_rot": [ + -22.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29488.2647, + -9379.8923, + -11293.0734 + ], + "start_rot": [ + -22.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29488.2647, + -9379.8923, + -11293.0734 + ], + "actual_end_pos": [ + 29488.2647, + -9379.8923, + -11293.0734 + ], + "actual_end_rot": [ + -22.5, + 75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29488.2647, + -9379.8923, + -11293.0734 + ], + "start_rot": [ + -22.5, + 75.0, + -0.0 + ], + "expected_end_pos": [ + 29512.1765, + -9290.6524, + -11331.3417 + ], + "actual_end_pos": [ + 29512.1765, + -9290.6524, + -11331.3417 + ], + "actual_end_rot": [ + -22.5, + 75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 29512.1765, + -9290.6524, + -11331.3417 + ], + "start_rot": [ + -22.5, + 75.0, + -0.0 + ], + "expected_end_pos": [ + 29512.1765, + -9290.6524, + -11331.3417 + ], + "actual_end_pos": [ + 29512.1765, + -9290.6524, + -11331.3417 + ], + "actual_end_rot": [ + -15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29512.1765, + -9290.6524, + -11331.3417 + ], + "start_rot": [ + -15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 29512.1765, + -9290.6524, + -11331.3417 + ], + "actual_end_pos": [ + 29512.1765, + -9290.6524, + -11331.3417 + ], + "actual_end_rot": [ + -15.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29512.1765, + -9290.6524, + -11331.3417 + ], + "start_rot": [ + -15.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29512.1765, + -9194.0598, + -11357.2236 + ], + "actual_end_pos": [ + 29512.1765, + -9194.0598, + -11357.2236 + ], + "actual_end_rot": [ + -15.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29512.1765, + -9194.0598, + -11357.2236 + ], + "start_rot": [ + -15.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29512.1765, + -9097.4672, + -11383.1055 + ], + "actual_end_pos": [ + 29512.1765, + -9097.4672, + -11383.1055 + ], + "actual_end_rot": [ + -15.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29512.1765, + -9097.4672, + -11383.1055 + ], + "start_rot": [ + -15.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29412.1765, + -9097.4672, + -11383.1055 + ], + "actual_end_pos": [ + 29412.1765, + -9097.4672, + -11383.1055 + ], + "actual_end_rot": [ + -15.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29412.1765, + -9097.4672, + -11383.1055 + ], + "start_rot": [ + -15.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29412.1765, + -9097.4672, + -11383.1055 + ], + "actual_end_pos": [ + 29412.1765, + -9097.4672, + -11383.1055 + ], + "actual_end_rot": [ + -15.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29412.1765, + -9097.4672, + -11383.1055 + ], + "start_rot": [ + -15.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 29387.1765, + -9004.166, + -11408.9874 + ], + "actual_end_pos": [ + 29387.1765, + -9004.166, + -11408.9874 + ], + "actual_end_rot": [ + -15.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29387.1765, + -9004.166, + -11408.9874 + ], + "start_rot": [ + -15.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 29387.1765, + -9004.166, + -11408.9874 + ], + "actual_end_pos": [ + 29387.1765, + -9004.166, + -11408.9874 + ], + "actual_end_rot": [ + -15.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29387.1765, + -9004.166, + -11408.9874 + ], + "start_rot": [ + -15.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 29387.1765, + -9004.166, + -11408.9874 + ], + "actual_end_pos": [ + 29387.1765, + -9004.166, + -11408.9874 + ], + "actual_end_rot": [ + -15.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29387.1765, + -9004.166, + -11408.9874 + ], + "start_rot": [ + -15.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 29387.1765, + -9004.166, + -11408.9874 + ], + "actual_end_pos": [ + 29387.1765, + -9004.166, + -11408.9874 + ], + "actual_end_rot": [ + -15.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29387.1765, + -9004.166, + -11408.9874 + ], + "start_rot": [ + -15.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29387.1765, + -9004.166, + -11408.9874 + ], + "actual_end_pos": [ + 29387.1765, + -9004.166, + -11408.9874 + ], + "actual_end_rot": [ + -15.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29387.1765, + -9004.166, + -11408.9874 + ], + "start_rot": [ + -15.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 29337.1765, + -9090.7685, + -11408.9874 + ], + "actual_end_pos": [ + 29337.1765, + -9090.7685, + -11408.9874 + ], + "actual_end_rot": [ + -15.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29337.1765, + -9090.7685, + -11408.9874 + ], + "start_rot": [ + -15.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 29420.8281, + -9139.0648, + -11383.1055 + ], + "actual_end_pos": [ + 29420.8281, + -9139.0648, + -11383.1055 + ], + "actual_end_rot": [ + -15.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260411_181558__pair_002477_B_traj_002478_meta.json b/equivalence_easy/run_20260411_181558__pair_002477_B_traj_002478_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c3efce240377700feaf8d9f8c2d15707b4f5c553 --- /dev/null +++ b/equivalence_easy/run_20260411_181558__pair_002477_B_traj_002478_meta.json @@ -0,0 +1,1464 @@ +{ + "trajectory_id": 2478, + "episode_id": 0, + "state_id": 1834, + "sample_index": 1834, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_B", + "partner_trajectory_id": 2477, + "primary_trajectory_id": 2477, + "paired_trajectory_id": 2478, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 29960.0, + -9740.0, + -11140.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "no_op", + "move_right", + "move_right", + "move_right", + "look_down", + "move_right", + "move_forward", + "move_left", + "no_op", + "move_backward", + "move_right", + "look_down", + "look_down", + "turn_right", + "move_forward", + "move_left", + "move_left", + "move_forward", + "move_forward", + "move_right", + "move_right", + "move_backward", + "move_forward", + "turn_left", + "move_forward", + "turn_left", + "move_forward", + "look_up", + "turn_right", + "move_right", + "move_forward", + "move_forward", + "turn_right", + "move_forward", + "no_op", + "turn_right", + "turn_right", + "turn_right", + "move_backward", + "move_right" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29960.0, + -9740.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29960.0, + -9740.0, + -11140.0 + ], + "actual_end_pos": [ + 29960.0, + -9740.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29960.0, + -9740.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29860.0, + -9740.0, + -11140.0 + ], + "actual_end_pos": [ + 29860.0, + -9740.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29860.0, + -9740.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29760.0, + -9740.0, + -11140.0 + ], + "actual_end_pos": [ + 29760.0, + -9740.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29760.0, + -9740.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29660.0, + -9740.0, + -11140.0 + ], + "actual_end_pos": [ + 29660.0, + -9740.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 29660.0, + -9740.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29660.0, + -9740.0, + -11140.0 + ], + "actual_end_pos": [ + 29660.0, + -9740.0, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29660.0, + -9740.0, + -11140.0 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29560.0, + -9740.0, + -11140.0 + ], + "actual_end_pos": [ + 29560.0, + -9740.0, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29560.0, + -9740.0, + -11140.0 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29560.0, + -9640.8555, + -11153.0526 + ], + "actual_end_pos": [ + 29560.0, + -9640.8555, + -11153.0526 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29560.0, + -9640.8555, + -11153.0526 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29660.0, + -9640.8555, + -11153.0526 + ], + "actual_end_pos": [ + 29660.0, + -9640.8555, + -11153.0526 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29660.0, + -9640.8555, + -11153.0526 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29660.0, + -9640.8555, + -11153.0526 + ], + "actual_end_pos": [ + 29660.0, + -9640.8555, + -11153.0526 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29660.0, + -9640.8555, + -11153.0526 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29660.0, + -9740.0, + -11140.0 + ], + "actual_end_pos": [ + 29660.0, + -9740.0, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29660.0, + -9740.0, + -11140.0 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29560.0, + -9740.0, + -11140.0 + ], + "actual_end_pos": [ + 29560.0, + -9740.0, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 29560.0, + -9740.0, + -11140.0 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29560.0, + -9740.0, + -11140.0 + ], + "actual_end_pos": [ + 29560.0, + -9740.0, + -11140.0 + ], + "actual_end_rot": [ + -15.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 29560.0, + -9740.0, + -11140.0 + ], + "start_rot": [ + -15.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29560.0, + -9740.0, + -11140.0 + ], + "actual_end_pos": [ + 29560.0, + -9740.0, + -11140.0 + ], + "actual_end_rot": [ + -22.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29560.0, + -9740.0, + -11140.0 + ], + "start_rot": [ + -22.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29560.0, + -9740.0, + -11140.0 + ], + "actual_end_pos": [ + 29560.0, + -9740.0, + -11140.0 + ], + "actual_end_rot": [ + -22.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29560.0, + -9740.0, + -11140.0 + ], + "start_rot": [ + -22.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 29536.0882, + -9650.7601, + -11178.2683 + ], + "actual_end_pos": [ + 29536.0882, + -9650.7601, + -11178.2683 + ], + "actual_end_rot": [ + -22.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29536.0882, + -9650.7601, + -11178.2683 + ], + "start_rot": [ + -22.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 29632.6808, + -9624.8782, + -11178.2683 + ], + "actual_end_pos": [ + 29632.6808, + -9624.8782, + -11178.2683 + ], + "actual_end_rot": [ + -22.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29632.6808, + -9624.8782, + -11178.2683 + ], + "start_rot": [ + -22.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 29729.2734, + -9598.9963, + -11178.2683 + ], + "actual_end_pos": [ + 29729.2734, + -9598.9963, + -11178.2683 + ], + "actual_end_rot": [ + -22.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29729.2734, + -9598.9963, + -11178.2683 + ], + "start_rot": [ + -22.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 29705.3616, + -9509.7564, + -11216.5367 + ], + "actual_end_pos": [ + 29705.3616, + -9509.7564, + -11216.5367 + ], + "actual_end_rot": [ + -22.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29705.3616, + -9509.7564, + -11216.5367 + ], + "start_rot": [ + -22.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 29681.4499, + -9420.5165, + -11254.805 + ], + "actual_end_pos": [ + 29681.4499, + -9420.5165, + -11254.805 + ], + "actual_end_rot": [ + -22.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29681.4499, + -9420.5165, + -11254.805 + ], + "start_rot": [ + -22.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 29584.8573, + -9446.3984, + -11254.805 + ], + "actual_end_pos": [ + 29584.8573, + -9446.3984, + -11254.805 + ], + "actual_end_rot": [ + -22.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29584.8573, + -9446.3984, + -11254.805 + ], + "start_rot": [ + -22.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 29488.2647, + -9472.2803, + -11254.805 + ], + "actual_end_pos": [ + 29488.2647, + -9472.2803, + -11254.805 + ], + "actual_end_rot": [ + -22.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29488.2647, + -9472.2803, + -11254.805 + ], + "start_rot": [ + -22.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 29512.1765, + -9561.5202, + -11216.5367 + ], + "actual_end_pos": [ + 29512.1765, + -9561.5202, + -11216.5367 + ], + "actual_end_rot": [ + -22.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29512.1765, + -9561.5202, + -11216.5367 + ], + "start_rot": [ + -22.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 29488.2647, + -9472.2803, + -11254.805 + ], + "actual_end_pos": [ + 29488.2647, + -9472.2803, + -11254.805 + ], + "actual_end_rot": [ + -22.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29488.2647, + -9472.2803, + -11254.805 + ], + "start_rot": [ + -22.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 29488.2647, + -9472.2803, + -11254.805 + ], + "actual_end_pos": [ + 29488.2647, + -9472.2803, + -11254.805 + ], + "actual_end_rot": [ + -22.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29488.2647, + -9472.2803, + -11254.805 + ], + "start_rot": [ + -22.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29488.2647, + -9379.8923, + -11293.0734 + ], + "actual_end_pos": [ + 29488.2647, + -9379.8923, + -11293.0734 + ], + "actual_end_rot": [ + -22.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29488.2647, + -9379.8923, + -11293.0734 + ], + "start_rot": [ + -22.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29488.2647, + -9379.8923, + -11293.0734 + ], + "actual_end_pos": [ + 29488.2647, + -9379.8923, + -11293.0734 + ], + "actual_end_rot": [ + -22.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29488.2647, + -9379.8923, + -11293.0734 + ], + "start_rot": [ + -22.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 29512.1765, + -9290.6524, + -11331.3417 + ], + "actual_end_pos": [ + 29512.1765, + -9290.6524, + -11331.3417 + ], + "actual_end_rot": [ + -22.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 29512.1765, + -9290.6524, + -11331.3417 + ], + "start_rot": [ + -22.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 29512.1765, + -9290.6524, + -11331.3417 + ], + "actual_end_pos": [ + 29512.1765, + -9290.6524, + -11331.3417 + ], + "actual_end_rot": [ + -15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29512.1765, + -9290.6524, + -11331.3417 + ], + "start_rot": [ + -15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 29512.1765, + -9290.6524, + -11331.3417 + ], + "actual_end_pos": [ + 29512.1765, + -9290.6524, + -11331.3417 + ], + "actual_end_rot": [ + -15.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29512.1765, + -9290.6524, + -11331.3417 + ], + "start_rot": [ + -15.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29412.1765, + -9290.6524, + -11331.3417 + ], + "actual_end_pos": [ + 29412.1765, + -9290.6524, + -11331.3417 + ], + "actual_end_rot": [ + -15.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29412.1765, + -9290.6524, + -11331.3417 + ], + "start_rot": [ + -15.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29412.1765, + -9194.0598, + -11357.2236 + ], + "actual_end_pos": [ + 29412.1765, + -9194.0598, + -11357.2236 + ], + "actual_end_rot": [ + -15.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29412.1765, + -9194.0598, + -11357.2236 + ], + "start_rot": [ + -15.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29412.1765, + -9097.4672, + -11383.1055 + ], + "actual_end_pos": [ + 29412.1765, + -9097.4672, + -11383.1055 + ], + "actual_end_rot": [ + -15.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29412.1765, + -9097.4672, + -11383.1055 + ], + "start_rot": [ + -15.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29412.1765, + -9097.4672, + -11383.1055 + ], + "actual_end_pos": [ + 29412.1765, + -9097.4672, + -11383.1055 + ], + "actual_end_rot": [ + -15.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29412.1765, + -9097.4672, + -11383.1055 + ], + "start_rot": [ + -15.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 29387.1765, + -9004.166, + -11408.9874 + ], + "actual_end_pos": [ + 29387.1765, + -9004.166, + -11408.9874 + ], + "actual_end_rot": [ + -15.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29387.1765, + -9004.166, + -11408.9874 + ], + "start_rot": [ + -15.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 29387.1765, + -9004.166, + -11408.9874 + ], + "actual_end_pos": [ + 29387.1765, + -9004.166, + -11408.9874 + ], + "actual_end_rot": [ + -15.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29387.1765, + -9004.166, + -11408.9874 + ], + "start_rot": [ + -15.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 29387.1765, + -9004.166, + -11408.9874 + ], + "actual_end_pos": [ + 29387.1765, + -9004.166, + -11408.9874 + ], + "actual_end_rot": [ + -15.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29387.1765, + -9004.166, + -11408.9874 + ], + "start_rot": [ + -15.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 29387.1765, + -9004.166, + -11408.9874 + ], + "actual_end_pos": [ + 29387.1765, + -9004.166, + -11408.9874 + ], + "actual_end_rot": [ + -15.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29387.1765, + -9004.166, + -11408.9874 + ], + "start_rot": [ + -15.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29387.1765, + -9004.166, + -11408.9874 + ], + "actual_end_pos": [ + 29387.1765, + -9004.166, + -11408.9874 + ], + "actual_end_rot": [ + -15.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29387.1765, + -9004.166, + -11408.9874 + ], + "start_rot": [ + -15.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 29470.8281, + -9052.4623, + -11383.1055 + ], + "actual_end_pos": [ + 29470.8281, + -9052.4623, + -11383.1055 + ], + "actual_end_rot": [ + -15.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29470.8281, + -9052.4623, + -11383.1055 + ], + "start_rot": [ + -15.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 29420.8281, + -9139.0648, + -11383.1055 + ], + "actual_end_pos": [ + 29420.8281, + -9139.0648, + -11383.1055 + ], + "actual_end_rot": [ + -15.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260411_181558__pair_002496_A_traj_002496_meta.json b/equivalence_easy/run_20260411_181558__pair_002496_A_traj_002496_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dc048d17389003b29f3b72784b4f690aed9682f5 --- /dev/null +++ b/equivalence_easy/run_20260411_181558__pair_002496_A_traj_002496_meta.json @@ -0,0 +1,1464 @@ +{ + "trajectory_id": 2496, + "episode_id": 0, + "state_id": 1849, + "sample_index": 1849, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_A", + "partner_trajectory_id": 2497, + "primary_trajectory_id": 2496, + "paired_trajectory_id": 2497, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 29960.0, + -9340.0, + -11140.0 + ], + "rotation": [ + 0.0, + 45.0, + 0.0 + ] + }, + "action_sequence": [ + "look_down", + "turn_left", + "move_forward", + "move_right", + "move_forward", + "move_right", + "move_right", + "move_right", + "move_backward", + "move_backward", + "look_down", + "move_forward", + "move_right", + "move_backward", + "move_left", + "move_left", + "move_left", + "move_left", + "turn_right", + "move_backward", + "move_right", + "move_right", + "no_op", + "turn_left", + "move_right", + "look_up", + "move_forward", + "move_left", + "move_left", + "turn_left", + "move_left", + "move_forward", + "move_left", + "move_forward", + "move_left", + "move_backward", + "move_right", + "move_forward", + "move_forward", + "turn_left" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 29960.0, + -9340.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29960.0, + -9340.0, + -11140.0 + ], + "actual_end_pos": [ + 29960.0, + -9340.0, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29960.0, + -9340.0, + -11140.0 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29960.0, + -9340.0, + -11140.0 + ], + "actual_end_pos": [ + 29960.0, + -9340.0, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29960.0, + -9340.0, + -11140.0 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 30045.8616, + -9290.4278, + -11153.0526 + ], + "actual_end_pos": [ + 30045.8616, + -9290.4278, + -11153.0526 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30045.8616, + -9290.4278, + -11153.0526 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 29995.8616, + -9203.8252, + -11153.0526 + ], + "actual_end_pos": [ + 29995.8616, + -9203.8252, + -11153.0526 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29995.8616, + -9203.8252, + -11153.0526 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 30081.7233, + -9154.253, + -11166.1052 + ], + "actual_end_pos": [ + 30081.7233, + -9154.253, + -11166.1052 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30081.7233, + -9154.253, + -11166.1052 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 30031.7233, + -9067.6504, + -11166.1052 + ], + "actual_end_pos": [ + 30031.7233, + -9067.6504, + -11166.1052 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30031.7233, + -9067.6504, + -11166.1052 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 29981.7233, + -8981.0479, + -11166.1052 + ], + "actual_end_pos": [ + 29981.7233, + -8981.0479, + -11166.1052 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29981.7233, + -8981.0479, + -11166.1052 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 29931.7233, + -8894.4454, + -11166.1052 + ], + "actual_end_pos": [ + 29931.7233, + -8894.4454, + -11166.1052 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29931.7233, + -8894.4454, + -11166.1052 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 29845.8616, + -8944.0176, + -11153.0526 + ], + "actual_end_pos": [ + 29845.8616, + -8944.0176, + -11153.0526 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29845.8616, + -8944.0176, + -11153.0526 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 29760.0, + -8993.5898, + -11140.0 + ], + "actual_end_pos": [ + 29760.0, + -8993.5898, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 29760.0, + -8993.5898, + -11140.0 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 29760.0, + -8993.5898, + -11140.0 + ], + "actual_end_pos": [ + 29760.0, + -8993.5898, + -11140.0 + ], + "actual_end_rot": [ + -15.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29760.0, + -8993.5898, + -11140.0 + ], + "start_rot": [ + -15.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 29843.6516, + -8945.2935, + -11165.8819 + ], + "actual_end_pos": [ + 29843.6516, + -8945.2935, + -11165.8819 + ], + "actual_end_rot": [ + -15.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29843.6516, + -8945.2935, + -11165.8819 + ], + "start_rot": [ + -15.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 29793.6516, + -8858.691, + -11165.8819 + ], + "actual_end_pos": [ + 29793.6516, + -8858.691, + -11165.8819 + ], + "actual_end_rot": [ + -15.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29793.6516, + -8858.691, + -11165.8819 + ], + "start_rot": [ + -15.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 29710.0, + -8906.9873, + -11140.0 + ], + "actual_end_pos": [ + 29710.0, + -8906.9873, + -11140.0 + ], + "actual_end_rot": [ + -15.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29710.0, + -8906.9873, + -11140.0 + ], + "start_rot": [ + -15.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 29760.0, + -8993.5898, + -11140.0 + ], + "actual_end_pos": [ + 29760.0, + -8993.5898, + -11140.0 + ], + "actual_end_rot": [ + -15.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29760.0, + -8993.5898, + -11140.0 + ], + "start_rot": [ + -15.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 29810.0, + -9080.1924, + -11140.0 + ], + "actual_end_pos": [ + 29810.0, + -9080.1924, + -11140.0 + ], + "actual_end_rot": [ + -15.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29810.0, + -9080.1924, + -11140.0 + ], + "start_rot": [ + -15.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 29860.0, + -9166.7949, + -11140.0 + ], + "actual_end_pos": [ + 29860.0, + -9166.7949, + -11140.0 + ], + "actual_end_rot": [ + -15.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29860.0, + -9166.7949, + -11140.0 + ], + "start_rot": [ + -15.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 29910.0, + -9253.3975, + -11140.0 + ], + "actual_end_pos": [ + 29910.0, + -9253.3975, + -11140.0 + ], + "actual_end_rot": [ + -15.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29910.0, + -9253.3975, + -11140.0 + ], + "start_rot": [ + -15.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 29910.0, + -9253.3975, + -11140.0 + ], + "actual_end_pos": [ + 29910.0, + -9253.3975, + -11140.0 + ], + "actual_end_rot": [ + -15.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29910.0, + -9253.3975, + -11140.0 + ], + "start_rot": [ + -15.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29841.6987, + -9321.6987, + -11114.1181 + ], + "actual_end_pos": [ + 29841.6987, + -9321.6987, + -11114.1181 + ], + "actual_end_rot": [ + -15.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29841.6987, + -9321.6987, + -11114.1181 + ], + "start_rot": [ + -15.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29770.9881, + -9250.9881, + -11114.1181 + ], + "actual_end_pos": [ + 29770.9881, + -9250.9881, + -11114.1181 + ], + "actual_end_rot": [ + -15.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29770.9881, + -9250.9881, + -11114.1181 + ], + "start_rot": [ + -15.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29700.2774, + -9180.2774, + -11114.1181 + ], + "actual_end_pos": [ + 29700.2774, + -9180.2774, + -11114.1181 + ], + "actual_end_rot": [ + -15.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29700.2774, + -9180.2774, + -11114.1181 + ], + "start_rot": [ + -15.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29700.2774, + -9180.2774, + -11114.1181 + ], + "actual_end_pos": [ + 29700.2774, + -9180.2774, + -11114.1181 + ], + "actual_end_rot": [ + -15.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29700.2774, + -9180.2774, + -11114.1181 + ], + "start_rot": [ + -15.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29700.2774, + -9180.2774, + -11114.1181 + ], + "actual_end_pos": [ + 29700.2774, + -9180.2774, + -11114.1181 + ], + "actual_end_rot": [ + -15.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29700.2774, + -9180.2774, + -11114.1181 + ], + "start_rot": [ + -15.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 29650.2774, + -9093.6748, + -11114.1181 + ], + "actual_end_pos": [ + 29650.2774, + -9093.6748, + -11114.1181 + ], + "actual_end_rot": [ + -15.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 29650.2774, + -9093.6748, + -11114.1181 + ], + "start_rot": [ + -15.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 29650.2774, + -9093.6748, + -11114.1181 + ], + "actual_end_pos": [ + 29650.2774, + -9093.6748, + -11114.1181 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29650.2774, + -9093.6748, + -11114.1181 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 29736.139, + -9044.1026, + -11127.1707 + ], + "actual_end_pos": [ + 29736.139, + -9044.1026, + -11127.1707 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29736.139, + -9044.1026, + -11127.1707 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 29786.139, + -9130.7051, + -11127.1707 + ], + "actual_end_pos": [ + 29786.139, + -9130.7051, + -11127.1707 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29786.139, + -9130.7051, + -11127.1707 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 29836.139, + -9217.3077, + -11127.1707 + ], + "actual_end_pos": [ + 29836.139, + -9217.3077, + -11127.1707 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29836.139, + -9217.3077, + -11127.1707 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 29836.139, + -9217.3077, + -11127.1707 + ], + "actual_end_pos": [ + 29836.139, + -9217.3077, + -11127.1707 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29836.139, + -9217.3077, + -11127.1707 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 29862.0209, + -9313.9003, + -11127.1707 + ], + "actual_end_pos": [ + 29862.0209, + -9313.9003, + -11127.1707 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29862.0209, + -9313.9003, + -11127.1707 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 29957.7871, + -9288.2398, + -11140.2233 + ], + "actual_end_pos": [ + 29957.7871, + -9288.2398, + -11140.2233 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29957.7871, + -9288.2398, + -11140.2233 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 29983.669, + -9384.8324, + -11140.2233 + ], + "actual_end_pos": [ + 29983.669, + -9384.8324, + -11140.2233 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29983.669, + -9384.8324, + -11140.2233 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 30079.4353, + -9359.1719, + -11153.276 + ], + "actual_end_pos": [ + 30079.4353, + -9359.1719, + -11153.276 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30079.4353, + -9359.1719, + -11153.276 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 30105.3172, + -9455.7645, + -11153.276 + ], + "actual_end_pos": [ + 30105.3172, + -9455.7645, + -11153.276 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30105.3172, + -9455.7645, + -11153.276 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 30009.551, + -9481.4249, + -11140.2233 + ], + "actual_end_pos": [ + 30009.551, + -9481.4249, + -11140.2233 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30009.551, + -9481.4249, + -11140.2233 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 29983.669, + -9384.8324, + -11140.2233 + ], + "actual_end_pos": [ + 29983.669, + -9384.8324, + -11140.2233 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29983.669, + -9384.8324, + -11140.2233 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 30079.4353, + -9359.1719, + -11153.276 + ], + "actual_end_pos": [ + 30079.4353, + -9359.1719, + -11153.276 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30079.4353, + -9359.1719, + -11153.276 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 30175.2015, + -9333.5114, + -11166.3286 + ], + "actual_end_pos": [ + 30175.2015, + -9333.5114, + -11166.3286 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30175.2015, + -9333.5114, + -11166.3286 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 30175.2015, + -9333.5114, + -11166.3286 + ], + "actual_end_pos": [ + 30175.2015, + -9333.5114, + -11166.3286 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260411_181558__pair_002496_B_traj_002497_meta.json b/equivalence_easy/run_20260411_181558__pair_002496_B_traj_002497_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..73eb7856eb7eafa5fc71fb02886c79575ea4ab05 --- /dev/null +++ b/equivalence_easy/run_20260411_181558__pair_002496_B_traj_002497_meta.json @@ -0,0 +1,1464 @@ +{ + "trajectory_id": 2497, + "episode_id": 0, + "state_id": 1849, + "sample_index": 1849, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_B", + "partner_trajectory_id": 2496, + "primary_trajectory_id": 2496, + "paired_trajectory_id": 2497, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 29960.0, + -9340.0, + -11140.0 + ], + "rotation": [ + 0.0, + 45.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_left", + "look_down", + "move_right", + "move_right", + "move_forward", + "move_right", + "move_right", + "move_backward", + "move_forward", + "move_backward", + "look_down", + "move_left", + "move_left", + "move_right", + "move_forward", + "move_backward", + "move_left", + "move_left", + "turn_right", + "move_backward", + "move_right", + "move_right", + "no_op", + "turn_left", + "move_right", + "look_up", + "move_forward", + "move_left", + "move_left", + "turn_left", + "move_forward", + "move_left", + "move_forward", + "move_right", + "move_left", + "move_forward", + "move_backward", + "move_forward", + "move_left", + "turn_left" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29960.0, + -9340.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29960.0, + -9340.0, + -11140.0 + ], + "actual_end_pos": [ + 29960.0, + -9340.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 29960.0, + -9340.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 29960.0, + -9340.0, + -11140.0 + ], + "actual_end_pos": [ + 29960.0, + -9340.0, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29960.0, + -9340.0, + -11140.0 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 29910.0, + -9253.3975, + -11140.0 + ], + "actual_end_pos": [ + 29910.0, + -9253.3975, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29910.0, + -9253.3975, + -11140.0 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 29860.0, + -9166.7949, + -11140.0 + ], + "actual_end_pos": [ + 29860.0, + -9166.7949, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29860.0, + -9166.7949, + -11140.0 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 29945.8616, + -9117.2227, + -11153.0526 + ], + "actual_end_pos": [ + 29945.8616, + -9117.2227, + -11153.0526 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29945.8616, + -9117.2227, + -11153.0526 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 29895.8616, + -9030.6201, + -11153.0526 + ], + "actual_end_pos": [ + 29895.8616, + -9030.6201, + -11153.0526 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29895.8616, + -9030.6201, + -11153.0526 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 29845.8616, + -8944.0176, + -11153.0526 + ], + "actual_end_pos": [ + 29845.8616, + -8944.0176, + -11153.0526 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29845.8616, + -8944.0176, + -11153.0526 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 29760.0, + -8993.5898, + -11140.0 + ], + "actual_end_pos": [ + 29760.0, + -8993.5898, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29760.0, + -8993.5898, + -11140.0 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 29845.8616, + -8944.0176, + -11153.0526 + ], + "actual_end_pos": [ + 29845.8616, + -8944.0176, + -11153.0526 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29845.8616, + -8944.0176, + -11153.0526 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 29760.0, + -8993.5898, + -11140.0 + ], + "actual_end_pos": [ + 29760.0, + -8993.5898, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 29760.0, + -8993.5898, + -11140.0 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 29760.0, + -8993.5898, + -11140.0 + ], + "actual_end_pos": [ + 29760.0, + -8993.5898, + -11140.0 + ], + "actual_end_rot": [ + -15.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29760.0, + -8993.5898, + -11140.0 + ], + "start_rot": [ + -15.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 29810.0, + -9080.1924, + -11140.0 + ], + "actual_end_pos": [ + 29810.0, + -9080.1924, + -11140.0 + ], + "actual_end_rot": [ + -15.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29810.0, + -9080.1924, + -11140.0 + ], + "start_rot": [ + -15.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 29860.0, + -9166.7949, + -11140.0 + ], + "actual_end_pos": [ + 29860.0, + -9166.7949, + -11140.0 + ], + "actual_end_rot": [ + -15.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29860.0, + -9166.7949, + -11140.0 + ], + "start_rot": [ + -15.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 29810.0, + -9080.1924, + -11140.0 + ], + "actual_end_pos": [ + 29810.0, + -9080.1924, + -11140.0 + ], + "actual_end_rot": [ + -15.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29810.0, + -9080.1924, + -11140.0 + ], + "start_rot": [ + -15.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 29893.6516, + -9031.8961, + -11165.8819 + ], + "actual_end_pos": [ + 29893.6516, + -9031.8961, + -11165.8819 + ], + "actual_end_rot": [ + -15.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29893.6516, + -9031.8961, + -11165.8819 + ], + "start_rot": [ + -15.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 29810.0, + -9080.1924, + -11140.0 + ], + "actual_end_pos": [ + 29810.0, + -9080.1924, + -11140.0 + ], + "actual_end_rot": [ + -15.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29810.0, + -9080.1924, + -11140.0 + ], + "start_rot": [ + -15.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 29860.0, + -9166.7949, + -11140.0 + ], + "actual_end_pos": [ + 29860.0, + -9166.7949, + -11140.0 + ], + "actual_end_rot": [ + -15.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29860.0, + -9166.7949, + -11140.0 + ], + "start_rot": [ + -15.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 29910.0, + -9253.3975, + -11140.0 + ], + "actual_end_pos": [ + 29910.0, + -9253.3975, + -11140.0 + ], + "actual_end_rot": [ + -15.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29910.0, + -9253.3975, + -11140.0 + ], + "start_rot": [ + -15.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 29910.0, + -9253.3975, + -11140.0 + ], + "actual_end_pos": [ + 29910.0, + -9253.3975, + -11140.0 + ], + "actual_end_rot": [ + -15.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29910.0, + -9253.3975, + -11140.0 + ], + "start_rot": [ + -15.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29841.6987, + -9321.6987, + -11114.1181 + ], + "actual_end_pos": [ + 29841.6987, + -9321.6987, + -11114.1181 + ], + "actual_end_rot": [ + -15.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29841.6987, + -9321.6987, + -11114.1181 + ], + "start_rot": [ + -15.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29770.9881, + -9250.9881, + -11114.1181 + ], + "actual_end_pos": [ + 29770.9881, + -9250.9881, + -11114.1181 + ], + "actual_end_rot": [ + -15.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29770.9881, + -9250.9881, + -11114.1181 + ], + "start_rot": [ + -15.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29700.2774, + -9180.2774, + -11114.1181 + ], + "actual_end_pos": [ + 29700.2774, + -9180.2774, + -11114.1181 + ], + "actual_end_rot": [ + -15.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29700.2774, + -9180.2774, + -11114.1181 + ], + "start_rot": [ + -15.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29700.2774, + -9180.2774, + -11114.1181 + ], + "actual_end_pos": [ + 29700.2774, + -9180.2774, + -11114.1181 + ], + "actual_end_rot": [ + -15.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29700.2774, + -9180.2774, + -11114.1181 + ], + "start_rot": [ + -15.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 29700.2774, + -9180.2774, + -11114.1181 + ], + "actual_end_pos": [ + 29700.2774, + -9180.2774, + -11114.1181 + ], + "actual_end_rot": [ + -15.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29700.2774, + -9180.2774, + -11114.1181 + ], + "start_rot": [ + -15.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 29650.2774, + -9093.6748, + -11114.1181 + ], + "actual_end_pos": [ + 29650.2774, + -9093.6748, + -11114.1181 + ], + "actual_end_rot": [ + -15.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 29650.2774, + -9093.6748, + -11114.1181 + ], + "start_rot": [ + -15.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 29650.2774, + -9093.6748, + -11114.1181 + ], + "actual_end_pos": [ + 29650.2774, + -9093.6748, + -11114.1181 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29650.2774, + -9093.6748, + -11114.1181 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 29736.139, + -9044.1026, + -11127.1707 + ], + "actual_end_pos": [ + 29736.139, + -9044.1026, + -11127.1707 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29736.139, + -9044.1026, + -11127.1707 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 29786.139, + -9130.7051, + -11127.1707 + ], + "actual_end_pos": [ + 29786.139, + -9130.7051, + -11127.1707 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29786.139, + -9130.7051, + -11127.1707 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 29836.139, + -9217.3077, + -11127.1707 + ], + "actual_end_pos": [ + 29836.139, + -9217.3077, + -11127.1707 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29836.139, + -9217.3077, + -11127.1707 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 29836.139, + -9217.3077, + -11127.1707 + ], + "actual_end_pos": [ + 29836.139, + -9217.3077, + -11127.1707 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29836.139, + -9217.3077, + -11127.1707 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 29931.9052, + -9191.6472, + -11140.2233 + ], + "actual_end_pos": [ + 29931.9052, + -9191.6472, + -11140.2233 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29931.9052, + -9191.6472, + -11140.2233 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 29957.7871, + -9288.2398, + -11140.2233 + ], + "actual_end_pos": [ + 29957.7871, + -9288.2398, + -11140.2233 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29957.7871, + -9288.2398, + -11140.2233 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 30053.5534, + -9262.5793, + -11153.276 + ], + "actual_end_pos": [ + 30053.5534, + -9262.5793, + -11153.276 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30053.5534, + -9262.5793, + -11153.276 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 30027.6715, + -9165.9867, + -11153.276 + ], + "actual_end_pos": [ + 30027.6715, + -9165.9867, + -11153.276 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30027.6715, + -9165.9867, + -11153.276 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 30053.5534, + -9262.5793, + -11153.276 + ], + "actual_end_pos": [ + 30053.5534, + -9262.5793, + -11153.276 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30053.5534, + -9262.5793, + -11153.276 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 30149.3196, + -9236.9188, + -11166.3286 + ], + "actual_end_pos": [ + 30149.3196, + -9236.9188, + -11166.3286 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30149.3196, + -9236.9188, + -11166.3286 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 30053.5534, + -9262.5793, + -11153.276 + ], + "actual_end_pos": [ + 30053.5534, + -9262.5793, + -11153.276 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30053.5534, + -9262.5793, + -11153.276 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 30149.3196, + -9236.9188, + -11166.3286 + ], + "actual_end_pos": [ + 30149.3196, + -9236.9188, + -11166.3286 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30149.3196, + -9236.9188, + -11166.3286 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 30175.2015, + -9333.5114, + -11166.3286 + ], + "actual_end_pos": [ + 30175.2015, + -9333.5114, + -11166.3286 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30175.2015, + -9333.5114, + -11166.3286 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 30175.2015, + -9333.5114, + -11166.3286 + ], + "actual_end_pos": [ + 30175.2015, + -9333.5114, + -11166.3286 + ], + "actual_end_rot": [ + -7.5, + -0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260411_181558__pair_002523_A_traj_002523_meta.json b/equivalence_easy/run_20260411_181558__pair_002523_A_traj_002523_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..aa0aaf0b17b8305eaf9e52070b910e969ed0c430 --- /dev/null +++ b/equivalence_easy/run_20260411_181558__pair_002523_A_traj_002523_meta.json @@ -0,0 +1,1464 @@ +{ + "trajectory_id": 2523, + "episode_id": 0, + "state_id": 1869, + "sample_index": 1869, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_A", + "partner_trajectory_id": 2524, + "primary_trajectory_id": 2523, + "paired_trajectory_id": 2524, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 29960.0, + -8940.0, + -11140.0 + ], + "rotation": [ + 0.0, + 225.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_forward", + "move_right", + "move_right", + "move_backward", + "turn_left", + "move_right", + "look_down", + "move_right", + "turn_right", + "move_right", + "turn_right", + "move_right", + "move_backward", + "move_right", + "turn_left", + "move_backward", + "turn_right", + "look_up", + "no_op", + "move_forward", + "move_forward", + "move_right", + "look_up", + "move_forward", + "move_left", + "move_backward", + "turn_left", + "turn_left", + "move_backward", + "look_up", + "move_forward", + "move_left", + "move_backward", + "look_down", + "turn_left", + "move_right", + "move_forward", + "move_forward", + "move_right" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29960.0, + -8940.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 29889.2893, + -9010.7107, + -11140.0 + ], + "actual_end_pos": [ + 29889.2893, + -9010.7107, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29889.2893, + -9010.7107, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 29818.5786, + -9081.4214, + -11140.0 + ], + "actual_end_pos": [ + 29818.5786, + -9081.4214, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29818.5786, + -9081.4214, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 29889.2893, + -9152.132, + -11140.0 + ], + "actual_end_pos": [ + 29889.2893, + -9152.132, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29889.2893, + -9152.132, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 29960.0, + -9222.8427, + -11140.0 + ], + "actual_end_pos": [ + 29960.0, + -9222.8427, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29960.0, + -9222.8427, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30030.7107, + -9152.132, + -11140.0 + ], + "actual_end_pos": [ + 30030.7107, + -9152.132, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30030.7107, + -9152.132, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30030.7107, + -9152.132, + -11140.0 + ], + "actual_end_pos": [ + 30030.7107, + -9152.132, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30030.7107, + -9152.132, + -11140.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 30080.7107, + -9238.7346, + -11140.0 + ], + "actual_end_pos": [ + 30080.7107, + -9238.7346, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 30080.7107, + -9238.7346, + -11140.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 30080.7107, + -9238.7346, + -11140.0 + ], + "actual_end_pos": [ + 30080.7107, + -9238.7346, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30080.7107, + -9238.7346, + -11140.0 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 30130.7107, + -9325.3371, + -11140.0 + ], + "actual_end_pos": [ + 30130.7107, + -9325.3371, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30130.7107, + -9325.3371, + -11140.0 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 30130.7107, + -9325.3371, + -11140.0 + ], + "actual_end_pos": [ + 30130.7107, + -9325.3371, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30130.7107, + -9325.3371, + -11140.0 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30201.4214, + -9396.0478, + -11140.0 + ], + "actual_end_pos": [ + 30201.4214, + -9396.0478, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30201.4214, + -9396.0478, + -11140.0 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30201.4214, + -9396.0478, + -11140.0 + ], + "actual_end_pos": [ + 30201.4214, + -9396.0478, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30201.4214, + -9396.0478, + -11140.0 + ], + "start_rot": [ + -7.5, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 30288.0239, + -9446.0478, + -11140.0 + ], + "actual_end_pos": [ + 30288.0239, + -9446.0478, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30288.0239, + -9446.0478, + -11140.0 + ], + "start_rot": [ + -7.5, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 30337.5961, + -9360.1861, + -11126.9474 + ], + "actual_end_pos": [ + 30337.5961, + -9360.1861, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30337.5961, + -9360.1861, + -11126.9474 + ], + "start_rot": [ + -7.5, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 30424.1987, + -9410.1861, + -11126.9474 + ], + "actual_end_pos": [ + 30424.1987, + -9410.1861, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30424.1987, + -9410.1861, + -11126.9474 + ], + "start_rot": [ + -7.5, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 30424.1987, + -9410.1861, + -11126.9474 + ], + "actual_end_pos": [ + 30424.1987, + -9410.1861, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30424.1987, + -9410.1861, + -11126.9474 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30494.3044, + -9340.0804, + -11113.8948 + ], + "actual_end_pos": [ + 30494.3044, + -9340.0804, + -11113.8948 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30494.3044, + -9340.0804, + -11113.8948 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30494.3044, + -9340.0804, + -11113.8948 + ], + "actual_end_pos": [ + 30494.3044, + -9340.0804, + -11113.8948 + ], + "actual_end_rot": [ + -7.5, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 30494.3044, + -9340.0804, + -11113.8948 + ], + "start_rot": [ + -7.5, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 30494.3044, + -9340.0804, + -11113.8948 + ], + "actual_end_pos": [ + 30494.3044, + -9340.0804, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30494.3044, + -9340.0804, + -11113.8948 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 30494.3044, + -9340.0804, + -11113.8948 + ], + "actual_end_pos": [ + 30494.3044, + -9340.0804, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30494.3044, + -9340.0804, + -11113.8948 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 30444.3044, + -9426.6829, + -11113.8948 + ], + "actual_end_pos": [ + 30444.3044, + -9426.6829, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30444.3044, + -9426.6829, + -11113.8948 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 30394.3044, + -9513.2855, + -11113.8948 + ], + "actual_end_pos": [ + 30394.3044, + -9513.2855, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30394.3044, + -9513.2855, + -11113.8948 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 30480.907, + -9563.2855, + -11113.8948 + ], + "actual_end_pos": [ + 30480.907, + -9563.2855, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 30480.907, + -9563.2855, + -11113.8948 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 30480.907, + -9563.2855, + -11113.8948 + ], + "actual_end_pos": [ + 30480.907, + -9563.2855, + -11113.8948 + ], + "actual_end_rot": [ + 7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30480.907, + -9563.2855, + -11113.8948 + ], + "start_rot": [ + 7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 30431.3347, + -9649.1471, + -11100.8421 + ], + "actual_end_pos": [ + 30431.3347, + -9649.1471, + -11100.8421 + ], + "actual_end_rot": [ + 7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30431.3347, + -9649.1471, + -11100.8421 + ], + "start_rot": [ + 7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 30344.7322, + -9599.1471, + -11100.8421 + ], + "actual_end_pos": [ + 30344.7322, + -9599.1471, + -11100.8421 + ], + "actual_end_rot": [ + 7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30344.7322, + -9599.1471, + -11100.8421 + ], + "start_rot": [ + 7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 30394.3044, + -9513.2855, + -11113.8948 + ], + "actual_end_pos": [ + 30394.3044, + -9513.2855, + -11113.8948 + ], + "actual_end_rot": [ + 7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30394.3044, + -9513.2855, + -11113.8948 + ], + "start_rot": [ + 7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 30394.3044, + -9513.2855, + -11113.8948 + ], + "actual_end_pos": [ + 30394.3044, + -9513.2855, + -11113.8948 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30394.3044, + -9513.2855, + -11113.8948 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30394.3044, + -9513.2855, + -11113.8948 + ], + "actual_end_pos": [ + 30394.3044, + -9513.2855, + -11113.8948 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30394.3044, + -9513.2855, + -11113.8948 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 30480.1661, + -9463.7132, + -11126.9474 + ], + "actual_end_pos": [ + 30480.1661, + -9463.7132, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 30480.1661, + -9463.7132, + -11126.9474 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 30480.1661, + -9463.7132, + -11126.9474 + ], + "actual_end_pos": [ + 30480.1661, + -9463.7132, + -11126.9474 + ], + "actual_end_rot": [ + 15.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30480.1661, + -9463.7132, + -11126.9474 + ], + "start_rot": [ + 15.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 30396.5144, + -9512.0095, + -11101.0655 + ], + "actual_end_pos": [ + 30396.5144, + -9512.0095, + -11101.0655 + ], + "actual_end_rot": [ + 15.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30396.5144, + -9512.0095, + -11101.0655 + ], + "start_rot": [ + 15.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 30346.5144, + -9425.407, + -11101.0655 + ], + "actual_end_pos": [ + 30346.5144, + -9425.407, + -11101.0655 + ], + "actual_end_rot": [ + 15.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30346.5144, + -9425.407, + -11101.0655 + ], + "start_rot": [ + 15.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 30430.1661, + -9377.1107, + -11126.9474 + ], + "actual_end_pos": [ + 30430.1661, + -9377.1107, + -11126.9474 + ], + "actual_end_rot": [ + 15.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 30430.1661, + -9377.1107, + -11126.9474 + ], + "start_rot": [ + 15.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 30430.1661, + -9377.1107, + -11126.9474 + ], + "actual_end_pos": [ + 30430.1661, + -9377.1107, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30430.1661, + -9377.1107, + -11126.9474 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 30430.1661, + -9377.1107, + -11126.9474 + ], + "actual_end_pos": [ + 30430.1661, + -9377.1107, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30430.1661, + -9377.1107, + -11126.9474 + ], + "start_rot": [ + 7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 30456.048, + -9473.7033, + -11126.9474 + ], + "actual_end_pos": [ + 30456.048, + -9473.7033, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30456.048, + -9473.7033, + -11126.9474 + ], + "start_rot": [ + 7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 30360.2818, + -9499.3638, + -11113.8948 + ], + "actual_end_pos": [ + 30360.2818, + -9499.3638, + -11113.8948 + ], + "actual_end_rot": [ + 7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30360.2818, + -9499.3638, + -11113.8948 + ], + "start_rot": [ + 7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 30264.5155, + -9525.0242, + -11100.8421 + ], + "actual_end_pos": [ + 30264.5155, + -9525.0242, + -11100.8421 + ], + "actual_end_rot": [ + 7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30264.5155, + -9525.0242, + -11100.8421 + ], + "start_rot": [ + 7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 30290.3974, + -9621.6168, + -11100.8421 + ], + "actual_end_pos": [ + 30290.3974, + -9621.6168, + -11100.8421 + ], + "actual_end_rot": [ + 7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260411_181558__pair_002523_B_traj_002524_meta.json b/equivalence_easy/run_20260411_181558__pair_002523_B_traj_002524_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d3f648d42f8d148ddb2f47353685d1d2344d78dc --- /dev/null +++ b/equivalence_easy/run_20260411_181558__pair_002523_B_traj_002524_meta.json @@ -0,0 +1,1464 @@ +{ + "trajectory_id": 2524, + "episode_id": 0, + "state_id": 1869, + "sample_index": 1869, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_B", + "partner_trajectory_id": 2523, + "primary_trajectory_id": 2523, + "paired_trajectory_id": 2524, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 29960.0, + -8940.0, + -11140.0 + ], + "rotation": [ + 0.0, + 225.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_right", + "move_right", + "move_forward", + "move_forward", + "turn_left", + "move_right", + "look_down", + "move_right", + "turn_right", + "move_right", + "turn_right", + "move_right", + "move_backward", + "move_right", + "turn_left", + "move_backward", + "look_up", + "turn_right", + "no_op", + "move_forward", + "move_right", + "move_forward", + "look_up", + "move_backward", + "move_left", + "move_forward", + "turn_left", + "turn_left", + "move_backward", + "look_up", + "move_left", + "move_backward", + "move_forward", + "turn_left", + "look_down", + "move_forward", + "move_right", + "move_forward", + "move_right" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29960.0, + -8940.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30030.7107, + -8869.2893, + -11140.0 + ], + "actual_end_pos": [ + 30030.7107, + -8869.2893, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30030.7107, + -8869.2893, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30101.4214, + -8940.0, + -11140.0 + ], + "actual_end_pos": [ + 30101.4214, + -8940.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30101.4214, + -8940.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30172.132, + -9010.7107, + -11140.0 + ], + "actual_end_pos": [ + 30172.132, + -9010.7107, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30172.132, + -9010.7107, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30101.4214, + -9081.4214, + -11140.0 + ], + "actual_end_pos": [ + 30101.4214, + -9081.4214, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30101.4214, + -9081.4214, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30030.7107, + -9152.132, + -11140.0 + ], + "actual_end_pos": [ + 30030.7107, + -9152.132, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30030.7107, + -9152.132, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30030.7107, + -9152.132, + -11140.0 + ], + "actual_end_pos": [ + 30030.7107, + -9152.132, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30030.7107, + -9152.132, + -11140.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 30080.7107, + -9238.7346, + -11140.0 + ], + "actual_end_pos": [ + 30080.7107, + -9238.7346, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 30080.7107, + -9238.7346, + -11140.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 30080.7107, + -9238.7346, + -11140.0 + ], + "actual_end_pos": [ + 30080.7107, + -9238.7346, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30080.7107, + -9238.7346, + -11140.0 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 30130.7107, + -9325.3371, + -11140.0 + ], + "actual_end_pos": [ + 30130.7107, + -9325.3371, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30130.7107, + -9325.3371, + -11140.0 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 30130.7107, + -9325.3371, + -11140.0 + ], + "actual_end_pos": [ + 30130.7107, + -9325.3371, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30130.7107, + -9325.3371, + -11140.0 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30201.4214, + -9396.0478, + -11140.0 + ], + "actual_end_pos": [ + 30201.4214, + -9396.0478, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30201.4214, + -9396.0478, + -11140.0 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30201.4214, + -9396.0478, + -11140.0 + ], + "actual_end_pos": [ + 30201.4214, + -9396.0478, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30201.4214, + -9396.0478, + -11140.0 + ], + "start_rot": [ + -7.5, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 30288.0239, + -9446.0478, + -11140.0 + ], + "actual_end_pos": [ + 30288.0239, + -9446.0478, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30288.0239, + -9446.0478, + -11140.0 + ], + "start_rot": [ + -7.5, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 30337.5961, + -9360.1861, + -11126.9474 + ], + "actual_end_pos": [ + 30337.5961, + -9360.1861, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30337.5961, + -9360.1861, + -11126.9474 + ], + "start_rot": [ + -7.5, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 30424.1987, + -9410.1861, + -11126.9474 + ], + "actual_end_pos": [ + 30424.1987, + -9410.1861, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30424.1987, + -9410.1861, + -11126.9474 + ], + "start_rot": [ + -7.5, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 30424.1987, + -9410.1861, + -11126.9474 + ], + "actual_end_pos": [ + 30424.1987, + -9410.1861, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30424.1987, + -9410.1861, + -11126.9474 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30494.3044, + -9340.0804, + -11113.8948 + ], + "actual_end_pos": [ + 30494.3044, + -9340.0804, + -11113.8948 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 30494.3044, + -9340.0804, + -11113.8948 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30494.3044, + -9340.0804, + -11113.8948 + ], + "actual_end_pos": [ + 30494.3044, + -9340.0804, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30494.3044, + -9340.0804, + -11113.8948 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 30494.3044, + -9340.0804, + -11113.8948 + ], + "actual_end_pos": [ + 30494.3044, + -9340.0804, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30494.3044, + -9340.0804, + -11113.8948 + ], + "start_rot": [ + 0.0, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 30494.3044, + -9340.0804, + -11113.8948 + ], + "actual_end_pos": [ + 30494.3044, + -9340.0804, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30494.3044, + -9340.0804, + -11113.8948 + ], + "start_rot": [ + 0.0, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 30444.3044, + -9426.6829, + -11113.8948 + ], + "actual_end_pos": [ + 30444.3044, + -9426.6829, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30444.3044, + -9426.6829, + -11113.8948 + ], + "start_rot": [ + 0.0, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 30530.907, + -9476.6829, + -11113.8948 + ], + "actual_end_pos": [ + 30530.907, + -9476.6829, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30530.907, + -9476.6829, + -11113.8948 + ], + "start_rot": [ + 0.0, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 30480.907, + -9563.2855, + -11113.8948 + ], + "actual_end_pos": [ + 30480.907, + -9563.2855, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 30480.907, + -9563.2855, + -11113.8948 + ], + "start_rot": [ + 0.0, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 30480.907, + -9563.2855, + -11113.8948 + ], + "actual_end_pos": [ + 30480.907, + -9563.2855, + -11113.8948 + ], + "actual_end_rot": [ + 7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30480.907, + -9563.2855, + -11113.8948 + ], + "start_rot": [ + 7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 30530.4792, + -9477.4238, + -11126.9474 + ], + "actual_end_pos": [ + 30530.4792, + -9477.4238, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30530.4792, + -9477.4238, + -11126.9474 + ], + "start_rot": [ + 7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 30443.8767, + -9427.4238, + -11126.9474 + ], + "actual_end_pos": [ + 30443.8767, + -9427.4238, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30443.8767, + -9427.4238, + -11126.9474 + ], + "start_rot": [ + 7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 30394.3044, + -9513.2855, + -11113.8948 + ], + "actual_end_pos": [ + 30394.3044, + -9513.2855, + -11113.8948 + ], + "actual_end_rot": [ + 7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30394.3044, + -9513.2855, + -11113.8948 + ], + "start_rot": [ + 7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 30394.3044, + -9513.2855, + -11113.8948 + ], + "actual_end_pos": [ + 30394.3044, + -9513.2855, + -11113.8948 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30394.3044, + -9513.2855, + -11113.8948 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30394.3044, + -9513.2855, + -11113.8948 + ], + "actual_end_pos": [ + 30394.3044, + -9513.2855, + -11113.8948 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30394.3044, + -9513.2855, + -11113.8948 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 30480.1661, + -9463.7132, + -11126.9474 + ], + "actual_end_pos": [ + 30480.1661, + -9463.7132, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 30480.1661, + -9463.7132, + -11126.9474 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 30480.1661, + -9463.7132, + -11126.9474 + ], + "actual_end_pos": [ + 30480.1661, + -9463.7132, + -11126.9474 + ], + "actual_end_rot": [ + 15.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30480.1661, + -9463.7132, + -11126.9474 + ], + "start_rot": [ + 15.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + 30430.1661, + -9377.1107, + -11126.9474 + ], + "actual_end_pos": [ + 30430.1661, + -9377.1107, + -11126.9474 + ], + "actual_end_rot": [ + 15.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30430.1661, + -9377.1107, + -11126.9474 + ], + "start_rot": [ + 15.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + 30513.8177, + -9328.8144, + -11152.8293 + ], + "actual_end_pos": [ + 30513.8177, + -9328.8144, + -11152.8293 + ], + "actual_end_rot": [ + 15.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30513.8177, + -9328.8144, + -11152.8293 + ], + "start_rot": [ + 15.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + 30430.1661, + -9377.1107, + -11126.9474 + ], + "actual_end_pos": [ + 30430.1661, + -9377.1107, + -11126.9474 + ], + "actual_end_rot": [ + 15.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30430.1661, + -9377.1107, + -11126.9474 + ], + "start_rot": [ + 15.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + 30430.1661, + -9377.1107, + -11126.9474 + ], + "actual_end_pos": [ + 30430.1661, + -9377.1107, + -11126.9474 + ], + "actual_end_rot": [ + 15.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 30430.1661, + -9377.1107, + -11126.9474 + ], + "start_rot": [ + 15.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 30430.1661, + -9377.1107, + -11126.9474 + ], + "actual_end_pos": [ + 30430.1661, + -9377.1107, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30430.1661, + -9377.1107, + -11126.9474 + ], + "start_rot": [ + 7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 30334.3999, + -9402.7712, + -11113.8948 + ], + "actual_end_pos": [ + 30334.3999, + -9402.7712, + -11113.8948 + ], + "actual_end_rot": [ + 7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30334.3999, + -9402.7712, + -11113.8948 + ], + "start_rot": [ + 7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 30360.2818, + -9499.3638, + -11113.8948 + ], + "actual_end_pos": [ + 30360.2818, + -9499.3638, + -11113.8948 + ], + "actual_end_rot": [ + 7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30360.2818, + -9499.3638, + -11113.8948 + ], + "start_rot": [ + 7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 30264.5155, + -9525.0242, + -11100.8421 + ], + "actual_end_pos": [ + 30264.5155, + -9525.0242, + -11100.8421 + ], + "actual_end_rot": [ + 7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30264.5155, + -9525.0242, + -11100.8421 + ], + "start_rot": [ + 7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 30290.3974, + -9621.6168, + -11100.8421 + ], + "actual_end_pos": [ + 30290.3974, + -9621.6168, + -11100.8421 + ], + "actual_end_rot": [ + 7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260411_181558__pair_002649_A_traj_002649_meta.json b/equivalence_easy/run_20260411_181558__pair_002649_A_traj_002649_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5e6804f3326e9b8a999fc051e03c777359628339 --- /dev/null +++ b/equivalence_easy/run_20260411_181558__pair_002649_A_traj_002649_meta.json @@ -0,0 +1,1464 @@ +{ + "trajectory_id": 2649, + "episode_id": 0, + "state_id": 1964, + "sample_index": 1964, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_A", + "partner_trajectory_id": 2650, + "primary_trajectory_id": 2649, + "paired_trajectory_id": 2650, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 29960.0, + -6540.0, + -11140.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_right", + "move_left", + "move_forward", + "turn_left", + "turn_left", + "no_op", + "move_left", + "move_forward", + "turn_left", + "move_forward", + "move_left", + "move_left", + "no_op", + "move_left", + "move_forward", + "move_forward", + "turn_left", + "move_right", + "look_up", + "move_forward", + "move_left", + "no_op", + "turn_left", + "move_left", + "no_op", + "move_right", + "move_forward", + "move_right", + "turn_left", + "move_forward", + "move_forward", + "move_right", + "no_op", + "turn_left", + "move_forward", + "move_forward", + "move_forward", + "turn_left", + "move_left", + "turn_right" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29960.0, + -6540.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29960.0, + -6540.0, + -11140.0 + ], + "actual_end_pos": [ + 29960.0, + -6540.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29960.0, + -6540.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 29934.1181, + -6443.4074, + -11140.0 + ], + "actual_end_pos": [ + 29934.1181, + -6443.4074, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29934.1181, + -6443.4074, + -11140.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 29837.5255, + -6469.2893, + -11140.0 + ], + "actual_end_pos": [ + 29837.5255, + -6469.2893, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29837.5255, + -6469.2893, + -11140.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 29837.5255, + -6469.2893, + -11140.0 + ], + "actual_end_pos": [ + 29837.5255, + -6469.2893, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29837.5255, + -6469.2893, + -11140.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29837.5255, + -6469.2893, + -11140.0 + ], + "actual_end_pos": [ + 29837.5255, + -6469.2893, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29837.5255, + -6469.2893, + -11140.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 29837.5255, + -6469.2893, + -11140.0 + ], + "actual_end_pos": [ + 29837.5255, + -6469.2893, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29837.5255, + -6469.2893, + -11140.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 29863.4074, + -6372.6967, + -11140.0 + ], + "actual_end_pos": [ + 29863.4074, + -6372.6967, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29863.4074, + -6372.6967, + -11140.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 29766.8148, + -6346.8148, + -11140.0 + ], + "actual_end_pos": [ + 29766.8148, + -6346.8148, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29766.8148, + -6346.8148, + -11140.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 29766.8148, + -6346.8148, + -11140.0 + ], + "actual_end_pos": [ + 29766.8148, + -6346.8148, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29766.8148, + -6346.8148, + -11140.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 29680.2123, + -6296.8148, + -11140.0 + ], + "actual_end_pos": [ + 29680.2123, + -6296.8148, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29680.2123, + -6296.8148, + -11140.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 29730.2123, + -6210.2123, + -11140.0 + ], + "actual_end_pos": [ + 29730.2123, + -6210.2123, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29730.2123, + -6210.2123, + -11140.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 29780.2123, + -6123.6098, + -11140.0 + ], + "actual_end_pos": [ + 29780.2123, + -6123.6098, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29780.2123, + -6123.6098, + -11140.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 29780.2123, + -6123.6098, + -11140.0 + ], + "actual_end_pos": [ + 29780.2123, + -6123.6098, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29780.2123, + -6123.6098, + -11140.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 29830.2123, + -6037.0072, + -11140.0 + ], + "actual_end_pos": [ + 29830.2123, + -6037.0072, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29830.2123, + -6037.0072, + -11140.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 29743.6098, + -5987.0072, + -11140.0 + ], + "actual_end_pos": [ + 29743.6098, + -5987.0072, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29743.6098, + -5987.0072, + -11140.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 29657.0072, + -5937.0072, + -11140.0 + ], + "actual_end_pos": [ + 29657.0072, + -5937.0072, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29657.0072, + -5937.0072, + -11140.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 29657.0072, + -5937.0072, + -11140.0 + ], + "actual_end_pos": [ + 29657.0072, + -5937.0072, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29657.0072, + -5937.0072, + -11140.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29586.2965, + -6007.7179, + -11140.0 + ], + "actual_end_pos": [ + 29586.2965, + -6007.7179, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 29586.2965, + -6007.7179, + -11140.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29586.2965, + -6007.7179, + -11140.0 + ], + "actual_end_pos": [ + 29586.2965, + -6007.7179, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + 135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29586.2965, + -6007.7179, + -11140.0 + ], + "start_rot": [ + 7.5, + 135.0, + -0.0 + ], + "expected_end_pos": [ + 29516.1908, + -5937.6121, + -11126.9474 + ], + "actual_end_pos": [ + 29516.1908, + -5937.6121, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + 135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29516.1908, + -5937.6121, + -11126.9474 + ], + "start_rot": [ + 7.5, + 135.0, + -0.0 + ], + "expected_end_pos": [ + 29586.9015, + -5866.9015, + -11126.9474 + ], + "actual_end_pos": [ + 29586.9015, + -5866.9015, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + 135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29586.9015, + -5866.9015, + -11126.9474 + ], + "start_rot": [ + 7.5, + 135.0, + -0.0 + ], + "expected_end_pos": [ + 29586.9015, + -5866.9015, + -11126.9474 + ], + "actual_end_pos": [ + 29586.9015, + -5866.9015, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + 135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29586.9015, + -5866.9015, + -11126.9474 + ], + "start_rot": [ + 7.5, + 135.0, + -0.0 + ], + "expected_end_pos": [ + 29586.9015, + -5866.9015, + -11126.9474 + ], + "actual_end_pos": [ + 29586.9015, + -5866.9015, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + 120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29586.9015, + -5866.9015, + -11126.9474 + ], + "start_rot": [ + 7.5, + 120.0, + -0.0 + ], + "expected_end_pos": [ + 29673.504, + -5816.9015, + -11126.9474 + ], + "actual_end_pos": [ + 29673.504, + -5816.9015, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + 120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29673.504, + -5816.9015, + -11126.9474 + ], + "start_rot": [ + 7.5, + 120.0, + -0.0 + ], + "expected_end_pos": [ + 29673.504, + -5816.9015, + -11126.9474 + ], + "actual_end_pos": [ + 29673.504, + -5816.9015, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + 120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29673.504, + -5816.9015, + -11126.9474 + ], + "start_rot": [ + 7.5, + 120.0, + -0.0 + ], + "expected_end_pos": [ + 29586.9015, + -5866.9015, + -11126.9474 + ], + "actual_end_pos": [ + 29586.9015, + -5866.9015, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + 120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29586.9015, + -5866.9015, + -11126.9474 + ], + "start_rot": [ + 7.5, + 120.0, + -0.0 + ], + "expected_end_pos": [ + 29537.3292, + -5781.0398, + -11113.8948 + ], + "actual_end_pos": [ + 29537.3292, + -5781.0398, + -11113.8948 + ], + "actual_end_rot": [ + 7.5, + 120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29537.3292, + -5781.0398, + -11113.8948 + ], + "start_rot": [ + 7.5, + 120.0, + -0.0 + ], + "expected_end_pos": [ + 29450.7267, + -5831.0398, + -11113.8948 + ], + "actual_end_pos": [ + 29450.7267, + -5831.0398, + -11113.8948 + ], + "actual_end_rot": [ + 7.5, + 120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29450.7267, + -5831.0398, + -11113.8948 + ], + "start_rot": [ + 7.5, + 120.0, + -0.0 + ], + "expected_end_pos": [ + 29450.7267, + -5831.0398, + -11113.8948 + ], + "actual_end_pos": [ + 29450.7267, + -5831.0398, + -11113.8948 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29450.7267, + -5831.0398, + -11113.8948 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 29425.0662, + -5735.2736, + -11100.8421 + ], + "actual_end_pos": [ + 29425.0662, + -5735.2736, + -11100.8421 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29425.0662, + -5735.2736, + -11100.8421 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 29399.4057, + -5639.5074, + -11087.7895 + ], + "actual_end_pos": [ + 29399.4057, + -5639.5074, + -11087.7895 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29399.4057, + -5639.5074, + -11087.7895 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 29302.8132, + -5665.3893, + -11087.7895 + ], + "actual_end_pos": [ + 29302.8132, + -5665.3893, + -11087.7895 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29302.8132, + -5665.3893, + -11087.7895 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 29302.8132, + -5665.3893, + -11087.7895 + ], + "actual_end_pos": [ + 29302.8132, + -5665.3893, + -11087.7895 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29302.8132, + -5665.3893, + -11087.7895 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 29302.8132, + -5665.3893, + -11087.7895 + ], + "actual_end_pos": [ + 29302.8132, + -5665.3893, + -11087.7895 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29302.8132, + -5665.3893, + -11087.7895 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29302.8132, + -5566.2448, + -11074.7369 + ], + "actual_end_pos": [ + 29302.8132, + -5566.2448, + -11074.7369 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29302.8132, + -5566.2448, + -11074.7369 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29302.8132, + -5467.1003, + -11061.6843 + ], + "actual_end_pos": [ + 29302.8132, + -5467.1003, + -11061.6843 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29302.8132, + -5467.1003, + -11061.6843 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29302.8132, + -5367.9558, + -11048.6317 + ], + "actual_end_pos": [ + 29302.8132, + -5367.9558, + -11048.6317 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29302.8132, + -5367.9558, + -11048.6317 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29302.8132, + -5367.9558, + -11048.6317 + ], + "actual_end_pos": [ + 29302.8132, + -5367.9558, + -11048.6317 + ], + "actual_end_rot": [ + 7.5, + 75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29302.8132, + -5367.9558, + -11048.6317 + ], + "start_rot": [ + 7.5, + 75.0, + -0.0 + ], + "expected_end_pos": [ + 29399.4057, + -5393.8377, + -11048.6317 + ], + "actual_end_pos": [ + 29399.4057, + -5393.8377, + -11048.6317 + ], + "actual_end_rot": [ + 7.5, + 75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29399.4057, + -5393.8377, + -11048.6317 + ], + "start_rot": [ + 7.5, + 75.0, + -0.0 + ], + "expected_end_pos": [ + 29399.4057, + -5393.8377, + -11048.6317 + ], + "actual_end_pos": [ + 29399.4057, + -5393.8377, + -11048.6317 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260411_181558__pair_002649_B_traj_002650_meta.json b/equivalence_easy/run_20260411_181558__pair_002649_B_traj_002650_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bb62b9d6db8095e9726e4073f995e36147cab53c --- /dev/null +++ b/equivalence_easy/run_20260411_181558__pair_002649_B_traj_002650_meta.json @@ -0,0 +1,1464 @@ +{ + "trajectory_id": 2650, + "episode_id": 0, + "state_id": 1964, + "sample_index": 1964, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_B", + "partner_trajectory_id": 2649, + "primary_trajectory_id": 2649, + "paired_trajectory_id": 2650, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 29960.0, + -6540.0, + -11140.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_right", + "move_forward", + "move_left", + "turn_left", + "turn_left", + "no_op", + "move_forward", + "move_left", + "turn_left", + "move_forward", + "move_left", + "move_left", + "no_op", + "move_forward", + "move_forward", + "move_left", + "turn_left", + "move_right", + "look_up", + "move_left", + "move_forward", + "no_op", + "turn_left", + "move_left", + "no_op", + "move_right", + "move_forward", + "move_right", + "turn_left", + "move_right", + "move_forward", + "move_forward", + "no_op", + "turn_left", + "move_forward", + "move_forward", + "move_forward", + "turn_left", + "move_left", + "turn_right" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29960.0, + -6540.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29960.0, + -6540.0, + -11140.0 + ], + "actual_end_pos": [ + 29960.0, + -6540.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29960.0, + -6540.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 29863.4074, + -6565.8819, + -11140.0 + ], + "actual_end_pos": [ + 29863.4074, + -6565.8819, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29863.4074, + -6565.8819, + -11140.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 29837.5255, + -6469.2893, + -11140.0 + ], + "actual_end_pos": [ + 29837.5255, + -6469.2893, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29837.5255, + -6469.2893, + -11140.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 29837.5255, + -6469.2893, + -11140.0 + ], + "actual_end_pos": [ + 29837.5255, + -6469.2893, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29837.5255, + -6469.2893, + -11140.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29837.5255, + -6469.2893, + -11140.0 + ], + "actual_end_pos": [ + 29837.5255, + -6469.2893, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29837.5255, + -6469.2893, + -11140.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 29837.5255, + -6469.2893, + -11140.0 + ], + "actual_end_pos": [ + 29837.5255, + -6469.2893, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29837.5255, + -6469.2893, + -11140.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 29740.9329, + -6443.4074, + -11140.0 + ], + "actual_end_pos": [ + 29740.9329, + -6443.4074, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29740.9329, + -6443.4074, + -11140.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 29766.8148, + -6346.8148, + -11140.0 + ], + "actual_end_pos": [ + 29766.8148, + -6346.8148, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29766.8148, + -6346.8148, + -11140.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 29766.8148, + -6346.8148, + -11140.0 + ], + "actual_end_pos": [ + 29766.8148, + -6346.8148, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29766.8148, + -6346.8148, + -11140.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 29680.2123, + -6296.8148, + -11140.0 + ], + "actual_end_pos": [ + 29680.2123, + -6296.8148, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29680.2123, + -6296.8148, + -11140.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 29730.2123, + -6210.2123, + -11140.0 + ], + "actual_end_pos": [ + 29730.2123, + -6210.2123, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29730.2123, + -6210.2123, + -11140.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 29780.2123, + -6123.6098, + -11140.0 + ], + "actual_end_pos": [ + 29780.2123, + -6123.6098, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29780.2123, + -6123.6098, + -11140.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 29780.2123, + -6123.6098, + -11140.0 + ], + "actual_end_pos": [ + 29780.2123, + -6123.6098, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29780.2123, + -6123.6098, + -11140.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 29693.6098, + -6073.6098, + -11140.0 + ], + "actual_end_pos": [ + 29693.6098, + -6073.6098, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29693.6098, + -6073.6098, + -11140.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 29607.0072, + -6023.6098, + -11140.0 + ], + "actual_end_pos": [ + 29607.0072, + -6023.6098, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29607.0072, + -6023.6098, + -11140.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 29657.0072, + -5937.0072, + -11140.0 + ], + "actual_end_pos": [ + 29657.0072, + -5937.0072, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29657.0072, + -5937.0072, + -11140.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 29657.0072, + -5937.0072, + -11140.0 + ], + "actual_end_pos": [ + 29657.0072, + -5937.0072, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29657.0072, + -5937.0072, + -11140.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29586.2965, + -6007.7179, + -11140.0 + ], + "actual_end_pos": [ + 29586.2965, + -6007.7179, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 29586.2965, + -6007.7179, + -11140.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29586.2965, + -6007.7179, + -11140.0 + ], + "actual_end_pos": [ + 29586.2965, + -6007.7179, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + 135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29586.2965, + -6007.7179, + -11140.0 + ], + "start_rot": [ + 7.5, + 135.0, + -0.0 + ], + "expected_end_pos": [ + 29657.0072, + -5937.0072, + -11140.0 + ], + "actual_end_pos": [ + 29657.0072, + -5937.0072, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + 135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29657.0072, + -5937.0072, + -11140.0 + ], + "start_rot": [ + 7.5, + 135.0, + -0.0 + ], + "expected_end_pos": [ + 29586.9015, + -5866.9015, + -11126.9474 + ], + "actual_end_pos": [ + 29586.9015, + -5866.9015, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + 135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29586.9015, + -5866.9015, + -11126.9474 + ], + "start_rot": [ + 7.5, + 135.0, + -0.0 + ], + "expected_end_pos": [ + 29586.9015, + -5866.9015, + -11126.9474 + ], + "actual_end_pos": [ + 29586.9015, + -5866.9015, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + 135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29586.9015, + -5866.9015, + -11126.9474 + ], + "start_rot": [ + 7.5, + 135.0, + -0.0 + ], + "expected_end_pos": [ + 29586.9015, + -5866.9015, + -11126.9474 + ], + "actual_end_pos": [ + 29586.9015, + -5866.9015, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + 120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29586.9015, + -5866.9015, + -11126.9474 + ], + "start_rot": [ + 7.5, + 120.0, + -0.0 + ], + "expected_end_pos": [ + 29673.504, + -5816.9015, + -11126.9474 + ], + "actual_end_pos": [ + 29673.504, + -5816.9015, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + 120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29673.504, + -5816.9015, + -11126.9474 + ], + "start_rot": [ + 7.5, + 120.0, + -0.0 + ], + "expected_end_pos": [ + 29673.504, + -5816.9015, + -11126.9474 + ], + "actual_end_pos": [ + 29673.504, + -5816.9015, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + 120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29673.504, + -5816.9015, + -11126.9474 + ], + "start_rot": [ + 7.5, + 120.0, + -0.0 + ], + "expected_end_pos": [ + 29586.9015, + -5866.9015, + -11126.9474 + ], + "actual_end_pos": [ + 29586.9015, + -5866.9015, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + 120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29586.9015, + -5866.9015, + -11126.9474 + ], + "start_rot": [ + 7.5, + 120.0, + -0.0 + ], + "expected_end_pos": [ + 29537.3292, + -5781.0398, + -11113.8948 + ], + "actual_end_pos": [ + 29537.3292, + -5781.0398, + -11113.8948 + ], + "actual_end_rot": [ + 7.5, + 120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29537.3292, + -5781.0398, + -11113.8948 + ], + "start_rot": [ + 7.5, + 120.0, + -0.0 + ], + "expected_end_pos": [ + 29450.7267, + -5831.0398, + -11113.8948 + ], + "actual_end_pos": [ + 29450.7267, + -5831.0398, + -11113.8948 + ], + "actual_end_rot": [ + 7.5, + 120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29450.7267, + -5831.0398, + -11113.8948 + ], + "start_rot": [ + 7.5, + 120.0, + -0.0 + ], + "expected_end_pos": [ + 29450.7267, + -5831.0398, + -11113.8948 + ], + "actual_end_pos": [ + 29450.7267, + -5831.0398, + -11113.8948 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29450.7267, + -5831.0398, + -11113.8948 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 29354.1341, + -5856.9217, + -11113.8948 + ], + "actual_end_pos": [ + 29354.1341, + -5856.9217, + -11113.8948 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29354.1341, + -5856.9217, + -11113.8948 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 29328.4736, + -5761.1555, + -11100.8421 + ], + "actual_end_pos": [ + 29328.4736, + -5761.1555, + -11100.8421 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29328.4736, + -5761.1555, + -11100.8421 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 29302.8132, + -5665.3893, + -11087.7895 + ], + "actual_end_pos": [ + 29302.8132, + -5665.3893, + -11087.7895 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29302.8132, + -5665.3893, + -11087.7895 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 29302.8132, + -5665.3893, + -11087.7895 + ], + "actual_end_pos": [ + 29302.8132, + -5665.3893, + -11087.7895 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29302.8132, + -5665.3893, + -11087.7895 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 29302.8132, + -5665.3893, + -11087.7895 + ], + "actual_end_pos": [ + 29302.8132, + -5665.3893, + -11087.7895 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29302.8132, + -5665.3893, + -11087.7895 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29302.8132, + -5566.2448, + -11074.7369 + ], + "actual_end_pos": [ + 29302.8132, + -5566.2448, + -11074.7369 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29302.8132, + -5566.2448, + -11074.7369 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29302.8132, + -5467.1003, + -11061.6843 + ], + "actual_end_pos": [ + 29302.8132, + -5467.1003, + -11061.6843 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29302.8132, + -5467.1003, + -11061.6843 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29302.8132, + -5367.9558, + -11048.6317 + ], + "actual_end_pos": [ + 29302.8132, + -5367.9558, + -11048.6317 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29302.8132, + -5367.9558, + -11048.6317 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 29302.8132, + -5367.9558, + -11048.6317 + ], + "actual_end_pos": [ + 29302.8132, + -5367.9558, + -11048.6317 + ], + "actual_end_rot": [ + 7.5, + 75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29302.8132, + -5367.9558, + -11048.6317 + ], + "start_rot": [ + 7.5, + 75.0, + -0.0 + ], + "expected_end_pos": [ + 29399.4057, + -5393.8377, + -11048.6317 + ], + "actual_end_pos": [ + 29399.4057, + -5393.8377, + -11048.6317 + ], + "actual_end_rot": [ + 7.5, + 75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29399.4057, + -5393.8377, + -11048.6317 + ], + "start_rot": [ + 7.5, + 75.0, + -0.0 + ], + "expected_end_pos": [ + 29399.4057, + -5393.8377, + -11048.6317 + ], + "actual_end_pos": [ + 29399.4057, + -5393.8377, + -11048.6317 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260411_181558__pair_002719_A_traj_002719_meta.json b/equivalence_easy/run_20260411_181558__pair_002719_A_traj_002719_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8923aaea45ee9f126c79841cb8b50a38aed7ac5b --- /dev/null +++ b/equivalence_easy/run_20260411_181558__pair_002719_A_traj_002719_meta.json @@ -0,0 +1,1464 @@ +{ + "trajectory_id": 2719, + "episode_id": 0, + "state_id": 2015, + "sample_index": 2015, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_A", + "partner_trajectory_id": 2720, + "primary_trajectory_id": 2719, + "paired_trajectory_id": 2720, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 30160.0, + -9540.0, + -11140.0 + ], + "rotation": [ + 0.0, + 315.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "turn_right", + "move_left", + "move_forward", + "turn_left", + "move_right", + "move_forward", + "turn_left", + "move_forward", + "move_forward", + "turn_right", + "no_op", + "move_right", + "turn_left", + "move_right", + "move_right", + "move_forward", + "turn_left", + "move_right", + "move_right", + "turn_left", + "move_left", + "move_left", + "turn_left", + "move_forward", + "move_forward", + "move_forward", + "no_op", + "turn_right", + "no_op", + "move_forward", + "turn_left", + "turn_right", + "no_op", + "move_left", + "move_left", + "move_backward", + "turn_left", + "move_backward", + "move_backward" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30160.0, + -9540.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 30089.2893, + -9469.2893, + -11140.0 + ], + "actual_end_pos": [ + 30089.2893, + -9469.2893, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30089.2893, + -9469.2893, + -11140.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 30089.2893, + -9469.2893, + -11140.0 + ], + "actual_end_pos": [ + 30089.2893, + -9469.2893, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30089.2893, + -9469.2893, + -11140.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 30039.2893, + -9555.8919, + -11140.0 + ], + "actual_end_pos": [ + 30039.2893, + -9555.8919, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30039.2893, + -9555.8919, + -11140.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 30125.8919, + -9605.8919, + -11140.0 + ], + "actual_end_pos": [ + 30125.8919, + -9605.8919, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30125.8919, + -9605.8919, + -11140.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 30125.8919, + -9605.8919, + -11140.0 + ], + "actual_end_pos": [ + 30125.8919, + -9605.8919, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30125.8919, + -9605.8919, + -11140.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 30196.6025, + -9535.1812, + -11140.0 + ], + "actual_end_pos": [ + 30196.6025, + -9535.1812, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30196.6025, + -9535.1812, + -11140.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 30267.3132, + -9605.8919, + -11140.0 + ], + "actual_end_pos": [ + 30267.3132, + -9605.8919, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30267.3132, + -9605.8919, + -11140.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 30267.3132, + -9605.8919, + -11140.0 + ], + "actual_end_pos": [ + 30267.3132, + -9605.8919, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30267.3132, + -9605.8919, + -11140.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 30317.3132, + -9692.4944, + -11140.0 + ], + "actual_end_pos": [ + 30317.3132, + -9692.4944, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30317.3132, + -9692.4944, + -11140.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 30367.3132, + -9779.0969, + -11140.0 + ], + "actual_end_pos": [ + 30367.3132, + -9779.0969, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30367.3132, + -9779.0969, + -11140.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 30367.3132, + -9779.0969, + -11140.0 + ], + "actual_end_pos": [ + 30367.3132, + -9779.0969, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30367.3132, + -9779.0969, + -11140.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 30367.3132, + -9779.0969, + -11140.0 + ], + "actual_end_pos": [ + 30367.3132, + -9779.0969, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30367.3132, + -9779.0969, + -11140.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 30438.0239, + -9708.3863, + -11140.0 + ], + "actual_end_pos": [ + 30438.0239, + -9708.3863, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30438.0239, + -9708.3863, + -11140.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 30438.0239, + -9708.3863, + -11140.0 + ], + "actual_end_pos": [ + 30438.0239, + -9708.3863, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30438.0239, + -9708.3863, + -11140.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 30524.6264, + -9658.3863, + -11140.0 + ], + "actual_end_pos": [ + 30524.6264, + -9658.3863, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30524.6264, + -9658.3863, + -11140.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 30611.229, + -9608.3863, + -11140.0 + ], + "actual_end_pos": [ + 30611.229, + -9608.3863, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30611.229, + -9608.3863, + -11140.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 30661.229, + -9694.9888, + -11140.0 + ], + "actual_end_pos": [ + 30661.229, + -9694.9888, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30661.229, + -9694.9888, + -11140.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 30661.229, + -9694.9888, + -11140.0 + ], + "actual_end_pos": [ + 30661.229, + -9694.9888, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30661.229, + -9694.9888, + -11140.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 30757.8216, + -9669.1069, + -11140.0 + ], + "actual_end_pos": [ + 30757.8216, + -9669.1069, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30757.8216, + -9669.1069, + -11140.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 30854.4141, + -9643.225, + -11140.0 + ], + "actual_end_pos": [ + 30854.4141, + -9643.225, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30854.4141, + -9643.225, + -11140.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 30854.4141, + -9643.225, + -11140.0 + ], + "actual_end_pos": [ + 30854.4141, + -9643.225, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30854.4141, + -9643.225, + -11140.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 30754.4141, + -9643.225, + -11140.0 + ], + "actual_end_pos": [ + 30754.4141, + -9643.225, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30754.4141, + -9643.225, + -11140.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 30654.4141, + -9643.225, + -11140.0 + ], + "actual_end_pos": [ + 30654.4141, + -9643.225, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30654.4141, + -9643.225, + -11140.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 30654.4141, + -9643.225, + -11140.0 + ], + "actual_end_pos": [ + 30654.4141, + -9643.225, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30654.4141, + -9643.225, + -11140.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 30628.5322, + -9739.8176, + -11140.0 + ], + "actual_end_pos": [ + 30628.5322, + -9739.8176, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30628.5322, + -9739.8176, + -11140.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 30602.6503, + -9836.4102, + -11140.0 + ], + "actual_end_pos": [ + 30602.6503, + -9836.4102, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30602.6503, + -9836.4102, + -11140.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 30576.7684, + -9933.0027, + -11140.0 + ], + "actual_end_pos": [ + 30576.7684, + -9933.0027, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30576.7684, + -9933.0027, + -11140.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 30576.7684, + -9933.0027, + -11140.0 + ], + "actual_end_pos": [ + 30576.7684, + -9933.0027, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30576.7684, + -9933.0027, + -11140.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 30576.7684, + -9933.0027, + -11140.0 + ], + "actual_end_pos": [ + 30576.7684, + -9933.0027, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30576.7684, + -9933.0027, + -11140.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 30576.7684, + -9933.0027, + -11140.0 + ], + "actual_end_pos": [ + 30576.7684, + -9933.0027, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30576.7684, + -9933.0027, + -11140.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 30576.7684, + -10033.0027, + -11140.0 + ], + "actual_end_pos": [ + 30576.7684, + -10033.0027, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30576.7684, + -10033.0027, + -11140.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 30576.7684, + -10033.0027, + -11140.0 + ], + "actual_end_pos": [ + 30576.7684, + -10033.0027, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30576.7684, + -10033.0027, + -11140.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 30576.7684, + -10033.0027, + -11140.0 + ], + "actual_end_pos": [ + 30576.7684, + -10033.0027, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30576.7684, + -10033.0027, + -11140.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 30576.7684, + -10033.0027, + -11140.0 + ], + "actual_end_pos": [ + 30576.7684, + -10033.0027, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30576.7684, + -10033.0027, + -11140.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 30476.7684, + -10033.0027, + -11140.0 + ], + "actual_end_pos": [ + 30476.7684, + -10033.0027, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30476.7684, + -10033.0027, + -11140.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 30376.7684, + -10033.0027, + -11140.0 + ], + "actual_end_pos": [ + 30376.7684, + -10033.0027, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30376.7684, + -10033.0027, + -11140.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 30376.7684, + -9933.0027, + -11140.0 + ], + "actual_end_pos": [ + 30376.7684, + -9933.0027, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30376.7684, + -9933.0027, + -11140.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 30376.7684, + -9933.0027, + -11140.0 + ], + "actual_end_pos": [ + 30376.7684, + -9933.0027, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30376.7684, + -9933.0027, + -11140.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 30402.6503, + -9836.4102, + -11140.0 + ], + "actual_end_pos": [ + 30402.6503, + -9836.4102, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30402.6503, + -9836.4102, + -11140.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 30428.5322, + -9739.8176, + -11140.0 + ], + "actual_end_pos": [ + 30428.5322, + -9739.8176, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260411_181558__pair_002719_B_traj_002720_meta.json b/equivalence_easy/run_20260411_181558__pair_002719_B_traj_002720_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c40b5a4a37d3b6a20acdd5963973af3d190d37c5 --- /dev/null +++ b/equivalence_easy/run_20260411_181558__pair_002719_B_traj_002720_meta.json @@ -0,0 +1,1464 @@ +{ + "trajectory_id": 2720, + "episode_id": 0, + "state_id": 2015, + "sample_index": 2015, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_B", + "partner_trajectory_id": 2719, + "primary_trajectory_id": 2719, + "paired_trajectory_id": 2720, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 30160.0, + -9540.0, + -11140.0 + ], + "rotation": [ + 0.0, + 315.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "turn_right", + "move_forward", + "move_left", + "turn_left", + "move_right", + "move_forward", + "turn_left", + "move_forward", + "move_forward", + "turn_right", + "no_op", + "move_right", + "turn_left", + "move_right", + "move_forward", + "move_right", + "turn_left", + "move_right", + "move_right", + "turn_left", + "move_left", + "move_left", + "turn_left", + "move_forward", + "move_forward", + "move_forward", + "no_op", + "turn_right", + "no_op", + "move_forward", + "turn_right", + "turn_left", + "no_op", + "move_backward", + "move_left", + "move_left", + "turn_left", + "move_backward", + "move_backward" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30160.0, + -9540.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 30089.2893, + -9469.2893, + -11140.0 + ], + "actual_end_pos": [ + 30089.2893, + -9469.2893, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30089.2893, + -9469.2893, + -11140.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 30089.2893, + -9469.2893, + -11140.0 + ], + "actual_end_pos": [ + 30089.2893, + -9469.2893, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30089.2893, + -9469.2893, + -11140.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 30175.8919, + -9519.2893, + -11140.0 + ], + "actual_end_pos": [ + 30175.8919, + -9519.2893, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30175.8919, + -9519.2893, + -11140.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 30125.8919, + -9605.8919, + -11140.0 + ], + "actual_end_pos": [ + 30125.8919, + -9605.8919, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30125.8919, + -9605.8919, + -11140.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 30125.8919, + -9605.8919, + -11140.0 + ], + "actual_end_pos": [ + 30125.8919, + -9605.8919, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30125.8919, + -9605.8919, + -11140.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 30196.6025, + -9535.1812, + -11140.0 + ], + "actual_end_pos": [ + 30196.6025, + -9535.1812, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30196.6025, + -9535.1812, + -11140.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 30267.3132, + -9605.8919, + -11140.0 + ], + "actual_end_pos": [ + 30267.3132, + -9605.8919, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30267.3132, + -9605.8919, + -11140.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 30267.3132, + -9605.8919, + -11140.0 + ], + "actual_end_pos": [ + 30267.3132, + -9605.8919, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30267.3132, + -9605.8919, + -11140.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 30317.3132, + -9692.4944, + -11140.0 + ], + "actual_end_pos": [ + 30317.3132, + -9692.4944, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30317.3132, + -9692.4944, + -11140.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 30367.3132, + -9779.0969, + -11140.0 + ], + "actual_end_pos": [ + 30367.3132, + -9779.0969, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30367.3132, + -9779.0969, + -11140.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 30367.3132, + -9779.0969, + -11140.0 + ], + "actual_end_pos": [ + 30367.3132, + -9779.0969, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30367.3132, + -9779.0969, + -11140.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 30367.3132, + -9779.0969, + -11140.0 + ], + "actual_end_pos": [ + 30367.3132, + -9779.0969, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30367.3132, + -9779.0969, + -11140.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 30438.0239, + -9708.3863, + -11140.0 + ], + "actual_end_pos": [ + 30438.0239, + -9708.3863, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30438.0239, + -9708.3863, + -11140.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 30438.0239, + -9708.3863, + -11140.0 + ], + "actual_end_pos": [ + 30438.0239, + -9708.3863, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30438.0239, + -9708.3863, + -11140.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 30524.6264, + -9658.3863, + -11140.0 + ], + "actual_end_pos": [ + 30524.6264, + -9658.3863, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30524.6264, + -9658.3863, + -11140.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 30574.6264, + -9744.9888, + -11140.0 + ], + "actual_end_pos": [ + 30574.6264, + -9744.9888, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30574.6264, + -9744.9888, + -11140.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 30661.229, + -9694.9888, + -11140.0 + ], + "actual_end_pos": [ + 30661.229, + -9694.9888, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30661.229, + -9694.9888, + -11140.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 30661.229, + -9694.9888, + -11140.0 + ], + "actual_end_pos": [ + 30661.229, + -9694.9888, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30661.229, + -9694.9888, + -11140.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 30757.8216, + -9669.1069, + -11140.0 + ], + "actual_end_pos": [ + 30757.8216, + -9669.1069, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30757.8216, + -9669.1069, + -11140.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 30854.4141, + -9643.225, + -11140.0 + ], + "actual_end_pos": [ + 30854.4141, + -9643.225, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30854.4141, + -9643.225, + -11140.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 30854.4141, + -9643.225, + -11140.0 + ], + "actual_end_pos": [ + 30854.4141, + -9643.225, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30854.4141, + -9643.225, + -11140.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 30754.4141, + -9643.225, + -11140.0 + ], + "actual_end_pos": [ + 30754.4141, + -9643.225, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30754.4141, + -9643.225, + -11140.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 30654.4141, + -9643.225, + -11140.0 + ], + "actual_end_pos": [ + 30654.4141, + -9643.225, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30654.4141, + -9643.225, + -11140.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 30654.4141, + -9643.225, + -11140.0 + ], + "actual_end_pos": [ + 30654.4141, + -9643.225, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30654.4141, + -9643.225, + -11140.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 30628.5322, + -9739.8176, + -11140.0 + ], + "actual_end_pos": [ + 30628.5322, + -9739.8176, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30628.5322, + -9739.8176, + -11140.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 30602.6503, + -9836.4102, + -11140.0 + ], + "actual_end_pos": [ + 30602.6503, + -9836.4102, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30602.6503, + -9836.4102, + -11140.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 30576.7684, + -9933.0027, + -11140.0 + ], + "actual_end_pos": [ + 30576.7684, + -9933.0027, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30576.7684, + -9933.0027, + -11140.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 30576.7684, + -9933.0027, + -11140.0 + ], + "actual_end_pos": [ + 30576.7684, + -9933.0027, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30576.7684, + -9933.0027, + -11140.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 30576.7684, + -9933.0027, + -11140.0 + ], + "actual_end_pos": [ + 30576.7684, + -9933.0027, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30576.7684, + -9933.0027, + -11140.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 30576.7684, + -9933.0027, + -11140.0 + ], + "actual_end_pos": [ + 30576.7684, + -9933.0027, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30576.7684, + -9933.0027, + -11140.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 30576.7684, + -10033.0027, + -11140.0 + ], + "actual_end_pos": [ + 30576.7684, + -10033.0027, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30576.7684, + -10033.0027, + -11140.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 30576.7684, + -10033.0027, + -11140.0 + ], + "actual_end_pos": [ + 30576.7684, + -10033.0027, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30576.7684, + -10033.0027, + -11140.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 30576.7684, + -10033.0027, + -11140.0 + ], + "actual_end_pos": [ + 30576.7684, + -10033.0027, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30576.7684, + -10033.0027, + -11140.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 30576.7684, + -10033.0027, + -11140.0 + ], + "actual_end_pos": [ + 30576.7684, + -10033.0027, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30576.7684, + -10033.0027, + -11140.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 30576.7684, + -9933.0027, + -11140.0 + ], + "actual_end_pos": [ + 30576.7684, + -9933.0027, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30576.7684, + -9933.0027, + -11140.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 30476.7684, + -9933.0027, + -11140.0 + ], + "actual_end_pos": [ + 30476.7684, + -9933.0027, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30476.7684, + -9933.0027, + -11140.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 30376.7684, + -9933.0027, + -11140.0 + ], + "actual_end_pos": [ + 30376.7684, + -9933.0027, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30376.7684, + -9933.0027, + -11140.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 30376.7684, + -9933.0027, + -11140.0 + ], + "actual_end_pos": [ + 30376.7684, + -9933.0027, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30376.7684, + -9933.0027, + -11140.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 30402.6503, + -9836.4102, + -11140.0 + ], + "actual_end_pos": [ + 30402.6503, + -9836.4102, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30402.6503, + -9836.4102, + -11140.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 30428.5322, + -9739.8176, + -11140.0 + ], + "actual_end_pos": [ + 30428.5322, + -9739.8176, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260411_181558__pair_002725_A_traj_002725_meta.json b/equivalence_easy/run_20260411_181558__pair_002725_A_traj_002725_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c9fb4bf42f3a066e74c1003b88c295ee5c7c4ddc --- /dev/null +++ b/equivalence_easy/run_20260411_181558__pair_002725_A_traj_002725_meta.json @@ -0,0 +1,1464 @@ +{ + "trajectory_id": 2725, + "episode_id": 0, + "state_id": 2019, + "sample_index": 2019, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_A", + "partner_trajectory_id": 2726, + "primary_trajectory_id": 2725, + "paired_trajectory_id": 2726, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 30160.0, + -9340.0, + -11140.0 + ], + "rotation": [ + 0.0, + 135.0, + 0.0 + ] + }, + "action_sequence": [ + "look_up", + "move_right", + "turn_right", + "turn_right", + "turn_right", + "move_right", + "move_right", + "move_forward", + "no_op", + "move_forward", + "move_right", + "move_forward", + "move_right", + "turn_left", + "move_right", + "turn_right", + "turn_right", + "move_backward", + "look_down", + "move_forward", + "move_left", + "move_forward", + "move_left", + "move_forward", + "move_left", + "no_op", + "no_op", + "look_down", + "move_right", + "turn_left", + "move_backward", + "move_left", + "move_forward", + "move_forward", + "look_up", + "move_forward", + "look_down", + "move_backward", + "turn_left", + "move_forward" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 30160.0, + -9340.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 30160.0, + -9340.0, + -11140.0 + ], + "actual_end_pos": [ + 30160.0, + -9340.0, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + 135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30160.0, + -9340.0, + -11140.0 + ], + "start_rot": [ + 7.5, + 135.0, + -0.0 + ], + "expected_end_pos": [ + 30089.2893, + -9410.7107, + -11140.0 + ], + "actual_end_pos": [ + 30089.2893, + -9410.7107, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + 135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30089.2893, + -9410.7107, + -11140.0 + ], + "start_rot": [ + 7.5, + 135.0, + -0.0 + ], + "expected_end_pos": [ + 30089.2893, + -9410.7107, + -11140.0 + ], + "actual_end_pos": [ + 30089.2893, + -9410.7107, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30089.2893, + -9410.7107, + -11140.0 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 30089.2893, + -9410.7107, + -11140.0 + ], + "actual_end_pos": [ + 30089.2893, + -9410.7107, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30089.2893, + -9410.7107, + -11140.0 + ], + "start_rot": [ + 7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 30089.2893, + -9410.7107, + -11140.0 + ], + "actual_end_pos": [ + 30089.2893, + -9410.7107, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30089.2893, + -9410.7107, + -11140.0 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 30089.2893, + -9510.7107, + -11140.0 + ], + "actual_end_pos": [ + 30089.2893, + -9510.7107, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30089.2893, + -9510.7107, + -11140.0 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 30089.2893, + -9610.7107, + -11140.0 + ], + "actual_end_pos": [ + 30089.2893, + -9610.7107, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30089.2893, + -9610.7107, + -11140.0 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29990.1448, + -9610.7107, + -11126.9474 + ], + "actual_end_pos": [ + 29990.1448, + -9610.7107, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29990.1448, + -9610.7107, + -11126.9474 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29990.1448, + -9610.7107, + -11126.9474 + ], + "actual_end_pos": [ + 29990.1448, + -9610.7107, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29990.1448, + -9610.7107, + -11126.9474 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29891.0003, + -9610.7107, + -11113.8948 + ], + "actual_end_pos": [ + 29891.0003, + -9610.7107, + -11113.8948 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29891.0003, + -9610.7107, + -11113.8948 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29891.0003, + -9710.7107, + -11113.8948 + ], + "actual_end_pos": [ + 29891.0003, + -9710.7107, + -11113.8948 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29891.0003, + -9710.7107, + -11113.8948 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29791.8559, + -9710.7107, + -11100.8421 + ], + "actual_end_pos": [ + 29791.8559, + -9710.7107, + -11100.8421 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29791.8559, + -9710.7107, + -11100.8421 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29791.8559, + -9810.7107, + -11100.8421 + ], + "actual_end_pos": [ + 29791.8559, + -9810.7107, + -11100.8421 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29791.8559, + -9810.7107, + -11100.8421 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29791.8559, + -9810.7107, + -11100.8421 + ], + "actual_end_pos": [ + 29791.8559, + -9810.7107, + -11100.8421 + ], + "actual_end_rot": [ + 7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29791.8559, + -9810.7107, + -11100.8421 + ], + "start_rot": [ + 7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 29765.9739, + -9907.3033, + -11100.8421 + ], + "actual_end_pos": [ + 29765.9739, + -9907.3033, + -11100.8421 + ], + "actual_end_rot": [ + 7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29765.9739, + -9907.3033, + -11100.8421 + ], + "start_rot": [ + 7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 29765.9739, + -9907.3033, + -11100.8421 + ], + "actual_end_pos": [ + 29765.9739, + -9907.3033, + -11100.8421 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29765.9739, + -9907.3033, + -11100.8421 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29765.9739, + -9907.3033, + -11100.8421 + ], + "actual_end_pos": [ + 29765.9739, + -9907.3033, + -11100.8421 + ], + "actual_end_rot": [ + 7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29765.9739, + -9907.3033, + -11100.8421 + ], + "start_rot": [ + 7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 29861.7402, + -9881.6428, + -11113.8948 + ], + "actual_end_pos": [ + 29861.7402, + -9881.6428, + -11113.8948 + ], + "actual_end_rot": [ + 7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 29861.7402, + -9881.6428, + -11113.8948 + ], + "start_rot": [ + 7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 29861.7402, + -9881.6428, + -11113.8948 + ], + "actual_end_pos": [ + 29861.7402, + -9881.6428, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29861.7402, + -9881.6428, + -11113.8948 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 29765.1476, + -9907.5247, + -11113.8948 + ], + "actual_end_pos": [ + 29765.1476, + -9907.5247, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29765.1476, + -9907.5247, + -11113.8948 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 29739.2657, + -9810.9321, + -11113.8948 + ], + "actual_end_pos": [ + 29739.2657, + -9810.9321, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29739.2657, + -9810.9321, + -11113.8948 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 29642.6731, + -9836.814, + -11113.8948 + ], + "actual_end_pos": [ + 29642.6731, + -9836.814, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29642.6731, + -9836.814, + -11113.8948 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 29616.7912, + -9740.2214, + -11113.8948 + ], + "actual_end_pos": [ + 29616.7912, + -9740.2214, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29616.7912, + -9740.2214, + -11113.8948 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 29520.1986, + -9766.1033, + -11113.8948 + ], + "actual_end_pos": [ + 29520.1986, + -9766.1033, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29520.1986, + -9766.1033, + -11113.8948 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 29494.3167, + -9669.5107, + -11113.8948 + ], + "actual_end_pos": [ + 29494.3167, + -9669.5107, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29494.3167, + -9669.5107, + -11113.8948 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 29494.3167, + -9669.5107, + -11113.8948 + ], + "actual_end_pos": [ + 29494.3167, + -9669.5107, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29494.3167, + -9669.5107, + -11113.8948 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 29494.3167, + -9669.5107, + -11113.8948 + ], + "actual_end_pos": [ + 29494.3167, + -9669.5107, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 29494.3167, + -9669.5107, + -11113.8948 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 29494.3167, + -9669.5107, + -11113.8948 + ], + "actual_end_pos": [ + 29494.3167, + -9669.5107, + -11113.8948 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29494.3167, + -9669.5107, + -11113.8948 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 29520.1986, + -9766.1033, + -11113.8948 + ], + "actual_end_pos": [ + 29520.1986, + -9766.1033, + -11113.8948 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29520.1986, + -9766.1033, + -11113.8948 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 29520.1986, + -9766.1033, + -11113.8948 + ], + "actual_end_pos": [ + 29520.1986, + -9766.1033, + -11113.8948 + ], + "actual_end_rot": [ + -7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29520.1986, + -9766.1033, + -11113.8948 + ], + "start_rot": [ + -7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29619.3431, + -9766.1033, + -11100.8421 + ], + "actual_end_pos": [ + 29619.3431, + -9766.1033, + -11100.8421 + ], + "actual_end_rot": [ + -7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29619.3431, + -9766.1033, + -11100.8421 + ], + "start_rot": [ + -7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29619.3431, + -9666.1033, + -11100.8421 + ], + "actual_end_pos": [ + 29619.3431, + -9666.1033, + -11100.8421 + ], + "actual_end_rot": [ + -7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29619.3431, + -9666.1033, + -11100.8421 + ], + "start_rot": [ + -7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29520.1986, + -9666.1033, + -11113.8948 + ], + "actual_end_pos": [ + 29520.1986, + -9666.1033, + -11113.8948 + ], + "actual_end_rot": [ + -7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29520.1986, + -9666.1033, + -11113.8948 + ], + "start_rot": [ + -7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29421.0541, + -9666.1033, + -11126.9474 + ], + "actual_end_pos": [ + 29421.0541, + -9666.1033, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 29421.0541, + -9666.1033, + -11126.9474 + ], + "start_rot": [ + -7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29421.0541, + -9666.1033, + -11126.9474 + ], + "actual_end_pos": [ + 29421.0541, + -9666.1033, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29421.0541, + -9666.1033, + -11126.9474 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29321.0541, + -9666.1033, + -11126.9474 + ], + "actual_end_pos": [ + 29321.0541, + -9666.1033, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 29321.0541, + -9666.1033, + -11126.9474 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29321.0541, + -9666.1033, + -11126.9474 + ], + "actual_end_pos": [ + 29321.0541, + -9666.1033, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29321.0541, + -9666.1033, + -11126.9474 + ], + "start_rot": [ + -7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29420.1986, + -9666.1033, + -11113.8948 + ], + "actual_end_pos": [ + 29420.1986, + -9666.1033, + -11113.8948 + ], + "actual_end_rot": [ + -7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29420.1986, + -9666.1033, + -11113.8948 + ], + "start_rot": [ + -7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29420.1986, + -9666.1033, + -11113.8948 + ], + "actual_end_pos": [ + 29420.1986, + -9666.1033, + -11113.8948 + ], + "actual_end_rot": [ + -7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29420.1986, + -9666.1033, + -11113.8948 + ], + "start_rot": [ + -7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 29324.4324, + -9640.4428, + -11126.9474 + ], + "actual_end_pos": [ + 29324.4324, + -9640.4428, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260411_181558__pair_002725_B_traj_002726_meta.json b/equivalence_easy/run_20260411_181558__pair_002725_B_traj_002726_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4dab06ebc89a8004aff04f5e6138824ab9689bed --- /dev/null +++ b/equivalence_easy/run_20260411_181558__pair_002725_B_traj_002726_meta.json @@ -0,0 +1,1464 @@ +{ + "trajectory_id": 2726, + "episode_id": 0, + "state_id": 2019, + "sample_index": 2019, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_B", + "partner_trajectory_id": 2725, + "primary_trajectory_id": 2725, + "paired_trajectory_id": 2726, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 30160.0, + -9340.0, + -11140.0 + ], + "rotation": [ + 0.0, + 135.0, + 0.0 + ] + }, + "action_sequence": [ + "look_up", + "move_right", + "turn_right", + "turn_right", + "turn_right", + "move_right", + "move_forward", + "move_right", + "no_op", + "move_right", + "move_right", + "move_forward", + "move_forward", + "turn_left", + "move_right", + "turn_right", + "turn_right", + "move_backward", + "look_down", + "move_forward", + "move_forward", + "move_left", + "move_forward", + "move_left", + "move_left", + "no_op", + "no_op", + "look_down", + "move_right", + "turn_left", + "move_forward", + "move_left", + "move_backward", + "move_forward", + "look_up", + "move_forward", + "look_down", + "move_backward", + "turn_left", + "move_forward" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 30160.0, + -9340.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 30160.0, + -9340.0, + -11140.0 + ], + "actual_end_pos": [ + 30160.0, + -9340.0, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + 135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30160.0, + -9340.0, + -11140.0 + ], + "start_rot": [ + 7.5, + 135.0, + -0.0 + ], + "expected_end_pos": [ + 30089.2893, + -9410.7107, + -11140.0 + ], + "actual_end_pos": [ + 30089.2893, + -9410.7107, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + 135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30089.2893, + -9410.7107, + -11140.0 + ], + "start_rot": [ + 7.5, + 135.0, + -0.0 + ], + "expected_end_pos": [ + 30089.2893, + -9410.7107, + -11140.0 + ], + "actual_end_pos": [ + 30089.2893, + -9410.7107, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30089.2893, + -9410.7107, + -11140.0 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 30089.2893, + -9410.7107, + -11140.0 + ], + "actual_end_pos": [ + 30089.2893, + -9410.7107, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30089.2893, + -9410.7107, + -11140.0 + ], + "start_rot": [ + 7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 30089.2893, + -9410.7107, + -11140.0 + ], + "actual_end_pos": [ + 30089.2893, + -9410.7107, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30089.2893, + -9410.7107, + -11140.0 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 30089.2893, + -9510.7107, + -11140.0 + ], + "actual_end_pos": [ + 30089.2893, + -9510.7107, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30089.2893, + -9510.7107, + -11140.0 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29990.1448, + -9510.7107, + -11126.9474 + ], + "actual_end_pos": [ + 29990.1448, + -9510.7107, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29990.1448, + -9510.7107, + -11126.9474 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29990.1448, + -9610.7107, + -11126.9474 + ], + "actual_end_pos": [ + 29990.1448, + -9610.7107, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29990.1448, + -9610.7107, + -11126.9474 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29990.1448, + -9610.7107, + -11126.9474 + ], + "actual_end_pos": [ + 29990.1448, + -9610.7107, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29990.1448, + -9610.7107, + -11126.9474 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29990.1448, + -9710.7107, + -11126.9474 + ], + "actual_end_pos": [ + 29990.1448, + -9710.7107, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29990.1448, + -9710.7107, + -11126.9474 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29990.1448, + -9810.7107, + -11126.9474 + ], + "actual_end_pos": [ + 29990.1448, + -9810.7107, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29990.1448, + -9810.7107, + -11126.9474 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29891.0003, + -9810.7107, + -11113.8948 + ], + "actual_end_pos": [ + 29891.0003, + -9810.7107, + -11113.8948 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29891.0003, + -9810.7107, + -11113.8948 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29791.8559, + -9810.7107, + -11100.8421 + ], + "actual_end_pos": [ + 29791.8559, + -9810.7107, + -11100.8421 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29791.8559, + -9810.7107, + -11100.8421 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29791.8559, + -9810.7107, + -11100.8421 + ], + "actual_end_pos": [ + 29791.8559, + -9810.7107, + -11100.8421 + ], + "actual_end_rot": [ + 7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29791.8559, + -9810.7107, + -11100.8421 + ], + "start_rot": [ + 7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 29765.9739, + -9907.3033, + -11100.8421 + ], + "actual_end_pos": [ + 29765.9739, + -9907.3033, + -11100.8421 + ], + "actual_end_rot": [ + 7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29765.9739, + -9907.3033, + -11100.8421 + ], + "start_rot": [ + 7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 29765.9739, + -9907.3033, + -11100.8421 + ], + "actual_end_pos": [ + 29765.9739, + -9907.3033, + -11100.8421 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29765.9739, + -9907.3033, + -11100.8421 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29765.9739, + -9907.3033, + -11100.8421 + ], + "actual_end_pos": [ + 29765.9739, + -9907.3033, + -11100.8421 + ], + "actual_end_rot": [ + 7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29765.9739, + -9907.3033, + -11100.8421 + ], + "start_rot": [ + 7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 29861.7402, + -9881.6428, + -11113.8948 + ], + "actual_end_pos": [ + 29861.7402, + -9881.6428, + -11113.8948 + ], + "actual_end_rot": [ + 7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 29861.7402, + -9881.6428, + -11113.8948 + ], + "start_rot": [ + 7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 29861.7402, + -9881.6428, + -11113.8948 + ], + "actual_end_pos": [ + 29861.7402, + -9881.6428, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29861.7402, + -9881.6428, + -11113.8948 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 29765.1476, + -9907.5247, + -11113.8948 + ], + "actual_end_pos": [ + 29765.1476, + -9907.5247, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29765.1476, + -9907.5247, + -11113.8948 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 29668.555, + -9933.4066, + -11113.8948 + ], + "actual_end_pos": [ + 29668.555, + -9933.4066, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29668.555, + -9933.4066, + -11113.8948 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 29642.6731, + -9836.814, + -11113.8948 + ], + "actual_end_pos": [ + 29642.6731, + -9836.814, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29642.6731, + -9836.814, + -11113.8948 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 29546.0805, + -9862.6959, + -11113.8948 + ], + "actual_end_pos": [ + 29546.0805, + -9862.6959, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29546.0805, + -9862.6959, + -11113.8948 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 29520.1986, + -9766.1033, + -11113.8948 + ], + "actual_end_pos": [ + 29520.1986, + -9766.1033, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29520.1986, + -9766.1033, + -11113.8948 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 29494.3167, + -9669.5107, + -11113.8948 + ], + "actual_end_pos": [ + 29494.3167, + -9669.5107, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29494.3167, + -9669.5107, + -11113.8948 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 29494.3167, + -9669.5107, + -11113.8948 + ], + "actual_end_pos": [ + 29494.3167, + -9669.5107, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29494.3167, + -9669.5107, + -11113.8948 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 29494.3167, + -9669.5107, + -11113.8948 + ], + "actual_end_pos": [ + 29494.3167, + -9669.5107, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 29494.3167, + -9669.5107, + -11113.8948 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 29494.3167, + -9669.5107, + -11113.8948 + ], + "actual_end_pos": [ + 29494.3167, + -9669.5107, + -11113.8948 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29494.3167, + -9669.5107, + -11113.8948 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 29520.1986, + -9766.1033, + -11113.8948 + ], + "actual_end_pos": [ + 29520.1986, + -9766.1033, + -11113.8948 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29520.1986, + -9766.1033, + -11113.8948 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 29520.1986, + -9766.1033, + -11113.8948 + ], + "actual_end_pos": [ + 29520.1986, + -9766.1033, + -11113.8948 + ], + "actual_end_rot": [ + -7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29520.1986, + -9766.1033, + -11113.8948 + ], + "start_rot": [ + -7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29421.0541, + -9766.1033, + -11126.9474 + ], + "actual_end_pos": [ + 29421.0541, + -9766.1033, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29421.0541, + -9766.1033, + -11126.9474 + ], + "start_rot": [ + -7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29421.0541, + -9666.1033, + -11126.9474 + ], + "actual_end_pos": [ + 29421.0541, + -9666.1033, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29421.0541, + -9666.1033, + -11126.9474 + ], + "start_rot": [ + -7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29520.1986, + -9666.1033, + -11113.8948 + ], + "actual_end_pos": [ + 29520.1986, + -9666.1033, + -11113.8948 + ], + "actual_end_rot": [ + -7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29520.1986, + -9666.1033, + -11113.8948 + ], + "start_rot": [ + -7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29421.0541, + -9666.1033, + -11126.9474 + ], + "actual_end_pos": [ + 29421.0541, + -9666.1033, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 29421.0541, + -9666.1033, + -11126.9474 + ], + "start_rot": [ + -7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29421.0541, + -9666.1033, + -11126.9474 + ], + "actual_end_pos": [ + 29421.0541, + -9666.1033, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29421.0541, + -9666.1033, + -11126.9474 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29321.0541, + -9666.1033, + -11126.9474 + ], + "actual_end_pos": [ + 29321.0541, + -9666.1033, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 29321.0541, + -9666.1033, + -11126.9474 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29321.0541, + -9666.1033, + -11126.9474 + ], + "actual_end_pos": [ + 29321.0541, + -9666.1033, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29321.0541, + -9666.1033, + -11126.9474 + ], + "start_rot": [ + -7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29420.1986, + -9666.1033, + -11113.8948 + ], + "actual_end_pos": [ + 29420.1986, + -9666.1033, + -11113.8948 + ], + "actual_end_rot": [ + -7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29420.1986, + -9666.1033, + -11113.8948 + ], + "start_rot": [ + -7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 29420.1986, + -9666.1033, + -11113.8948 + ], + "actual_end_pos": [ + 29420.1986, + -9666.1033, + -11113.8948 + ], + "actual_end_rot": [ + -7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29420.1986, + -9666.1033, + -11113.8948 + ], + "start_rot": [ + -7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 29324.4324, + -9640.4428, + -11126.9474 + ], + "actual_end_pos": [ + 29324.4324, + -9640.4428, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260411_181558__pair_002816_A_traj_002816_meta.json b/equivalence_easy/run_20260411_181558__pair_002816_A_traj_002816_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..eb7b8f9f4013e206d58c070af099a2cf5d27c20c --- /dev/null +++ b/equivalence_easy/run_20260411_181558__pair_002816_A_traj_002816_meta.json @@ -0,0 +1,1464 @@ +{ + "trajectory_id": 2816, + "episode_id": 0, + "state_id": 2085, + "sample_index": 2085, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_A", + "partner_trajectory_id": 2817, + "primary_trajectory_id": 2816, + "paired_trajectory_id": 2817, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 30160.0, + -7740.0, + -11140.0 + ], + "rotation": [ + 0.0, + 225.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "look_up", + "move_forward", + "look_down", + "move_forward", + "turn_left", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "look_down", + "move_backward", + "turn_left", + "move_right", + "turn_left", + "turn_right", + "turn_right", + "move_forward", + "turn_right", + "look_up", + "move_left", + "look_up", + "turn_right", + "look_up", + "move_right", + "turn_right", + "move_forward", + "move_forward", + "turn_right", + "move_backward", + "look_down", + "move_left", + "move_forward", + "move_right", + "move_forward", + "move_forward", + "move_left", + "move_left", + "turn_left", + "move_backward" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30160.0, + -7740.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30089.2893, + -7810.7107, + -11140.0 + ], + "actual_end_pos": [ + 30089.2893, + -7810.7107, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 30089.2893, + -7810.7107, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30089.2893, + -7810.7107, + -11140.0 + ], + "actual_end_pos": [ + 30089.2893, + -7810.7107, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30089.2893, + -7810.7107, + -11140.0 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30019.1836, + -7880.8164, + -11126.9474 + ], + "actual_end_pos": [ + 30019.1836, + -7880.8164, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 30019.1836, + -7880.8164, + -11126.9474 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30019.1836, + -7880.8164, + -11126.9474 + ], + "actual_end_pos": [ + 30019.1836, + -7880.8164, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30019.1836, + -7880.8164, + -11126.9474 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 29948.4729, + -7951.5271, + -11126.9474 + ], + "actual_end_pos": [ + 29948.4729, + -7951.5271, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29948.4729, + -7951.5271, + -11126.9474 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 29948.4729, + -7951.5271, + -11126.9474 + ], + "actual_end_pos": [ + 29948.4729, + -7951.5271, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29948.4729, + -7951.5271, + -11126.9474 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 29948.4729, + -7951.5271, + -11126.9474 + ], + "actual_end_pos": [ + 29948.4729, + -7951.5271, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29948.4729, + -7951.5271, + -11126.9474 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 29877.7622, + -8022.2378, + -11126.9474 + ], + "actual_end_pos": [ + 29877.7622, + -8022.2378, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29877.7622, + -8022.2378, + -11126.9474 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 29807.0516, + -8092.9485, + -11126.9474 + ], + "actual_end_pos": [ + 29807.0516, + -8092.9485, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29807.0516, + -8092.9485, + -11126.9474 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 29736.3409, + -8163.6591, + -11126.9474 + ], + "actual_end_pos": [ + 29736.3409, + -8163.6591, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 29736.3409, + -8163.6591, + -11126.9474 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 29736.3409, + -8163.6591, + -11126.9474 + ], + "actual_end_pos": [ + 29736.3409, + -8163.6591, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29736.3409, + -8163.6591, + -11126.9474 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 29806.4466, + -8093.5534, + -11113.8948 + ], + "actual_end_pos": [ + 29806.4466, + -8093.5534, + -11113.8948 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29806.4466, + -8093.5534, + -11113.8948 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 29806.4466, + -8093.5534, + -11113.8948 + ], + "actual_end_pos": [ + 29806.4466, + -8093.5534, + -11113.8948 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29806.4466, + -8093.5534, + -11113.8948 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 29856.4466, + -8180.1559, + -11113.8948 + ], + "actual_end_pos": [ + 29856.4466, + -8180.1559, + -11113.8948 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29856.4466, + -8180.1559, + -11113.8948 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 29856.4466, + -8180.1559, + -11113.8948 + ], + "actual_end_pos": [ + 29856.4466, + -8180.1559, + -11113.8948 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29856.4466, + -8180.1559, + -11113.8948 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 29856.4466, + -8180.1559, + -11113.8948 + ], + "actual_end_pos": [ + 29856.4466, + -8180.1559, + -11113.8948 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29856.4466, + -8180.1559, + -11113.8948 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 29856.4466, + -8180.1559, + -11113.8948 + ], + "actual_end_pos": [ + 29856.4466, + -8180.1559, + -11113.8948 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29856.4466, + -8180.1559, + -11113.8948 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 29786.3409, + -8250.2617, + -11126.9474 + ], + "actual_end_pos": [ + 29786.3409, + -8250.2617, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29786.3409, + -8250.2617, + -11126.9474 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 29786.3409, + -8250.2617, + -11126.9474 + ], + "actual_end_pos": [ + 29786.3409, + -8250.2617, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 29786.3409, + -8250.2617, + -11126.9474 + ], + "start_rot": [ + -7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 29786.3409, + -8250.2617, + -11126.9474 + ], + "actual_end_pos": [ + 29786.3409, + -8250.2617, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29786.3409, + -8250.2617, + -11126.9474 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 29699.7383, + -8200.2617, + -11126.9474 + ], + "actual_end_pos": [ + 29699.7383, + -8200.2617, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 29699.7383, + -8200.2617, + -11126.9474 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 29699.7383, + -8200.2617, + -11126.9474 + ], + "actual_end_pos": [ + 29699.7383, + -8200.2617, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29699.7383, + -8200.2617, + -11126.9474 + ], + "start_rot": [ + 7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 29699.7383, + -8200.2617, + -11126.9474 + ], + "actual_end_pos": [ + 29699.7383, + -8200.2617, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 29699.7383, + -8200.2617, + -11126.9474 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 29699.7383, + -8200.2617, + -11126.9474 + ], + "actual_end_pos": [ + 29699.7383, + -8200.2617, + -11126.9474 + ], + "actual_end_rot": [ + 15.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29699.7383, + -8200.2617, + -11126.9474 + ], + "start_rot": [ + 15.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 29796.3309, + -8226.1436, + -11126.9474 + ], + "actual_end_pos": [ + 29796.3309, + -8226.1436, + -11126.9474 + ], + "actual_end_rot": [ + 15.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29796.3309, + -8226.1436, + -11126.9474 + ], + "start_rot": [ + 15.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 29796.3309, + -8226.1436, + -11126.9474 + ], + "actual_end_pos": [ + 29796.3309, + -8226.1436, + -11126.9474 + ], + "actual_end_rot": [ + 15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29796.3309, + -8226.1436, + -11126.9474 + ], + "start_rot": [ + 15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29796.3309, + -8322.7362, + -11101.0655 + ], + "actual_end_pos": [ + 29796.3309, + -8322.7362, + -11101.0655 + ], + "actual_end_rot": [ + 15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29796.3309, + -8322.7362, + -11101.0655 + ], + "start_rot": [ + 15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29796.3309, + -8419.3287, + -11075.1836 + ], + "actual_end_pos": [ + 29796.3309, + -8419.3287, + -11075.1836 + ], + "actual_end_rot": [ + 15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29796.3309, + -8419.3287, + -11075.1836 + ], + "start_rot": [ + 15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29796.3309, + -8419.3287, + -11075.1836 + ], + "actual_end_pos": [ + 29796.3309, + -8419.3287, + -11075.1836 + ], + "actual_end_rot": [ + 15.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29796.3309, + -8419.3287, + -11075.1836 + ], + "start_rot": [ + 15.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29771.3309, + -8326.0275, + -11101.0655 + ], + "actual_end_pos": [ + 29771.3309, + -8326.0275, + -11101.0655 + ], + "actual_end_rot": [ + 15.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 29771.3309, + -8326.0275, + -11101.0655 + ], + "start_rot": [ + 15.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29771.3309, + -8326.0275, + -11101.0655 + ], + "actual_end_pos": [ + 29771.3309, + -8326.0275, + -11101.0655 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29771.3309, + -8326.0275, + -11101.0655 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29674.7383, + -8351.9094, + -11101.0655 + ], + "actual_end_pos": [ + 29674.7383, + -8351.9094, + -11101.0655 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29674.7383, + -8351.9094, + -11101.0655 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29700.3988, + -8447.6756, + -11088.0129 + ], + "actual_end_pos": [ + 29700.3988, + -8447.6756, + -11088.0129 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29700.3988, + -8447.6756, + -11088.0129 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29796.9914, + -8421.7937, + -11088.0129 + ], + "actual_end_pos": [ + 29796.9914, + -8421.7937, + -11088.0129 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29796.9914, + -8421.7937, + -11088.0129 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29822.6519, + -8517.5599, + -11074.9602 + ], + "actual_end_pos": [ + 29822.6519, + -8517.5599, + -11074.9602 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29822.6519, + -8517.5599, + -11074.9602 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29848.3124, + -8613.3261, + -11061.9076 + ], + "actual_end_pos": [ + 29848.3124, + -8613.3261, + -11061.9076 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29848.3124, + -8613.3261, + -11061.9076 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29751.7198, + -8639.208, + -11061.9076 + ], + "actual_end_pos": [ + 29751.7198, + -8639.208, + -11061.9076 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29751.7198, + -8639.208, + -11061.9076 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29655.1272, + -8665.0899, + -11061.9076 + ], + "actual_end_pos": [ + 29655.1272, + -8665.0899, + -11061.9076 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29655.1272, + -8665.0899, + -11061.9076 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29655.1272, + -8665.0899, + -11061.9076 + ], + "actual_end_pos": [ + 29655.1272, + -8665.0899, + -11061.9076 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29655.1272, + -8665.0899, + -11061.9076 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29655.1272, + -8565.9455, + -11074.9602 + ], + "actual_end_pos": [ + 29655.1272, + -8565.9455, + -11074.9602 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260411_181558__pair_002816_B_traj_002817_meta.json b/equivalence_easy/run_20260411_181558__pair_002816_B_traj_002817_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dfa60b2e5e3e73b9facc3eaaced2189f8fe85d5f --- /dev/null +++ b/equivalence_easy/run_20260411_181558__pair_002816_B_traj_002817_meta.json @@ -0,0 +1,1464 @@ +{ + "trajectory_id": 2817, + "episode_id": 0, + "state_id": 2085, + "sample_index": 2085, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_B", + "partner_trajectory_id": 2816, + "primary_trajectory_id": 2816, + "paired_trajectory_id": 2817, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 30160.0, + -7740.0, + -11140.0 + ], + "rotation": [ + 0.0, + 225.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "look_up", + "move_forward", + "look_down", + "move_forward", + "turn_left", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "look_down", + "move_backward", + "turn_left", + "move_right", + "turn_right", + "turn_right", + "turn_left", + "move_forward", + "turn_right", + "look_up", + "move_left", + "look_up", + "look_up", + "turn_right", + "move_right", + "turn_right", + "move_forward", + "move_forward", + "turn_right", + "move_backward", + "look_down", + "move_left", + "move_left", + "move_right", + "move_forward", + "move_left", + "move_forward", + "move_forward", + "turn_left", + "move_backward" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30160.0, + -7740.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30089.2893, + -7810.7107, + -11140.0 + ], + "actual_end_pos": [ + 30089.2893, + -7810.7107, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 30089.2893, + -7810.7107, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30089.2893, + -7810.7107, + -11140.0 + ], + "actual_end_pos": [ + 30089.2893, + -7810.7107, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30089.2893, + -7810.7107, + -11140.0 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30019.1836, + -7880.8164, + -11126.9474 + ], + "actual_end_pos": [ + 30019.1836, + -7880.8164, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 30019.1836, + -7880.8164, + -11126.9474 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30019.1836, + -7880.8164, + -11126.9474 + ], + "actual_end_pos": [ + 30019.1836, + -7880.8164, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30019.1836, + -7880.8164, + -11126.9474 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 29948.4729, + -7951.5271, + -11126.9474 + ], + "actual_end_pos": [ + 29948.4729, + -7951.5271, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29948.4729, + -7951.5271, + -11126.9474 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 29948.4729, + -7951.5271, + -11126.9474 + ], + "actual_end_pos": [ + 29948.4729, + -7951.5271, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29948.4729, + -7951.5271, + -11126.9474 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 29948.4729, + -7951.5271, + -11126.9474 + ], + "actual_end_pos": [ + 29948.4729, + -7951.5271, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29948.4729, + -7951.5271, + -11126.9474 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 29877.7622, + -8022.2378, + -11126.9474 + ], + "actual_end_pos": [ + 29877.7622, + -8022.2378, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29877.7622, + -8022.2378, + -11126.9474 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 29807.0516, + -8092.9485, + -11126.9474 + ], + "actual_end_pos": [ + 29807.0516, + -8092.9485, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29807.0516, + -8092.9485, + -11126.9474 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 29736.3409, + -8163.6591, + -11126.9474 + ], + "actual_end_pos": [ + 29736.3409, + -8163.6591, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 29736.3409, + -8163.6591, + -11126.9474 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 29736.3409, + -8163.6591, + -11126.9474 + ], + "actual_end_pos": [ + 29736.3409, + -8163.6591, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29736.3409, + -8163.6591, + -11126.9474 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 29806.4466, + -8093.5534, + -11113.8948 + ], + "actual_end_pos": [ + 29806.4466, + -8093.5534, + -11113.8948 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29806.4466, + -8093.5534, + -11113.8948 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 29806.4466, + -8093.5534, + -11113.8948 + ], + "actual_end_pos": [ + 29806.4466, + -8093.5534, + -11113.8948 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29806.4466, + -8093.5534, + -11113.8948 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 29856.4466, + -8180.1559, + -11113.8948 + ], + "actual_end_pos": [ + 29856.4466, + -8180.1559, + -11113.8948 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29856.4466, + -8180.1559, + -11113.8948 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 29856.4466, + -8180.1559, + -11113.8948 + ], + "actual_end_pos": [ + 29856.4466, + -8180.1559, + -11113.8948 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29856.4466, + -8180.1559, + -11113.8948 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 29856.4466, + -8180.1559, + -11113.8948 + ], + "actual_end_pos": [ + 29856.4466, + -8180.1559, + -11113.8948 + ], + "actual_end_rot": [ + -7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29856.4466, + -8180.1559, + -11113.8948 + ], + "start_rot": [ + -7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 29856.4466, + -8180.1559, + -11113.8948 + ], + "actual_end_pos": [ + 29856.4466, + -8180.1559, + -11113.8948 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29856.4466, + -8180.1559, + -11113.8948 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 29786.3409, + -8250.2617, + -11126.9474 + ], + "actual_end_pos": [ + 29786.3409, + -8250.2617, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29786.3409, + -8250.2617, + -11126.9474 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 29786.3409, + -8250.2617, + -11126.9474 + ], + "actual_end_pos": [ + 29786.3409, + -8250.2617, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 29786.3409, + -8250.2617, + -11126.9474 + ], + "start_rot": [ + -7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 29786.3409, + -8250.2617, + -11126.9474 + ], + "actual_end_pos": [ + 29786.3409, + -8250.2617, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29786.3409, + -8250.2617, + -11126.9474 + ], + "start_rot": [ + 0.0, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 29699.7383, + -8200.2617, + -11126.9474 + ], + "actual_end_pos": [ + 29699.7383, + -8200.2617, + -11126.9474 + ], + "actual_end_rot": [ + 0.0, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 29699.7383, + -8200.2617, + -11126.9474 + ], + "start_rot": [ + 0.0, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 29699.7383, + -8200.2617, + -11126.9474 + ], + "actual_end_pos": [ + 29699.7383, + -8200.2617, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 29699.7383, + -8200.2617, + -11126.9474 + ], + "start_rot": [ + 7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 29699.7383, + -8200.2617, + -11126.9474 + ], + "actual_end_pos": [ + 29699.7383, + -8200.2617, + -11126.9474 + ], + "actual_end_rot": [ + 15.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29699.7383, + -8200.2617, + -11126.9474 + ], + "start_rot": [ + 15.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 29699.7383, + -8200.2617, + -11126.9474 + ], + "actual_end_pos": [ + 29699.7383, + -8200.2617, + -11126.9474 + ], + "actual_end_rot": [ + 15.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29699.7383, + -8200.2617, + -11126.9474 + ], + "start_rot": [ + 15.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 29796.3309, + -8226.1436, + -11126.9474 + ], + "actual_end_pos": [ + 29796.3309, + -8226.1436, + -11126.9474 + ], + "actual_end_rot": [ + 15.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29796.3309, + -8226.1436, + -11126.9474 + ], + "start_rot": [ + 15.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 29796.3309, + -8226.1436, + -11126.9474 + ], + "actual_end_pos": [ + 29796.3309, + -8226.1436, + -11126.9474 + ], + "actual_end_rot": [ + 15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29796.3309, + -8226.1436, + -11126.9474 + ], + "start_rot": [ + 15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29796.3309, + -8322.7362, + -11101.0655 + ], + "actual_end_pos": [ + 29796.3309, + -8322.7362, + -11101.0655 + ], + "actual_end_rot": [ + 15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29796.3309, + -8322.7362, + -11101.0655 + ], + "start_rot": [ + 15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29796.3309, + -8419.3287, + -11075.1836 + ], + "actual_end_pos": [ + 29796.3309, + -8419.3287, + -11075.1836 + ], + "actual_end_rot": [ + 15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29796.3309, + -8419.3287, + -11075.1836 + ], + "start_rot": [ + 15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29796.3309, + -8419.3287, + -11075.1836 + ], + "actual_end_pos": [ + 29796.3309, + -8419.3287, + -11075.1836 + ], + "actual_end_rot": [ + 15.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29796.3309, + -8419.3287, + -11075.1836 + ], + "start_rot": [ + 15.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29771.3309, + -8326.0275, + -11101.0655 + ], + "actual_end_pos": [ + 29771.3309, + -8326.0275, + -11101.0655 + ], + "actual_end_rot": [ + 15.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 29771.3309, + -8326.0275, + -11101.0655 + ], + "start_rot": [ + 15.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29771.3309, + -8326.0275, + -11101.0655 + ], + "actual_end_pos": [ + 29771.3309, + -8326.0275, + -11101.0655 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29771.3309, + -8326.0275, + -11101.0655 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29674.7383, + -8351.9094, + -11101.0655 + ], + "actual_end_pos": [ + 29674.7383, + -8351.9094, + -11101.0655 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29674.7383, + -8351.9094, + -11101.0655 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29578.1458, + -8377.7913, + -11101.0655 + ], + "actual_end_pos": [ + 29578.1458, + -8377.7913, + -11101.0655 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29578.1458, + -8377.7913, + -11101.0655 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29674.7383, + -8351.9094, + -11101.0655 + ], + "actual_end_pos": [ + 29674.7383, + -8351.9094, + -11101.0655 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29674.7383, + -8351.9094, + -11101.0655 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29700.3988, + -8447.6756, + -11088.0129 + ], + "actual_end_pos": [ + 29700.3988, + -8447.6756, + -11088.0129 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29700.3988, + -8447.6756, + -11088.0129 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29603.8062, + -8473.5575, + -11088.0129 + ], + "actual_end_pos": [ + 29603.8062, + -8473.5575, + -11088.0129 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29603.8062, + -8473.5575, + -11088.0129 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29629.4667, + -8569.3237, + -11074.9602 + ], + "actual_end_pos": [ + 29629.4667, + -8569.3237, + -11074.9602 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29629.4667, + -8569.3237, + -11074.9602 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29655.1272, + -8665.0899, + -11061.9076 + ], + "actual_end_pos": [ + 29655.1272, + -8665.0899, + -11061.9076 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29655.1272, + -8665.0899, + -11061.9076 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29655.1272, + -8665.0899, + -11061.9076 + ], + "actual_end_pos": [ + 29655.1272, + -8665.0899, + -11061.9076 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29655.1272, + -8665.0899, + -11061.9076 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29655.1272, + -8565.9455, + -11074.9602 + ], + "actual_end_pos": [ + 29655.1272, + -8565.9455, + -11074.9602 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260411_181558__pair_002909_A_traj_002909_meta.json b/equivalence_easy/run_20260411_181558__pair_002909_A_traj_002909_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a2ac37aa14dfc5f54b53b3a9e530bec35cd7c0ad --- /dev/null +++ b/equivalence_easy/run_20260411_181558__pair_002909_A_traj_002909_meta.json @@ -0,0 +1,1464 @@ +{ + "trajectory_id": 2909, + "episode_id": 0, + "state_id": 2158, + "sample_index": 2158, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_A", + "partner_trajectory_id": 2910, + "primary_trajectory_id": 2909, + "paired_trajectory_id": 2910, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 30160.0, + -5940.0, + -11140.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_right", + "no_op", + "look_up", + "move_left", + "turn_right", + "move_backward", + "move_right", + "look_down", + "move_left", + "no_op", + "move_left", + "look_up", + "look_up", + "move_forward", + "turn_left", + "turn_left", + "turn_left", + "move_left", + "move_left", + "move_left", + "turn_right", + "move_forward", + "move_left", + "move_left", + "move_forward", + "turn_right", + "move_forward", + "move_left", + "move_forward", + "move_right", + "move_right", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "look_up", + "move_forward", + "move_right", + "move_forward", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30160.0, + -5940.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 30160.0, + -5940.0, + -11140.0 + ], + "actual_end_pos": [ + 30160.0, + -5940.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30160.0, + -5940.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 30160.0, + -5940.0, + -11140.0 + ], + "actual_end_pos": [ + 30160.0, + -5940.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 30160.0, + -5940.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 30160.0, + -5940.0, + -11140.0 + ], + "actual_end_pos": [ + 30160.0, + -5940.0, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30160.0, + -5940.0, + -11140.0 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 30063.4074, + -5965.8819, + -11140.0 + ], + "actual_end_pos": [ + 30063.4074, + -5965.8819, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30063.4074, + -5965.8819, + -11140.0 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 30063.4074, + -5965.8819, + -11140.0 + ], + "actual_end_pos": [ + 30063.4074, + -5965.8819, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30063.4074, + -5965.8819, + -11140.0 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 30013.8352, + -5880.0203, + -11153.0526 + ], + "actual_end_pos": [ + 30013.8352, + -5880.0203, + -11153.0526 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30013.8352, + -5880.0203, + -11153.0526 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 30100.4377, + -5830.0203, + -11153.0526 + ], + "actual_end_pos": [ + 30100.4377, + -5830.0203, + -11153.0526 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 30100.4377, + -5830.0203, + -11153.0526 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 30100.4377, + -5830.0203, + -11153.0526 + ], + "actual_end_pos": [ + 30100.4377, + -5830.0203, + -11153.0526 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30100.4377, + -5830.0203, + -11153.0526 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 30013.8352, + -5880.0203, + -11153.0526 + ], + "actual_end_pos": [ + 30013.8352, + -5880.0203, + -11153.0526 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30013.8352, + -5880.0203, + -11153.0526 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 30013.8352, + -5880.0203, + -11153.0526 + ], + "actual_end_pos": [ + 30013.8352, + -5880.0203, + -11153.0526 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30013.8352, + -5880.0203, + -11153.0526 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 29927.2326, + -5930.0203, + -11153.0526 + ], + "actual_end_pos": [ + 29927.2326, + -5930.0203, + -11153.0526 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 29927.2326, + -5930.0203, + -11153.0526 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 29927.2326, + -5930.0203, + -11153.0526 + ], + "actual_end_pos": [ + 29927.2326, + -5930.0203, + -11153.0526 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 29927.2326, + -5930.0203, + -11153.0526 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 29927.2326, + -5930.0203, + -11153.0526 + ], + "actual_end_pos": [ + 29927.2326, + -5930.0203, + -11153.0526 + ], + "actual_end_rot": [ + 15.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29927.2326, + -5930.0203, + -11153.0526 + ], + "start_rot": [ + 15.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 29975.5289, + -6013.6719, + -11127.1707 + ], + "actual_end_pos": [ + 29975.5289, + -6013.6719, + -11127.1707 + ], + "actual_end_rot": [ + 15.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29975.5289, + -6013.6719, + -11127.1707 + ], + "start_rot": [ + 15.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 29975.5289, + -6013.6719, + -11127.1707 + ], + "actual_end_pos": [ + 29975.5289, + -6013.6719, + -11127.1707 + ], + "actual_end_rot": [ + 15.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29975.5289, + -6013.6719, + -11127.1707 + ], + "start_rot": [ + 15.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29975.5289, + -6013.6719, + -11127.1707 + ], + "actual_end_pos": [ + 29975.5289, + -6013.6719, + -11127.1707 + ], + "actual_end_rot": [ + 15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29975.5289, + -6013.6719, + -11127.1707 + ], + "start_rot": [ + 15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29975.5289, + -6013.6719, + -11127.1707 + ], + "actual_end_pos": [ + 29975.5289, + -6013.6719, + -11127.1707 + ], + "actual_end_rot": [ + 15.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29975.5289, + -6013.6719, + -11127.1707 + ], + "start_rot": [ + 15.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 29878.9363, + -5987.79, + -11127.1707 + ], + "actual_end_pos": [ + 29878.9363, + -5987.79, + -11127.1707 + ], + "actual_end_rot": [ + 15.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29878.9363, + -5987.79, + -11127.1707 + ], + "start_rot": [ + 15.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 29782.3438, + -5961.9081, + -11127.1707 + ], + "actual_end_pos": [ + 29782.3438, + -5961.9081, + -11127.1707 + ], + "actual_end_rot": [ + 15.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29782.3438, + -5961.9081, + -11127.1707 + ], + "start_rot": [ + 15.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 29685.7512, + -5936.0262, + -11127.1707 + ], + "actual_end_pos": [ + 29685.7512, + -5936.0262, + -11127.1707 + ], + "actual_end_rot": [ + 15.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29685.7512, + -5936.0262, + -11127.1707 + ], + "start_rot": [ + 15.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 29685.7512, + -5936.0262, + -11127.1707 + ], + "actual_end_pos": [ + 29685.7512, + -5936.0262, + -11127.1707 + ], + "actual_end_rot": [ + 15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29685.7512, + -5936.0262, + -11127.1707 + ], + "start_rot": [ + 15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29685.7512, + -6032.6188, + -11101.2888 + ], + "actual_end_pos": [ + 29685.7512, + -6032.6188, + -11101.2888 + ], + "actual_end_rot": [ + 15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29685.7512, + -6032.6188, + -11101.2888 + ], + "start_rot": [ + 15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29585.7512, + -6032.6188, + -11101.2888 + ], + "actual_end_pos": [ + 29585.7512, + -6032.6188, + -11101.2888 + ], + "actual_end_rot": [ + 15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29585.7512, + -6032.6188, + -11101.2888 + ], + "start_rot": [ + 15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29485.7512, + -6032.6188, + -11101.2888 + ], + "actual_end_pos": [ + 29485.7512, + -6032.6188, + -11101.2888 + ], + "actual_end_rot": [ + 15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29485.7512, + -6032.6188, + -11101.2888 + ], + "start_rot": [ + 15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29485.7512, + -6129.2114, + -11075.4069 + ], + "actual_end_pos": [ + 29485.7512, + -6129.2114, + -11075.4069 + ], + "actual_end_rot": [ + 15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29485.7512, + -6129.2114, + -11075.4069 + ], + "start_rot": [ + 15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29485.7512, + -6129.2114, + -11075.4069 + ], + "actual_end_pos": [ + 29485.7512, + -6129.2114, + -11075.4069 + ], + "actual_end_rot": [ + 15.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29485.7512, + -6129.2114, + -11075.4069 + ], + "start_rot": [ + 15.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29510.7512, + -6222.5126, + -11049.525 + ], + "actual_end_pos": [ + 29510.7512, + -6222.5126, + -11049.525 + ], + "actual_end_rot": [ + 15.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29510.7512, + -6222.5126, + -11049.525 + ], + "start_rot": [ + 15.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29414.1586, + -6248.3945, + -11049.525 + ], + "actual_end_pos": [ + 29414.1586, + -6248.3945, + -11049.525 + ], + "actual_end_rot": [ + 15.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29414.1586, + -6248.3945, + -11049.525 + ], + "start_rot": [ + 15.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29439.1586, + -6341.6958, + -11023.6431 + ], + "actual_end_pos": [ + 29439.1586, + -6341.6958, + -11023.6431 + ], + "actual_end_rot": [ + 15.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29439.1586, + -6341.6958, + -11023.6431 + ], + "start_rot": [ + 15.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29535.7512, + -6315.8139, + -11023.6431 + ], + "actual_end_pos": [ + 29535.7512, + -6315.8139, + -11023.6431 + ], + "actual_end_rot": [ + 15.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29535.7512, + -6315.8139, + -11023.6431 + ], + "start_rot": [ + 15.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29632.3438, + -6289.932, + -11023.6431 + ], + "actual_end_pos": [ + 29632.3438, + -6289.932, + -11023.6431 + ], + "actual_end_rot": [ + 15.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29632.3438, + -6289.932, + -11023.6431 + ], + "start_rot": [ + 15.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29632.3438, + -6289.932, + -11023.6431 + ], + "actual_end_pos": [ + 29632.3438, + -6289.932, + -11023.6431 + ], + "actual_end_rot": [ + 15.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29632.3438, + -6289.932, + -11023.6431 + ], + "start_rot": [ + 15.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 29632.3438, + -6289.932, + -11023.6431 + ], + "actual_end_pos": [ + 29632.3438, + -6289.932, + -11023.6431 + ], + "actual_end_rot": [ + 15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29632.3438, + -6289.932, + -11023.6431 + ], + "start_rot": [ + 15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 29632.3438, + -6289.932, + -11023.6431 + ], + "actual_end_pos": [ + 29632.3438, + -6289.932, + -11023.6431 + ], + "actual_end_rot": [ + 15.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29632.3438, + -6289.932, + -11023.6431 + ], + "start_rot": [ + 15.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 29715.9954, + -6338.2283, + -10997.7612 + ], + "actual_end_pos": [ + 29715.9954, + -6338.2283, + -10997.7612 + ], + "actual_end_rot": [ + 15.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 29715.9954, + -6338.2283, + -10997.7612 + ], + "start_rot": [ + 15.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 29715.9954, + -6338.2283, + -10997.7612 + ], + "actual_end_pos": [ + 29715.9954, + -6338.2283, + -10997.7612 + ], + "actual_end_rot": [ + 22.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29715.9954, + -6338.2283, + -10997.7612 + ], + "start_rot": [ + 22.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 29796.0057, + -6384.4223, + -10959.4929 + ], + "actual_end_pos": [ + 29796.0057, + -6384.4223, + -10959.4929 + ], + "actual_end_rot": [ + 22.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29796.0057, + -6384.4223, + -10959.4929 + ], + "start_rot": [ + 22.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 29846.0057, + -6297.8197, + -10959.4929 + ], + "actual_end_pos": [ + 29846.0057, + -6297.8197, + -10959.4929 + ], + "actual_end_rot": [ + 22.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29846.0057, + -6297.8197, + -10959.4929 + ], + "start_rot": [ + 22.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 29926.016, + -6344.0137, + -10921.2245 + ], + "actual_end_pos": [ + 29926.016, + -6344.0137, + -10921.2245 + ], + "actual_end_rot": [ + 22.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29926.016, + -6344.0137, + -10921.2245 + ], + "start_rot": [ + 22.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 29926.016, + -6344.0137, + -10921.2245 + ], + "actual_end_pos": [ + 29926.016, + -6344.0137, + -10921.2245 + ], + "actual_end_rot": [ + 22.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260411_181558__pair_002909_B_traj_002910_meta.json b/equivalence_easy/run_20260411_181558__pair_002909_B_traj_002910_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7ae6ff8b58adae4ae22e3cc2704ee85088e13da0 --- /dev/null +++ b/equivalence_easy/run_20260411_181558__pair_002909_B_traj_002910_meta.json @@ -0,0 +1,1464 @@ +{ + "trajectory_id": 2910, + "episode_id": 0, + "state_id": 2158, + "sample_index": 2158, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_B", + "partner_trajectory_id": 2909, + "primary_trajectory_id": 2909, + "paired_trajectory_id": 2910, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 30160.0, + -5940.0, + -11140.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_right", + "no_op", + "look_up", + "move_left", + "turn_right", + "move_right", + "move_backward", + "look_down", + "move_left", + "no_op", + "move_left", + "look_up", + "look_up", + "move_forward", + "turn_left", + "turn_left", + "turn_left", + "move_left", + "move_left", + "move_left", + "turn_right", + "move_left", + "move_left", + "move_forward", + "move_forward", + "turn_right", + "move_right", + "move_forward", + "move_forward", + "move_right", + "move_left", + "turn_right", + "turn_right", + "turn_right", + "move_forward", + "look_up", + "move_forward", + "move_forward", + "move_right", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30160.0, + -5940.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 30160.0, + -5940.0, + -11140.0 + ], + "actual_end_pos": [ + 30160.0, + -5940.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30160.0, + -5940.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 30160.0, + -5940.0, + -11140.0 + ], + "actual_end_pos": [ + 30160.0, + -5940.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 30160.0, + -5940.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 30160.0, + -5940.0, + -11140.0 + ], + "actual_end_pos": [ + 30160.0, + -5940.0, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30160.0, + -5940.0, + -11140.0 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 30063.4074, + -5965.8819, + -11140.0 + ], + "actual_end_pos": [ + 30063.4074, + -5965.8819, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30063.4074, + -5965.8819, + -11140.0 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 30063.4074, + -5965.8819, + -11140.0 + ], + "actual_end_pos": [ + 30063.4074, + -5965.8819, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30063.4074, + -5965.8819, + -11140.0 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 30150.01, + -5915.8819, + -11140.0 + ], + "actual_end_pos": [ + 30150.01, + -5915.8819, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30150.01, + -5915.8819, + -11140.0 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 30100.4377, + -5830.0203, + -11153.0526 + ], + "actual_end_pos": [ + 30100.4377, + -5830.0203, + -11153.0526 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 30100.4377, + -5830.0203, + -11153.0526 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 30100.4377, + -5830.0203, + -11153.0526 + ], + "actual_end_pos": [ + 30100.4377, + -5830.0203, + -11153.0526 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30100.4377, + -5830.0203, + -11153.0526 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 30013.8352, + -5880.0203, + -11153.0526 + ], + "actual_end_pos": [ + 30013.8352, + -5880.0203, + -11153.0526 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30013.8352, + -5880.0203, + -11153.0526 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 30013.8352, + -5880.0203, + -11153.0526 + ], + "actual_end_pos": [ + 30013.8352, + -5880.0203, + -11153.0526 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30013.8352, + -5880.0203, + -11153.0526 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 29927.2326, + -5930.0203, + -11153.0526 + ], + "actual_end_pos": [ + 29927.2326, + -5930.0203, + -11153.0526 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 29927.2326, + -5930.0203, + -11153.0526 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 29927.2326, + -5930.0203, + -11153.0526 + ], + "actual_end_pos": [ + 29927.2326, + -5930.0203, + -11153.0526 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 29927.2326, + -5930.0203, + -11153.0526 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 29927.2326, + -5930.0203, + -11153.0526 + ], + "actual_end_pos": [ + 29927.2326, + -5930.0203, + -11153.0526 + ], + "actual_end_rot": [ + 15.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29927.2326, + -5930.0203, + -11153.0526 + ], + "start_rot": [ + 15.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 29975.5289, + -6013.6719, + -11127.1707 + ], + "actual_end_pos": [ + 29975.5289, + -6013.6719, + -11127.1707 + ], + "actual_end_rot": [ + 15.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29975.5289, + -6013.6719, + -11127.1707 + ], + "start_rot": [ + 15.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 29975.5289, + -6013.6719, + -11127.1707 + ], + "actual_end_pos": [ + 29975.5289, + -6013.6719, + -11127.1707 + ], + "actual_end_rot": [ + 15.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29975.5289, + -6013.6719, + -11127.1707 + ], + "start_rot": [ + 15.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29975.5289, + -6013.6719, + -11127.1707 + ], + "actual_end_pos": [ + 29975.5289, + -6013.6719, + -11127.1707 + ], + "actual_end_rot": [ + 15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29975.5289, + -6013.6719, + -11127.1707 + ], + "start_rot": [ + 15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29975.5289, + -6013.6719, + -11127.1707 + ], + "actual_end_pos": [ + 29975.5289, + -6013.6719, + -11127.1707 + ], + "actual_end_rot": [ + 15.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29975.5289, + -6013.6719, + -11127.1707 + ], + "start_rot": [ + 15.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 29878.9363, + -5987.79, + -11127.1707 + ], + "actual_end_pos": [ + 29878.9363, + -5987.79, + -11127.1707 + ], + "actual_end_rot": [ + 15.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29878.9363, + -5987.79, + -11127.1707 + ], + "start_rot": [ + 15.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 29782.3438, + -5961.9081, + -11127.1707 + ], + "actual_end_pos": [ + 29782.3438, + -5961.9081, + -11127.1707 + ], + "actual_end_rot": [ + 15.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29782.3438, + -5961.9081, + -11127.1707 + ], + "start_rot": [ + 15.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 29685.7512, + -5936.0262, + -11127.1707 + ], + "actual_end_pos": [ + 29685.7512, + -5936.0262, + -11127.1707 + ], + "actual_end_rot": [ + 15.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29685.7512, + -5936.0262, + -11127.1707 + ], + "start_rot": [ + 15.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 29685.7512, + -5936.0262, + -11127.1707 + ], + "actual_end_pos": [ + 29685.7512, + -5936.0262, + -11127.1707 + ], + "actual_end_rot": [ + 15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29685.7512, + -5936.0262, + -11127.1707 + ], + "start_rot": [ + 15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29585.7512, + -5936.0262, + -11127.1707 + ], + "actual_end_pos": [ + 29585.7512, + -5936.0262, + -11127.1707 + ], + "actual_end_rot": [ + 15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29585.7512, + -5936.0262, + -11127.1707 + ], + "start_rot": [ + 15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29485.7512, + -5936.0262, + -11127.1707 + ], + "actual_end_pos": [ + 29485.7512, + -5936.0262, + -11127.1707 + ], + "actual_end_rot": [ + 15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29485.7512, + -5936.0262, + -11127.1707 + ], + "start_rot": [ + 15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29485.7512, + -6032.6188, + -11101.2888 + ], + "actual_end_pos": [ + 29485.7512, + -6032.6188, + -11101.2888 + ], + "actual_end_rot": [ + 15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29485.7512, + -6032.6188, + -11101.2888 + ], + "start_rot": [ + 15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29485.7512, + -6129.2114, + -11075.4069 + ], + "actual_end_pos": [ + 29485.7512, + -6129.2114, + -11075.4069 + ], + "actual_end_rot": [ + 15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29485.7512, + -6129.2114, + -11075.4069 + ], + "start_rot": [ + 15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29485.7512, + -6129.2114, + -11075.4069 + ], + "actual_end_pos": [ + 29485.7512, + -6129.2114, + -11075.4069 + ], + "actual_end_rot": [ + 15.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29485.7512, + -6129.2114, + -11075.4069 + ], + "start_rot": [ + 15.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29582.3438, + -6103.3294, + -11075.4069 + ], + "actual_end_pos": [ + 29582.3438, + -6103.3294, + -11075.4069 + ], + "actual_end_rot": [ + 15.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29582.3438, + -6103.3294, + -11075.4069 + ], + "start_rot": [ + 15.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29607.3438, + -6196.6307, + -11049.525 + ], + "actual_end_pos": [ + 29607.3438, + -6196.6307, + -11049.525 + ], + "actual_end_rot": [ + 15.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29607.3438, + -6196.6307, + -11049.525 + ], + "start_rot": [ + 15.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29632.3438, + -6289.932, + -11023.6431 + ], + "actual_end_pos": [ + 29632.3438, + -6289.932, + -11023.6431 + ], + "actual_end_rot": [ + 15.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29632.3438, + -6289.932, + -11023.6431 + ], + "start_rot": [ + 15.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29728.9363, + -6264.0501, + -11023.6431 + ], + "actual_end_pos": [ + 29728.9363, + -6264.0501, + -11023.6431 + ], + "actual_end_rot": [ + 15.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29728.9363, + -6264.0501, + -11023.6431 + ], + "start_rot": [ + 15.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29632.3438, + -6289.932, + -11023.6431 + ], + "actual_end_pos": [ + 29632.3438, + -6289.932, + -11023.6431 + ], + "actual_end_rot": [ + 15.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29632.3438, + -6289.932, + -11023.6431 + ], + "start_rot": [ + 15.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29632.3438, + -6289.932, + -11023.6431 + ], + "actual_end_pos": [ + 29632.3438, + -6289.932, + -11023.6431 + ], + "actual_end_rot": [ + 15.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29632.3438, + -6289.932, + -11023.6431 + ], + "start_rot": [ + 15.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 29632.3438, + -6289.932, + -11023.6431 + ], + "actual_end_pos": [ + 29632.3438, + -6289.932, + -11023.6431 + ], + "actual_end_rot": [ + 15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29632.3438, + -6289.932, + -11023.6431 + ], + "start_rot": [ + 15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 29632.3438, + -6289.932, + -11023.6431 + ], + "actual_end_pos": [ + 29632.3438, + -6289.932, + -11023.6431 + ], + "actual_end_rot": [ + 15.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29632.3438, + -6289.932, + -11023.6431 + ], + "start_rot": [ + 15.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 29715.9954, + -6338.2283, + -10997.7612 + ], + "actual_end_pos": [ + 29715.9954, + -6338.2283, + -10997.7612 + ], + "actual_end_rot": [ + 15.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 29715.9954, + -6338.2283, + -10997.7612 + ], + "start_rot": [ + 15.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 29715.9954, + -6338.2283, + -10997.7612 + ], + "actual_end_pos": [ + 29715.9954, + -6338.2283, + -10997.7612 + ], + "actual_end_rot": [ + 22.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29715.9954, + -6338.2283, + -10997.7612 + ], + "start_rot": [ + 22.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 29796.0057, + -6384.4223, + -10959.4929 + ], + "actual_end_pos": [ + 29796.0057, + -6384.4223, + -10959.4929 + ], + "actual_end_rot": [ + 22.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29796.0057, + -6384.4223, + -10959.4929 + ], + "start_rot": [ + 22.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 29876.016, + -6430.6162, + -10921.2245 + ], + "actual_end_pos": [ + 29876.016, + -6430.6162, + -10921.2245 + ], + "actual_end_rot": [ + 22.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29876.016, + -6430.6162, + -10921.2245 + ], + "start_rot": [ + 22.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 29926.016, + -6344.0137, + -10921.2245 + ], + "actual_end_pos": [ + 29926.016, + -6344.0137, + -10921.2245 + ], + "actual_end_rot": [ + 22.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 29926.016, + -6344.0137, + -10921.2245 + ], + "start_rot": [ + 22.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 29926.016, + -6344.0137, + -10921.2245 + ], + "actual_end_pos": [ + 29926.016, + -6344.0137, + -10921.2245 + ], + "actual_end_rot": [ + 22.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260411_181558__pair_003102_A_traj_003102_meta.json b/equivalence_easy/run_20260411_181558__pair_003102_A_traj_003102_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0a65729fc2a9835a17ba91c2043e70ed0e5a0c8a --- /dev/null +++ b/equivalence_easy/run_20260411_181558__pair_003102_A_traj_003102_meta.json @@ -0,0 +1,1464 @@ +{ + "trajectory_id": 3102, + "episode_id": 0, + "state_id": 2301, + "sample_index": 2301, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_A", + "partner_trajectory_id": 3103, + "primary_trajectory_id": 3102, + "paired_trajectory_id": 3103, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 30360.0, + -6540.0, + -11140.0 + ], + "rotation": [ + 0.0, + 225.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_right", + "move_left", + "move_left", + "turn_left", + "turn_left", + "look_up", + "move_forward", + "turn_right", + "move_forward", + "look_down", + "turn_right", + "move_backward", + "move_left", + "move_left", + "move_forward", + "move_right", + "turn_right", + "turn_left", + "move_backward", + "turn_left", + "move_left", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "move_backward", + "move_backward", + "move_left", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "move_left", + "turn_right", + "move_right", + "move_right", + "move_right", + "move_backward" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30360.0, + -6540.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30360.0, + -6540.0, + -11140.0 + ], + "actual_end_pos": [ + 30360.0, + -6540.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30360.0, + -6540.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 30273.3975, + -6490.0, + -11140.0 + ], + "actual_end_pos": [ + 30273.3975, + -6490.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30273.3975, + -6490.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 30186.7949, + -6440.0, + -11140.0 + ], + "actual_end_pos": [ + 30186.7949, + -6440.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30186.7949, + -6440.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 30186.7949, + -6440.0, + -11140.0 + ], + "actual_end_pos": [ + 30186.7949, + -6440.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30186.7949, + -6440.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30186.7949, + -6440.0, + -11140.0 + ], + "actual_end_pos": [ + 30186.7949, + -6440.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 30186.7949, + -6440.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 30186.7949, + -6440.0, + -11140.0 + ], + "actual_end_pos": [ + 30186.7949, + -6440.0, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30186.7949, + -6440.0, + -11140.0 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 30100.9333, + -6489.5722, + -11126.9474 + ], + "actual_end_pos": [ + 30100.9333, + -6489.5722, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30100.9333, + -6489.5722, + -11126.9474 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 30100.9333, + -6489.5722, + -11126.9474 + ], + "actual_end_pos": [ + 30100.9333, + -6489.5722, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30100.9333, + -6489.5722, + -11126.9474 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30030.8275, + -6559.678, + -11113.8948 + ], + "actual_end_pos": [ + 30030.8275, + -6559.678, + -11113.8948 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 30030.8275, + -6559.678, + -11113.8948 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30030.8275, + -6559.678, + -11113.8948 + ], + "actual_end_pos": [ + 30030.8275, + -6559.678, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30030.8275, + -6559.678, + -11113.8948 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30030.8275, + -6559.678, + -11113.8948 + ], + "actual_end_pos": [ + 30030.8275, + -6559.678, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30030.8275, + -6559.678, + -11113.8948 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 30080.8275, + -6473.0754, + -11113.8948 + ], + "actual_end_pos": [ + 30080.8275, + -6473.0754, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30080.8275, + -6473.0754, + -11113.8948 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 29994.225, + -6423.0754, + -11113.8948 + ], + "actual_end_pos": [ + 29994.225, + -6423.0754, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29994.225, + -6423.0754, + -11113.8948 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 29907.6225, + -6373.0754, + -11113.8948 + ], + "actual_end_pos": [ + 29907.6225, + -6373.0754, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29907.6225, + -6373.0754, + -11113.8948 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 29857.6225, + -6459.678, + -11113.8948 + ], + "actual_end_pos": [ + 29857.6225, + -6459.678, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29857.6225, + -6459.678, + -11113.8948 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 29944.225, + -6509.678, + -11113.8948 + ], + "actual_end_pos": [ + 29944.225, + -6509.678, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29944.225, + -6509.678, + -11113.8948 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 29944.225, + -6509.678, + -11113.8948 + ], + "actual_end_pos": [ + 29944.225, + -6509.678, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29944.225, + -6509.678, + -11113.8948 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 29944.225, + -6509.678, + -11113.8948 + ], + "actual_end_pos": [ + 29944.225, + -6509.678, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29944.225, + -6509.678, + -11113.8948 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 29994.225, + -6423.0754, + -11113.8948 + ], + "actual_end_pos": [ + 29994.225, + -6423.0754, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29994.225, + -6423.0754, + -11113.8948 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 29994.225, + -6423.0754, + -11113.8948 + ], + "actual_end_pos": [ + 29994.225, + -6423.0754, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29994.225, + -6423.0754, + -11113.8948 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 29923.5143, + -6352.3648, + -11113.8948 + ], + "actual_end_pos": [ + 29923.5143, + -6352.3648, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29923.5143, + -6352.3648, + -11113.8948 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 29852.8036, + -6423.0755, + -11113.8948 + ], + "actual_end_pos": [ + 29852.8036, + -6423.0755, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29852.8036, + -6423.0755, + -11113.8948 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 29852.8036, + -6423.0755, + -11113.8948 + ], + "actual_end_pos": [ + 29852.8036, + -6423.0755, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29852.8036, + -6423.0755, + -11113.8948 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 29852.8036, + -6423.0755, + -11113.8948 + ], + "actual_end_pos": [ + 29852.8036, + -6423.0755, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29852.8036, + -6423.0755, + -11113.8948 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 29852.8036, + -6423.0755, + -11113.8948 + ], + "actual_end_pos": [ + 29852.8036, + -6423.0755, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29852.8036, + -6423.0755, + -11113.8948 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29852.8036, + -6323.0755, + -11113.8948 + ], + "actual_end_pos": [ + 29852.8036, + -6323.0755, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29852.8036, + -6323.0755, + -11113.8948 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29852.8036, + -6223.0755, + -11113.8948 + ], + "actual_end_pos": [ + 29852.8036, + -6223.0755, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29852.8036, + -6223.0755, + -11113.8948 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29752.8036, + -6223.0755, + -11113.8948 + ], + "actual_end_pos": [ + 29752.8036, + -6223.0755, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29752.8036, + -6223.0755, + -11113.8948 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29752.8036, + -6323.0755, + -11113.8948 + ], + "actual_end_pos": [ + 29752.8036, + -6323.0755, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29752.8036, + -6323.0755, + -11113.8948 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29752.8036, + -6423.0755, + -11113.8948 + ], + "actual_end_pos": [ + 29752.8036, + -6423.0755, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29752.8036, + -6423.0755, + -11113.8948 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29752.8036, + -6523.0755, + -11113.8948 + ], + "actual_end_pos": [ + 29752.8036, + -6523.0755, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29752.8036, + -6523.0755, + -11113.8948 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29752.8036, + -6623.0755, + -11113.8948 + ], + "actual_end_pos": [ + 29752.8036, + -6623.0755, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29752.8036, + -6623.0755, + -11113.8948 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29752.8036, + -6723.0755, + -11113.8948 + ], + "actual_end_pos": [ + 29752.8036, + -6723.0755, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29752.8036, + -6723.0755, + -11113.8948 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29752.8036, + -6823.0755, + -11113.8948 + ], + "actual_end_pos": [ + 29752.8036, + -6823.0755, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29752.8036, + -6823.0755, + -11113.8948 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29652.8036, + -6823.0755, + -11113.8948 + ], + "actual_end_pos": [ + 29652.8036, + -6823.0755, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29652.8036, + -6823.0755, + -11113.8948 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29652.8036, + -6823.0755, + -11113.8948 + ], + "actual_end_pos": [ + 29652.8036, + -6823.0755, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29652.8036, + -6823.0755, + -11113.8948 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29749.3962, + -6797.1935, + -11113.8948 + ], + "actual_end_pos": [ + 29749.3962, + -6797.1935, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29749.3962, + -6797.1935, + -11113.8948 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29845.9888, + -6771.3116, + -11113.8948 + ], + "actual_end_pos": [ + 29845.9888, + -6771.3116, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29845.9888, + -6771.3116, + -11113.8948 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29942.5814, + -6745.4297, + -11113.8948 + ], + "actual_end_pos": [ + 29942.5814, + -6745.4297, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29942.5814, + -6745.4297, + -11113.8948 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29916.6995, + -6648.8372, + -11113.8948 + ], + "actual_end_pos": [ + 29916.6995, + -6648.8372, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260411_181558__pair_003102_B_traj_003103_meta.json b/equivalence_easy/run_20260411_181558__pair_003102_B_traj_003103_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4a5bf50676e9d56d791d396da53aa140b80f5353 --- /dev/null +++ b/equivalence_easy/run_20260411_181558__pair_003102_B_traj_003103_meta.json @@ -0,0 +1,1464 @@ +{ + "trajectory_id": 3103, + "episode_id": 0, + "state_id": 2301, + "sample_index": 2301, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_B", + "partner_trajectory_id": 3102, + "primary_trajectory_id": 3102, + "paired_trajectory_id": 3103, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 30360.0, + -6540.0, + -11140.0 + ], + "rotation": [ + 0.0, + 225.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_right", + "move_left", + "move_left", + "turn_left", + "look_up", + "turn_left", + "move_forward", + "turn_right", + "move_forward", + "look_down", + "turn_right", + "move_backward", + "move_left", + "move_right", + "move_left", + "move_forward", + "turn_left", + "turn_right", + "move_backward", + "turn_left", + "move_forward", + "move_left", + "turn_right", + "turn_right", + "turn_right", + "move_left", + "move_backward", + "move_forward", + "move_forward", + "move_forward", + "move_left", + "move_forward", + "move_forward", + "move_forward", + "move_backward", + "turn_right", + "move_backward", + "move_right", + "move_right", + "move_right" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30360.0, + -6540.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30360.0, + -6540.0, + -11140.0 + ], + "actual_end_pos": [ + 30360.0, + -6540.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30360.0, + -6540.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 30273.3975, + -6490.0, + -11140.0 + ], + "actual_end_pos": [ + 30273.3975, + -6490.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30273.3975, + -6490.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 30186.7949, + -6440.0, + -11140.0 + ], + "actual_end_pos": [ + 30186.7949, + -6440.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30186.7949, + -6440.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 30186.7949, + -6440.0, + -11140.0 + ], + "actual_end_pos": [ + 30186.7949, + -6440.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 30186.7949, + -6440.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30186.7949, + -6440.0, + -11140.0 + ], + "actual_end_pos": [ + 30186.7949, + -6440.0, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30186.7949, + -6440.0, + -11140.0 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30186.7949, + -6440.0, + -11140.0 + ], + "actual_end_pos": [ + 30186.7949, + -6440.0, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30186.7949, + -6440.0, + -11140.0 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 30100.9333, + -6489.5722, + -11126.9474 + ], + "actual_end_pos": [ + 30100.9333, + -6489.5722, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30100.9333, + -6489.5722, + -11126.9474 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 30100.9333, + -6489.5722, + -11126.9474 + ], + "actual_end_pos": [ + 30100.9333, + -6489.5722, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30100.9333, + -6489.5722, + -11126.9474 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30030.8275, + -6559.678, + -11113.8948 + ], + "actual_end_pos": [ + 30030.8275, + -6559.678, + -11113.8948 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 30030.8275, + -6559.678, + -11113.8948 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30030.8275, + -6559.678, + -11113.8948 + ], + "actual_end_pos": [ + 30030.8275, + -6559.678, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30030.8275, + -6559.678, + -11113.8948 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30030.8275, + -6559.678, + -11113.8948 + ], + "actual_end_pos": [ + 30030.8275, + -6559.678, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30030.8275, + -6559.678, + -11113.8948 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 30080.8275, + -6473.0754, + -11113.8948 + ], + "actual_end_pos": [ + 30080.8275, + -6473.0754, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30080.8275, + -6473.0754, + -11113.8948 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 29994.225, + -6423.0754, + -11113.8948 + ], + "actual_end_pos": [ + 29994.225, + -6423.0754, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29994.225, + -6423.0754, + -11113.8948 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 30080.8275, + -6473.0754, + -11113.8948 + ], + "actual_end_pos": [ + 30080.8275, + -6473.0754, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30080.8275, + -6473.0754, + -11113.8948 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 29994.225, + -6423.0754, + -11113.8948 + ], + "actual_end_pos": [ + 29994.225, + -6423.0754, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29994.225, + -6423.0754, + -11113.8948 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 29944.225, + -6509.678, + -11113.8948 + ], + "actual_end_pos": [ + 29944.225, + -6509.678, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29944.225, + -6509.678, + -11113.8948 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 29944.225, + -6509.678, + -11113.8948 + ], + "actual_end_pos": [ + 29944.225, + -6509.678, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29944.225, + -6509.678, + -11113.8948 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 29944.225, + -6509.678, + -11113.8948 + ], + "actual_end_pos": [ + 29944.225, + -6509.678, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29944.225, + -6509.678, + -11113.8948 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 29994.225, + -6423.0754, + -11113.8948 + ], + "actual_end_pos": [ + 29994.225, + -6423.0754, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 29994.225, + -6423.0754, + -11113.8948 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 29994.225, + -6423.0754, + -11113.8948 + ], + "actual_end_pos": [ + 29994.225, + -6423.0754, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29994.225, + -6423.0754, + -11113.8948 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 29923.5143, + -6493.7861, + -11113.8948 + ], + "actual_end_pos": [ + 29923.5143, + -6493.7861, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29923.5143, + -6493.7861, + -11113.8948 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 29852.8036, + -6423.0755, + -11113.8948 + ], + "actual_end_pos": [ + 29852.8036, + -6423.0755, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29852.8036, + -6423.0755, + -11113.8948 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 29852.8036, + -6423.0755, + -11113.8948 + ], + "actual_end_pos": [ + 29852.8036, + -6423.0755, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29852.8036, + -6423.0755, + -11113.8948 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 29852.8036, + -6423.0755, + -11113.8948 + ], + "actual_end_pos": [ + 29852.8036, + -6423.0755, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29852.8036, + -6423.0755, + -11113.8948 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 29852.8036, + -6423.0755, + -11113.8948 + ], + "actual_end_pos": [ + 29852.8036, + -6423.0755, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29852.8036, + -6423.0755, + -11113.8948 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29752.8036, + -6423.0755, + -11113.8948 + ], + "actual_end_pos": [ + 29752.8036, + -6423.0755, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29752.8036, + -6423.0755, + -11113.8948 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29752.8036, + -6323.0755, + -11113.8948 + ], + "actual_end_pos": [ + 29752.8036, + -6323.0755, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29752.8036, + -6323.0755, + -11113.8948 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29752.8036, + -6423.0755, + -11113.8948 + ], + "actual_end_pos": [ + 29752.8036, + -6423.0755, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29752.8036, + -6423.0755, + -11113.8948 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29752.8036, + -6523.0755, + -11113.8948 + ], + "actual_end_pos": [ + 29752.8036, + -6523.0755, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29752.8036, + -6523.0755, + -11113.8948 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29752.8036, + -6623.0755, + -11113.8948 + ], + "actual_end_pos": [ + 29752.8036, + -6623.0755, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29752.8036, + -6623.0755, + -11113.8948 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29652.8036, + -6623.0755, + -11113.8948 + ], + "actual_end_pos": [ + 29652.8036, + -6623.0755, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29652.8036, + -6623.0755, + -11113.8948 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29652.8036, + -6723.0755, + -11113.8948 + ], + "actual_end_pos": [ + 29652.8036, + -6723.0755, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29652.8036, + -6723.0755, + -11113.8948 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29652.8036, + -6823.0755, + -11113.8948 + ], + "actual_end_pos": [ + 29652.8036, + -6823.0755, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 29652.8036, + -6823.0755, + -11113.8948 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29652.8036, + -6923.0755, + -11113.8948 + ], + "actual_end_pos": [ + 29652.8036, + -6923.0755, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29652.8036, + -6923.0755, + -11113.8948 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29652.8036, + -6823.0755, + -11113.8948 + ], + "actual_end_pos": [ + 29652.8036, + -6823.0755, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 29652.8036, + -6823.0755, + -11113.8948 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 29652.8036, + -6823.0755, + -11113.8948 + ], + "actual_end_pos": [ + 29652.8036, + -6823.0755, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 29652.8036, + -6823.0755, + -11113.8948 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29626.9217, + -6726.4829, + -11113.8948 + ], + "actual_end_pos": [ + 29626.9217, + -6726.4829, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29626.9217, + -6726.4829, + -11113.8948 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29723.5143, + -6700.601, + -11113.8948 + ], + "actual_end_pos": [ + 29723.5143, + -6700.601, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29723.5143, + -6700.601, + -11113.8948 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29820.1069, + -6674.7191, + -11113.8948 + ], + "actual_end_pos": [ + 29820.1069, + -6674.7191, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29820.1069, + -6674.7191, + -11113.8948 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 29916.6995, + -6648.8372, + -11113.8948 + ], + "actual_end_pos": [ + 29916.6995, + -6648.8372, + -11113.8948 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260411_181558__pair_003183_A_traj_003183_meta.json b/equivalence_easy/run_20260411_181558__pair_003183_A_traj_003183_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2d7a3d41ca5bdac19b7ce7bdf7a56ee5d31da957 --- /dev/null +++ b/equivalence_easy/run_20260411_181558__pair_003183_A_traj_003183_meta.json @@ -0,0 +1,1464 @@ +{ + "trajectory_id": 3183, + "episode_id": 0, + "state_id": 2356, + "sample_index": 2356, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_A", + "partner_trajectory_id": 3184, + "primary_trajectory_id": 3183, + "paired_trajectory_id": 3184, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 30560.0, + -9340.0, + -11140.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_right", + "move_left", + "turn_right", + "turn_right", + "move_right", + "move_forward", + "turn_left", + "move_left", + "move_forward", + "move_left", + "look_down", + "move_backward", + "move_backward", + "move_left", + "move_left", + "move_backward", + "move_backward", + "move_left", + "turn_right", + "move_right", + "move_right", + "no_op", + "look_up", + "turn_right", + "move_forward", + "turn_left", + "turn_left", + "move_left", + "move_left", + "move_forward", + "move_right", + "move_forward", + "turn_right", + "move_left", + "turn_left", + "look_down", + "turn_right", + "move_backward", + "move_backward", + "move_forward" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30560.0, + -9340.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 30560.0, + -9340.0, + -11140.0 + ], + "actual_end_pos": [ + 30560.0, + -9340.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30560.0, + -9340.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 30534.1181, + -9243.4074, + -11140.0 + ], + "actual_end_pos": [ + 30534.1181, + -9243.4074, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30534.1181, + -9243.4074, + -11140.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 30534.1181, + -9243.4074, + -11140.0 + ], + "actual_end_pos": [ + 30534.1181, + -9243.4074, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30534.1181, + -9243.4074, + -11140.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 30534.1181, + -9243.4074, + -11140.0 + ], + "actual_end_pos": [ + 30534.1181, + -9243.4074, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30534.1181, + -9243.4074, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30604.8288, + -9314.1181, + -11140.0 + ], + "actual_end_pos": [ + 30604.8288, + -9314.1181, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30604.8288, + -9314.1181, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30534.1181, + -9384.8288, + -11140.0 + ], + "actual_end_pos": [ + 30534.1181, + -9384.8288, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30534.1181, + -9384.8288, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30534.1181, + -9384.8288, + -11140.0 + ], + "actual_end_pos": [ + 30534.1181, + -9384.8288, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30534.1181, + -9384.8288, + -11140.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 30484.1181, + -9298.2262, + -11140.0 + ], + "actual_end_pos": [ + 30484.1181, + -9298.2262, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30484.1181, + -9298.2262, + -11140.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 30397.5156, + -9348.2262, + -11140.0 + ], + "actual_end_pos": [ + 30397.5156, + -9348.2262, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30397.5156, + -9348.2262, + -11140.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 30347.5156, + -9261.6237, + -11140.0 + ], + "actual_end_pos": [ + 30347.5156, + -9261.6237, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 30347.5156, + -9261.6237, + -11140.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 30347.5156, + -9261.6237, + -11140.0 + ], + "actual_end_pos": [ + 30347.5156, + -9261.6237, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30347.5156, + -9261.6237, + -11140.0 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 30433.3772, + -9212.0515, + -11126.9474 + ], + "actual_end_pos": [ + 30433.3772, + -9212.0515, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30433.3772, + -9212.0515, + -11126.9474 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 30519.2388, + -9162.4792, + -11113.8948 + ], + "actual_end_pos": [ + 30519.2388, + -9162.4792, + -11113.8948 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30519.2388, + -9162.4792, + -11113.8948 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 30469.2388, + -9075.8767, + -11113.8948 + ], + "actual_end_pos": [ + 30469.2388, + -9075.8767, + -11113.8948 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30469.2388, + -9075.8767, + -11113.8948 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 30419.2388, + -8989.2741, + -11113.8948 + ], + "actual_end_pos": [ + 30419.2388, + -8989.2741, + -11113.8948 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30419.2388, + -8989.2741, + -11113.8948 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 30505.1005, + -8939.7019, + -11100.8421 + ], + "actual_end_pos": [ + 30505.1005, + -8939.7019, + -11100.8421 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30505.1005, + -8939.7019, + -11100.8421 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 30590.9621, + -8890.1296, + -11087.7895 + ], + "actual_end_pos": [ + 30590.9621, + -8890.1296, + -11087.7895 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30590.9621, + -8890.1296, + -11087.7895 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 30540.9621, + -8803.5271, + -11087.7895 + ], + "actual_end_pos": [ + 30540.9621, + -8803.5271, + -11087.7895 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30540.9621, + -8803.5271, + -11087.7895 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 30540.9621, + -8803.5271, + -11087.7895 + ], + "actual_end_pos": [ + 30540.9621, + -8803.5271, + -11087.7895 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30540.9621, + -8803.5271, + -11087.7895 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30611.6728, + -8874.2378, + -11087.7895 + ], + "actual_end_pos": [ + 30611.6728, + -8874.2378, + -11087.7895 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30611.6728, + -8874.2378, + -11087.7895 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30682.3835, + -8944.9485, + -11087.7895 + ], + "actual_end_pos": [ + 30682.3835, + -8944.9485, + -11087.7895 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30682.3835, + -8944.9485, + -11087.7895 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30682.3835, + -8944.9485, + -11087.7895 + ], + "actual_end_pos": [ + 30682.3835, + -8944.9485, + -11087.7895 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 30682.3835, + -8944.9485, + -11087.7895 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30682.3835, + -8944.9485, + -11087.7895 + ], + "actual_end_pos": [ + 30682.3835, + -8944.9485, + -11087.7895 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30682.3835, + -8944.9485, + -11087.7895 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 30682.3835, + -8944.9485, + -11087.7895 + ], + "actual_end_pos": [ + 30682.3835, + -8944.9485, + -11087.7895 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30682.3835, + -8944.9485, + -11087.7895 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 30632.3835, + -9031.551, + -11087.7895 + ], + "actual_end_pos": [ + 30632.3835, + -9031.551, + -11087.7895 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30632.3835, + -9031.551, + -11087.7895 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 30632.3835, + -9031.551, + -11087.7895 + ], + "actual_end_pos": [ + 30632.3835, + -9031.551, + -11087.7895 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30632.3835, + -9031.551, + -11087.7895 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 30632.3835, + -9031.551, + -11087.7895 + ], + "actual_end_pos": [ + 30632.3835, + -9031.551, + -11087.7895 + ], + "actual_end_rot": [ + 0.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30632.3835, + -9031.551, + -11087.7895 + ], + "start_rot": [ + 0.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + 30582.3835, + -8944.9485, + -11087.7895 + ], + "actual_end_pos": [ + 30582.3835, + -8944.9485, + -11087.7895 + ], + "actual_end_rot": [ + 0.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30582.3835, + -8944.9485, + -11087.7895 + ], + "start_rot": [ + 0.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + 30532.3835, + -8858.3459, + -11087.7895 + ], + "actual_end_pos": [ + 30532.3835, + -8858.3459, + -11087.7895 + ], + "actual_end_rot": [ + 0.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30532.3835, + -8858.3459, + -11087.7895 + ], + "start_rot": [ + 0.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + 30445.7809, + -8908.3459, + -11087.7895 + ], + "actual_end_pos": [ + 30445.7809, + -8908.3459, + -11087.7895 + ], + "actual_end_rot": [ + 0.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30445.7809, + -8908.3459, + -11087.7895 + ], + "start_rot": [ + 0.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + 30495.7809, + -8994.9485, + -11087.7895 + ], + "actual_end_pos": [ + 30495.7809, + -8994.9485, + -11087.7895 + ], + "actual_end_rot": [ + 0.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30495.7809, + -8994.9485, + -11087.7895 + ], + "start_rot": [ + 0.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + 30409.1784, + -9044.9485, + -11087.7895 + ], + "actual_end_pos": [ + 30409.1784, + -9044.9485, + -11087.7895 + ], + "actual_end_rot": [ + 0.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30409.1784, + -9044.9485, + -11087.7895 + ], + "start_rot": [ + 0.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + 30409.1784, + -9044.9485, + -11087.7895 + ], + "actual_end_pos": [ + 30409.1784, + -9044.9485, + -11087.7895 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30409.1784, + -9044.9485, + -11087.7895 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 30338.4677, + -8974.2378, + -11087.7895 + ], + "actual_end_pos": [ + 30338.4677, + -8974.2378, + -11087.7895 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30338.4677, + -8974.2378, + -11087.7895 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 30338.4677, + -8974.2378, + -11087.7895 + ], + "actual_end_pos": [ + 30338.4677, + -8974.2378, + -11087.7895 + ], + "actual_end_rot": [ + 0.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 30338.4677, + -8974.2378, + -11087.7895 + ], + "start_rot": [ + 0.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + 30338.4677, + -8974.2378, + -11087.7895 + ], + "actual_end_pos": [ + 30338.4677, + -8974.2378, + -11087.7895 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30338.4677, + -8974.2378, + -11087.7895 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 30338.4677, + -8974.2378, + -11087.7895 + ], + "actual_end_pos": [ + 30338.4677, + -8974.2378, + -11087.7895 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30338.4677, + -8974.2378, + -11087.7895 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30408.5735, + -8904.132, + -11074.7369 + ], + "actual_end_pos": [ + 30408.5735, + -8904.132, + -11074.7369 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30408.5735, + -8904.132, + -11074.7369 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30478.6792, + -8834.0263, + -11061.6843 + ], + "actual_end_pos": [ + 30478.6792, + -8834.0263, + -11061.6843 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30478.6792, + -8834.0263, + -11061.6843 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30408.5735, + -8904.132, + -11074.7369 + ], + "actual_end_pos": [ + 30408.5735, + -8904.132, + -11074.7369 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260411_181558__pair_003183_B_traj_003184_meta.json b/equivalence_easy/run_20260411_181558__pair_003183_B_traj_003184_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..47ada037f94da96c4b773b02fdfb9348435e8363 --- /dev/null +++ b/equivalence_easy/run_20260411_181558__pair_003183_B_traj_003184_meta.json @@ -0,0 +1,1464 @@ +{ + "trajectory_id": 3184, + "episode_id": 0, + "state_id": 2356, + "sample_index": 2356, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_B", + "partner_trajectory_id": 3183, + "primary_trajectory_id": 3183, + "paired_trajectory_id": 3184, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 30560.0, + -9340.0, + -11140.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_right", + "move_left", + "turn_right", + "turn_right", + "move_forward", + "move_right", + "turn_left", + "move_forward", + "move_left", + "move_left", + "look_down", + "move_backward", + "move_backward", + "move_backward", + "move_left", + "move_left", + "move_backward", + "move_left", + "turn_right", + "move_right", + "move_right", + "no_op", + "look_up", + "turn_right", + "move_forward", + "turn_left", + "turn_left", + "move_forward", + "move_left", + "move_left", + "move_right", + "move_forward", + "turn_right", + "move_left", + "turn_left", + "turn_right", + "look_down", + "move_backward", + "move_forward", + "move_backward" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30560.0, + -9340.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 30560.0, + -9340.0, + -11140.0 + ], + "actual_end_pos": [ + 30560.0, + -9340.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30560.0, + -9340.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 30534.1181, + -9243.4074, + -11140.0 + ], + "actual_end_pos": [ + 30534.1181, + -9243.4074, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30534.1181, + -9243.4074, + -11140.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 30534.1181, + -9243.4074, + -11140.0 + ], + "actual_end_pos": [ + 30534.1181, + -9243.4074, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30534.1181, + -9243.4074, + -11140.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 30534.1181, + -9243.4074, + -11140.0 + ], + "actual_end_pos": [ + 30534.1181, + -9243.4074, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30534.1181, + -9243.4074, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30463.4074, + -9314.1181, + -11140.0 + ], + "actual_end_pos": [ + 30463.4074, + -9314.1181, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30463.4074, + -9314.1181, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30534.1181, + -9384.8288, + -11140.0 + ], + "actual_end_pos": [ + 30534.1181, + -9384.8288, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30534.1181, + -9384.8288, + -11140.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30534.1181, + -9384.8288, + -11140.0 + ], + "actual_end_pos": [ + 30534.1181, + -9384.8288, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30534.1181, + -9384.8288, + -11140.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 30447.5156, + -9434.8288, + -11140.0 + ], + "actual_end_pos": [ + 30447.5156, + -9434.8288, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30447.5156, + -9434.8288, + -11140.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 30397.5156, + -9348.2262, + -11140.0 + ], + "actual_end_pos": [ + 30397.5156, + -9348.2262, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30397.5156, + -9348.2262, + -11140.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 30347.5156, + -9261.6237, + -11140.0 + ], + "actual_end_pos": [ + 30347.5156, + -9261.6237, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 30347.5156, + -9261.6237, + -11140.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 30347.5156, + -9261.6237, + -11140.0 + ], + "actual_end_pos": [ + 30347.5156, + -9261.6237, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30347.5156, + -9261.6237, + -11140.0 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 30433.3772, + -9212.0515, + -11126.9474 + ], + "actual_end_pos": [ + 30433.3772, + -9212.0515, + -11126.9474 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30433.3772, + -9212.0515, + -11126.9474 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 30519.2388, + -9162.4792, + -11113.8948 + ], + "actual_end_pos": [ + 30519.2388, + -9162.4792, + -11113.8948 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30519.2388, + -9162.4792, + -11113.8948 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 30605.1005, + -9112.907, + -11100.8421 + ], + "actual_end_pos": [ + 30605.1005, + -9112.907, + -11100.8421 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30605.1005, + -9112.907, + -11100.8421 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 30555.1005, + -9026.3044, + -11100.8421 + ], + "actual_end_pos": [ + 30555.1005, + -9026.3044, + -11100.8421 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30555.1005, + -9026.3044, + -11100.8421 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 30505.1005, + -8939.7019, + -11100.8421 + ], + "actual_end_pos": [ + 30505.1005, + -8939.7019, + -11100.8421 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30505.1005, + -8939.7019, + -11100.8421 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 30590.9621, + -8890.1296, + -11087.7895 + ], + "actual_end_pos": [ + 30590.9621, + -8890.1296, + -11087.7895 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30590.9621, + -8890.1296, + -11087.7895 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 30540.9621, + -8803.5271, + -11087.7895 + ], + "actual_end_pos": [ + 30540.9621, + -8803.5271, + -11087.7895 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30540.9621, + -8803.5271, + -11087.7895 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 30540.9621, + -8803.5271, + -11087.7895 + ], + "actual_end_pos": [ + 30540.9621, + -8803.5271, + -11087.7895 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30540.9621, + -8803.5271, + -11087.7895 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30611.6728, + -8874.2378, + -11087.7895 + ], + "actual_end_pos": [ + 30611.6728, + -8874.2378, + -11087.7895 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30611.6728, + -8874.2378, + -11087.7895 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30682.3835, + -8944.9485, + -11087.7895 + ], + "actual_end_pos": [ + 30682.3835, + -8944.9485, + -11087.7895 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30682.3835, + -8944.9485, + -11087.7895 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30682.3835, + -8944.9485, + -11087.7895 + ], + "actual_end_pos": [ + 30682.3835, + -8944.9485, + -11087.7895 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 30682.3835, + -8944.9485, + -11087.7895 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30682.3835, + -8944.9485, + -11087.7895 + ], + "actual_end_pos": [ + 30682.3835, + -8944.9485, + -11087.7895 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30682.3835, + -8944.9485, + -11087.7895 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 30682.3835, + -8944.9485, + -11087.7895 + ], + "actual_end_pos": [ + 30682.3835, + -8944.9485, + -11087.7895 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30682.3835, + -8944.9485, + -11087.7895 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 30632.3835, + -9031.551, + -11087.7895 + ], + "actual_end_pos": [ + 30632.3835, + -9031.551, + -11087.7895 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30632.3835, + -9031.551, + -11087.7895 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 30632.3835, + -9031.551, + -11087.7895 + ], + "actual_end_pos": [ + 30632.3835, + -9031.551, + -11087.7895 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30632.3835, + -9031.551, + -11087.7895 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 30632.3835, + -9031.551, + -11087.7895 + ], + "actual_end_pos": [ + 30632.3835, + -9031.551, + -11087.7895 + ], + "actual_end_rot": [ + 0.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30632.3835, + -9031.551, + -11087.7895 + ], + "start_rot": [ + 0.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + 30545.7809, + -9081.551, + -11087.7895 + ], + "actual_end_pos": [ + 30545.7809, + -9081.551, + -11087.7895 + ], + "actual_end_rot": [ + 0.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30545.7809, + -9081.551, + -11087.7895 + ], + "start_rot": [ + 0.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + 30495.7809, + -8994.9485, + -11087.7895 + ], + "actual_end_pos": [ + 30495.7809, + -8994.9485, + -11087.7895 + ], + "actual_end_rot": [ + 0.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30495.7809, + -8994.9485, + -11087.7895 + ], + "start_rot": [ + 0.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + 30445.7809, + -8908.3459, + -11087.7895 + ], + "actual_end_pos": [ + 30445.7809, + -8908.3459, + -11087.7895 + ], + "actual_end_rot": [ + 0.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30445.7809, + -8908.3459, + -11087.7895 + ], + "start_rot": [ + 0.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + 30495.7809, + -8994.9485, + -11087.7895 + ], + "actual_end_pos": [ + 30495.7809, + -8994.9485, + -11087.7895 + ], + "actual_end_rot": [ + 0.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30495.7809, + -8994.9485, + -11087.7895 + ], + "start_rot": [ + 0.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + 30409.1784, + -9044.9485, + -11087.7895 + ], + "actual_end_pos": [ + 30409.1784, + -9044.9485, + -11087.7895 + ], + "actual_end_rot": [ + 0.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30409.1784, + -9044.9485, + -11087.7895 + ], + "start_rot": [ + 0.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + 30409.1784, + -9044.9485, + -11087.7895 + ], + "actual_end_pos": [ + 30409.1784, + -9044.9485, + -11087.7895 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30409.1784, + -9044.9485, + -11087.7895 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 30338.4677, + -8974.2378, + -11087.7895 + ], + "actual_end_pos": [ + 30338.4677, + -8974.2378, + -11087.7895 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30338.4677, + -8974.2378, + -11087.7895 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 30338.4677, + -8974.2378, + -11087.7895 + ], + "actual_end_pos": [ + 30338.4677, + -8974.2378, + -11087.7895 + ], + "actual_end_rot": [ + 0.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30338.4677, + -8974.2378, + -11087.7895 + ], + "start_rot": [ + 0.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + 30338.4677, + -8974.2378, + -11087.7895 + ], + "actual_end_pos": [ + 30338.4677, + -8974.2378, + -11087.7895 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 30338.4677, + -8974.2378, + -11087.7895 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 30338.4677, + -8974.2378, + -11087.7895 + ], + "actual_end_pos": [ + 30338.4677, + -8974.2378, + -11087.7895 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30338.4677, + -8974.2378, + -11087.7895 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30408.5735, + -8904.132, + -11074.7369 + ], + "actual_end_pos": [ + 30408.5735, + -8904.132, + -11074.7369 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30408.5735, + -8904.132, + -11074.7369 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30338.4677, + -8974.2378, + -11087.7895 + ], + "actual_end_pos": [ + 30338.4677, + -8974.2378, + -11087.7895 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30338.4677, + -8974.2378, + -11087.7895 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30408.5735, + -8904.132, + -11074.7369 + ], + "actual_end_pos": [ + 30408.5735, + -8904.132, + -11074.7369 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260411_181558__pair_003233_A_traj_003233_meta.json b/equivalence_easy/run_20260411_181558__pair_003233_A_traj_003233_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bfcc7d00c446804f650efd0980088d44e7c4bcd5 --- /dev/null +++ b/equivalence_easy/run_20260411_181558__pair_003233_A_traj_003233_meta.json @@ -0,0 +1,1464 @@ +{ + "trajectory_id": 3233, + "episode_id": 0, + "state_id": 2388, + "sample_index": 2388, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_A", + "partner_trajectory_id": 3234, + "primary_trajectory_id": 3233, + "paired_trajectory_id": 3234, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 30560.0, + -8540.0, + -11140.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "turn_right", + "look_up", + "turn_right", + "move_right", + "look_up", + "turn_right", + "move_left", + "move_backward", + "no_op", + "move_right", + "move_forward", + "turn_left", + "turn_left", + "move_forward", + "turn_left", + "look_up", + "move_forward", + "no_op", + "move_forward", + "turn_left", + "look_down", + "move_left", + "no_op", + "move_backward", + "move_backward", + "turn_left", + "no_op", + "move_right", + "move_forward", + "no_op", + "move_right", + "look_down", + "move_left", + "move_forward", + "turn_right", + "move_backward", + "move_backward", + "move_right", + "move_backward" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30560.0, + -8540.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 30460.0, + -8540.0, + -11140.0 + ], + "actual_end_pos": [ + 30460.0, + -8540.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30460.0, + -8540.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 30460.0, + -8540.0, + -11140.0 + ], + "actual_end_pos": [ + 30460.0, + -8540.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 30460.0, + -8540.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 30460.0, + -8540.0, + -11140.0 + ], + "actual_end_pos": [ + 30460.0, + -8540.0, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + -165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30460.0, + -8540.0, + -11140.0 + ], + "start_rot": [ + 7.5, + -165.0, + -0.0 + ], + "expected_end_pos": [ + 30460.0, + -8540.0, + -11140.0 + ], + "actual_end_pos": [ + 30460.0, + -8540.0, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30460.0, + -8540.0, + -11140.0 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 30510.0, + -8626.6025, + -11140.0 + ], + "actual_end_pos": [ + 30510.0, + -8626.6025, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 30510.0, + -8626.6025, + -11140.0 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 30510.0, + -8626.6025, + -11140.0 + ], + "actual_end_pos": [ + 30510.0, + -8626.6025, + -11140.0 + ], + "actual_end_rot": [ + 15.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30510.0, + -8626.6025, + -11140.0 + ], + "start_rot": [ + 15.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + 30510.0, + -8626.6025, + -11140.0 + ], + "actual_end_pos": [ + 30510.0, + -8626.6025, + -11140.0 + ], + "actual_end_rot": [ + 15.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30510.0, + -8626.6025, + -11140.0 + ], + "start_rot": [ + 15.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30439.2893, + -8555.8919, + -11140.0 + ], + "actual_end_pos": [ + 30439.2893, + -8555.8919, + -11140.0 + ], + "actual_end_rot": [ + 15.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30439.2893, + -8555.8919, + -11140.0 + ], + "start_rot": [ + 15.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30507.5906, + -8487.5906, + -11165.8819 + ], + "actual_end_pos": [ + 30507.5906, + -8487.5906, + -11165.8819 + ], + "actual_end_rot": [ + 15.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30507.5906, + -8487.5906, + -11165.8819 + ], + "start_rot": [ + 15.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30507.5906, + -8487.5906, + -11165.8819 + ], + "actual_end_pos": [ + 30507.5906, + -8487.5906, + -11165.8819 + ], + "actual_end_rot": [ + 15.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30507.5906, + -8487.5906, + -11165.8819 + ], + "start_rot": [ + 15.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30578.3013, + -8558.3013, + -11165.8819 + ], + "actual_end_pos": [ + 30578.3013, + -8558.3013, + -11165.8819 + ], + "actual_end_rot": [ + 15.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30578.3013, + -8558.3013, + -11165.8819 + ], + "start_rot": [ + 15.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30510.0, + -8626.6025, + -11140.0 + ], + "actual_end_pos": [ + 30510.0, + -8626.6025, + -11140.0 + ], + "actual_end_rot": [ + 15.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30510.0, + -8626.6025, + -11140.0 + ], + "start_rot": [ + 15.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30510.0, + -8626.6025, + -11140.0 + ], + "actual_end_pos": [ + 30510.0, + -8626.6025, + -11140.0 + ], + "actual_end_rot": [ + 15.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30510.0, + -8626.6025, + -11140.0 + ], + "start_rot": [ + 15.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + 30510.0, + -8626.6025, + -11140.0 + ], + "actual_end_pos": [ + 30510.0, + -8626.6025, + -11140.0 + ], + "actual_end_rot": [ + 15.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30510.0, + -8626.6025, + -11140.0 + ], + "start_rot": [ + 15.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 30416.6987, + -8651.6025, + -11114.1181 + ], + "actual_end_pos": [ + 30416.6987, + -8651.6025, + -11114.1181 + ], + "actual_end_rot": [ + 15.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30416.6987, + -8651.6025, + -11114.1181 + ], + "start_rot": [ + 15.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 30416.6987, + -8651.6025, + -11114.1181 + ], + "actual_end_pos": [ + 30416.6987, + -8651.6025, + -11114.1181 + ], + "actual_end_rot": [ + 15.0, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 30416.6987, + -8651.6025, + -11114.1181 + ], + "start_rot": [ + 15.0, + -180.0, + 0.0 + ], + "expected_end_pos": [ + 30416.6987, + -8651.6025, + -11114.1181 + ], + "actual_end_pos": [ + 30416.6987, + -8651.6025, + -11114.1181 + ], + "actual_end_rot": [ + 22.5, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30416.6987, + -8651.6025, + -11114.1181 + ], + "start_rot": [ + 22.5, + -180.0, + 0.0 + ], + "expected_end_pos": [ + 30324.3108, + -8651.6025, + -11075.8498 + ], + "actual_end_pos": [ + 30324.3108, + -8651.6025, + -11075.8498 + ], + "actual_end_rot": [ + 22.5, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30324.3108, + -8651.6025, + -11075.8498 + ], + "start_rot": [ + 22.5, + -180.0, + 0.0 + ], + "expected_end_pos": [ + 30324.3108, + -8651.6025, + -11075.8498 + ], + "actual_end_pos": [ + 30324.3108, + -8651.6025, + -11075.8498 + ], + "actual_end_rot": [ + 22.5, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30324.3108, + -8651.6025, + -11075.8498 + ], + "start_rot": [ + 22.5, + -180.0, + 0.0 + ], + "expected_end_pos": [ + 30231.9228, + -8651.6025, + -11037.5814 + ], + "actual_end_pos": [ + 30231.9228, + -8651.6025, + -11037.5814 + ], + "actual_end_rot": [ + 22.5, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30231.9228, + -8651.6025, + -11037.5814 + ], + "start_rot": [ + 22.5, + -180.0, + 0.0 + ], + "expected_end_pos": [ + 30231.9228, + -8651.6025, + -11037.5814 + ], + "actual_end_pos": [ + 30231.9228, + -8651.6025, + -11037.5814 + ], + "actual_end_rot": [ + 22.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 30231.9228, + -8651.6025, + -11037.5814 + ], + "start_rot": [ + 22.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 30231.9228, + -8651.6025, + -11037.5814 + ], + "actual_end_pos": [ + 30231.9228, + -8651.6025, + -11037.5814 + ], + "actual_end_rot": [ + 15.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30231.9228, + -8651.6025, + -11037.5814 + ], + "start_rot": [ + 15.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 30257.8047, + -8555.01, + -11037.5814 + ], + "actual_end_pos": [ + 30257.8047, + -8555.01, + -11037.5814 + ], + "actual_end_rot": [ + 15.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30257.8047, + -8555.01, + -11037.5814 + ], + "start_rot": [ + 15.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 30257.8047, + -8555.01, + -11037.5814 + ], + "actual_end_pos": [ + 30257.8047, + -8555.01, + -11037.5814 + ], + "actual_end_rot": [ + 15.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30257.8047, + -8555.01, + -11037.5814 + ], + "start_rot": [ + 15.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 30351.106, + -8580.01, + -11063.4633 + ], + "actual_end_pos": [ + 30351.106, + -8580.01, + -11063.4633 + ], + "actual_end_rot": [ + 15.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30351.106, + -8580.01, + -11063.4633 + ], + "start_rot": [ + 15.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 30444.4073, + -8605.01, + -11089.3452 + ], + "actual_end_pos": [ + 30444.4073, + -8605.01, + -11089.3452 + ], + "actual_end_rot": [ + 15.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30444.4073, + -8605.01, + -11089.3452 + ], + "start_rot": [ + 15.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 30444.4073, + -8605.01, + -11089.3452 + ], + "actual_end_pos": [ + 30444.4073, + -8605.01, + -11089.3452 + ], + "actual_end_rot": [ + 15.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30444.4073, + -8605.01, + -11089.3452 + ], + "start_rot": [ + 15.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 30444.4073, + -8605.01, + -11089.3452 + ], + "actual_end_pos": [ + 30444.4073, + -8605.01, + -11089.3452 + ], + "actual_end_rot": [ + 15.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30444.4073, + -8605.01, + -11089.3452 + ], + "start_rot": [ + 15.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 30394.4073, + -8691.6125, + -11089.3452 + ], + "actual_end_pos": [ + 30394.4073, + -8691.6125, + -11089.3452 + ], + "actual_end_rot": [ + 15.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30394.4073, + -8691.6125, + -11089.3452 + ], + "start_rot": [ + 15.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 30310.7556, + -8643.3162, + -11063.4633 + ], + "actual_end_pos": [ + 30310.7556, + -8643.3162, + -11063.4633 + ], + "actual_end_rot": [ + 15.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30310.7556, + -8643.3162, + -11063.4633 + ], + "start_rot": [ + 15.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 30310.7556, + -8643.3162, + -11063.4633 + ], + "actual_end_pos": [ + 30310.7556, + -8643.3162, + -11063.4633 + ], + "actual_end_rot": [ + 15.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30310.7556, + -8643.3162, + -11063.4633 + ], + "start_rot": [ + 15.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 30260.7556, + -8729.9188, + -11063.4633 + ], + "actual_end_pos": [ + 30260.7556, + -8729.9188, + -11063.4633 + ], + "actual_end_rot": [ + 15.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 30260.7556, + -8729.9188, + -11063.4633 + ], + "start_rot": [ + 15.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 30260.7556, + -8729.9188, + -11063.4633 + ], + "actual_end_pos": [ + 30260.7556, + -8729.9188, + -11063.4633 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30260.7556, + -8729.9188, + -11063.4633 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 30310.7556, + -8643.3162, + -11063.4633 + ], + "actual_end_pos": [ + 30310.7556, + -8643.3162, + -11063.4633 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30310.7556, + -8643.3162, + -11063.4633 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 30224.894, + -8593.744, + -11050.4107 + ], + "actual_end_pos": [ + 30224.894, + -8593.744, + -11050.4107 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30224.894, + -8593.744, + -11050.4107 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 30224.894, + -8593.744, + -11050.4107 + ], + "actual_end_pos": [ + 30224.894, + -8593.744, + -11050.4107 + ], + "actual_end_rot": [ + 7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30224.894, + -8593.744, + -11050.4107 + ], + "start_rot": [ + 7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 30320.6602, + -8619.4045, + -11063.4633 + ], + "actual_end_pos": [ + 30320.6602, + -8619.4045, + -11063.4633 + ], + "actual_end_rot": [ + 7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30320.6602, + -8619.4045, + -11063.4633 + ], + "start_rot": [ + 7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 30416.4264, + -8645.0649, + -11076.5159 + ], + "actual_end_pos": [ + 30416.4264, + -8645.0649, + -11076.5159 + ], + "actual_end_rot": [ + 7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30416.4264, + -8645.0649, + -11076.5159 + ], + "start_rot": [ + 7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 30390.5445, + -8741.6575, + -11076.5159 + ], + "actual_end_pos": [ + 30390.5445, + -8741.6575, + -11076.5159 + ], + "actual_end_rot": [ + 7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30390.5445, + -8741.6575, + -11076.5159 + ], + "start_rot": [ + 7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 30486.3107, + -8767.318, + -11089.5686 + ], + "actual_end_pos": [ + 30486.3107, + -8767.318, + -11089.5686 + ], + "actual_end_rot": [ + 7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260411_181558__pair_003233_B_traj_003234_meta.json b/equivalence_easy/run_20260411_181558__pair_003233_B_traj_003234_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..564d538d9f433d2f920d9f40a609c2780bde4e21 --- /dev/null +++ b/equivalence_easy/run_20260411_181558__pair_003233_B_traj_003234_meta.json @@ -0,0 +1,1464 @@ +{ + "trajectory_id": 3234, + "episode_id": 0, + "state_id": 2388, + "sample_index": 2388, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_B", + "partner_trajectory_id": 3233, + "primary_trajectory_id": 3233, + "paired_trajectory_id": 3234, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 30560.0, + -8540.0, + -11140.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "turn_right", + "look_up", + "turn_right", + "move_right", + "look_up", + "turn_right", + "move_left", + "move_backward", + "no_op", + "move_forward", + "move_right", + "turn_left", + "turn_left", + "move_forward", + "look_up", + "turn_left", + "move_forward", + "no_op", + "move_forward", + "turn_left", + "look_down", + "move_left", + "no_op", + "move_backward", + "move_backward", + "turn_left", + "no_op", + "move_right", + "move_forward", + "no_op", + "move_right", + "look_down", + "move_left", + "move_forward", + "turn_right", + "move_backward", + "move_right", + "move_backward", + "move_backward" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30560.0, + -8540.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 30460.0, + -8540.0, + -11140.0 + ], + "actual_end_pos": [ + 30460.0, + -8540.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30460.0, + -8540.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 30460.0, + -8540.0, + -11140.0 + ], + "actual_end_pos": [ + 30460.0, + -8540.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 30460.0, + -8540.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 30460.0, + -8540.0, + -11140.0 + ], + "actual_end_pos": [ + 30460.0, + -8540.0, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + -165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30460.0, + -8540.0, + -11140.0 + ], + "start_rot": [ + 7.5, + -165.0, + -0.0 + ], + "expected_end_pos": [ + 30460.0, + -8540.0, + -11140.0 + ], + "actual_end_pos": [ + 30460.0, + -8540.0, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30460.0, + -8540.0, + -11140.0 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 30510.0, + -8626.6025, + -11140.0 + ], + "actual_end_pos": [ + 30510.0, + -8626.6025, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 30510.0, + -8626.6025, + -11140.0 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 30510.0, + -8626.6025, + -11140.0 + ], + "actual_end_pos": [ + 30510.0, + -8626.6025, + -11140.0 + ], + "actual_end_rot": [ + 15.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30510.0, + -8626.6025, + -11140.0 + ], + "start_rot": [ + 15.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + 30510.0, + -8626.6025, + -11140.0 + ], + "actual_end_pos": [ + 30510.0, + -8626.6025, + -11140.0 + ], + "actual_end_rot": [ + 15.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30510.0, + -8626.6025, + -11140.0 + ], + "start_rot": [ + 15.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30439.2893, + -8555.8919, + -11140.0 + ], + "actual_end_pos": [ + 30439.2893, + -8555.8919, + -11140.0 + ], + "actual_end_rot": [ + 15.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30439.2893, + -8555.8919, + -11140.0 + ], + "start_rot": [ + 15.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30507.5906, + -8487.5906, + -11165.8819 + ], + "actual_end_pos": [ + 30507.5906, + -8487.5906, + -11165.8819 + ], + "actual_end_rot": [ + 15.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30507.5906, + -8487.5906, + -11165.8819 + ], + "start_rot": [ + 15.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30507.5906, + -8487.5906, + -11165.8819 + ], + "actual_end_pos": [ + 30507.5906, + -8487.5906, + -11165.8819 + ], + "actual_end_rot": [ + 15.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30507.5906, + -8487.5906, + -11165.8819 + ], + "start_rot": [ + 15.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30439.2893, + -8555.8919, + -11140.0 + ], + "actual_end_pos": [ + 30439.2893, + -8555.8919, + -11140.0 + ], + "actual_end_rot": [ + 15.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30439.2893, + -8555.8919, + -11140.0 + ], + "start_rot": [ + 15.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30510.0, + -8626.6025, + -11140.0 + ], + "actual_end_pos": [ + 30510.0, + -8626.6025, + -11140.0 + ], + "actual_end_rot": [ + 15.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30510.0, + -8626.6025, + -11140.0 + ], + "start_rot": [ + 15.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 30510.0, + -8626.6025, + -11140.0 + ], + "actual_end_pos": [ + 30510.0, + -8626.6025, + -11140.0 + ], + "actual_end_rot": [ + 15.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30510.0, + -8626.6025, + -11140.0 + ], + "start_rot": [ + 15.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + 30510.0, + -8626.6025, + -11140.0 + ], + "actual_end_pos": [ + 30510.0, + -8626.6025, + -11140.0 + ], + "actual_end_rot": [ + 15.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30510.0, + -8626.6025, + -11140.0 + ], + "start_rot": [ + 15.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 30416.6987, + -8651.6025, + -11114.1181 + ], + "actual_end_pos": [ + 30416.6987, + -8651.6025, + -11114.1181 + ], + "actual_end_rot": [ + 15.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 30416.6987, + -8651.6025, + -11114.1181 + ], + "start_rot": [ + 15.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 30416.6987, + -8651.6025, + -11114.1181 + ], + "actual_end_pos": [ + 30416.6987, + -8651.6025, + -11114.1181 + ], + "actual_end_rot": [ + 22.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30416.6987, + -8651.6025, + -11114.1181 + ], + "start_rot": [ + 22.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 30416.6987, + -8651.6025, + -11114.1181 + ], + "actual_end_pos": [ + 30416.6987, + -8651.6025, + -11114.1181 + ], + "actual_end_rot": [ + 22.5, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30416.6987, + -8651.6025, + -11114.1181 + ], + "start_rot": [ + 22.5, + -180.0, + 0.0 + ], + "expected_end_pos": [ + 30324.3108, + -8651.6025, + -11075.8498 + ], + "actual_end_pos": [ + 30324.3108, + -8651.6025, + -11075.8498 + ], + "actual_end_rot": [ + 22.5, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30324.3108, + -8651.6025, + -11075.8498 + ], + "start_rot": [ + 22.5, + -180.0, + 0.0 + ], + "expected_end_pos": [ + 30324.3108, + -8651.6025, + -11075.8498 + ], + "actual_end_pos": [ + 30324.3108, + -8651.6025, + -11075.8498 + ], + "actual_end_rot": [ + 22.5, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30324.3108, + -8651.6025, + -11075.8498 + ], + "start_rot": [ + 22.5, + -180.0, + 0.0 + ], + "expected_end_pos": [ + 30231.9228, + -8651.6025, + -11037.5814 + ], + "actual_end_pos": [ + 30231.9228, + -8651.6025, + -11037.5814 + ], + "actual_end_rot": [ + 22.5, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30231.9228, + -8651.6025, + -11037.5814 + ], + "start_rot": [ + 22.5, + -180.0, + 0.0 + ], + "expected_end_pos": [ + 30231.9228, + -8651.6025, + -11037.5814 + ], + "actual_end_pos": [ + 30231.9228, + -8651.6025, + -11037.5814 + ], + "actual_end_rot": [ + 22.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 30231.9228, + -8651.6025, + -11037.5814 + ], + "start_rot": [ + 22.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 30231.9228, + -8651.6025, + -11037.5814 + ], + "actual_end_pos": [ + 30231.9228, + -8651.6025, + -11037.5814 + ], + "actual_end_rot": [ + 15.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30231.9228, + -8651.6025, + -11037.5814 + ], + "start_rot": [ + 15.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 30257.8047, + -8555.01, + -11037.5814 + ], + "actual_end_pos": [ + 30257.8047, + -8555.01, + -11037.5814 + ], + "actual_end_rot": [ + 15.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30257.8047, + -8555.01, + -11037.5814 + ], + "start_rot": [ + 15.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 30257.8047, + -8555.01, + -11037.5814 + ], + "actual_end_pos": [ + 30257.8047, + -8555.01, + -11037.5814 + ], + "actual_end_rot": [ + 15.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30257.8047, + -8555.01, + -11037.5814 + ], + "start_rot": [ + 15.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 30351.106, + -8580.01, + -11063.4633 + ], + "actual_end_pos": [ + 30351.106, + -8580.01, + -11063.4633 + ], + "actual_end_rot": [ + 15.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30351.106, + -8580.01, + -11063.4633 + ], + "start_rot": [ + 15.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 30444.4073, + -8605.01, + -11089.3452 + ], + "actual_end_pos": [ + 30444.4073, + -8605.01, + -11089.3452 + ], + "actual_end_rot": [ + 15.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30444.4073, + -8605.01, + -11089.3452 + ], + "start_rot": [ + 15.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 30444.4073, + -8605.01, + -11089.3452 + ], + "actual_end_pos": [ + 30444.4073, + -8605.01, + -11089.3452 + ], + "actual_end_rot": [ + 15.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30444.4073, + -8605.01, + -11089.3452 + ], + "start_rot": [ + 15.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 30444.4073, + -8605.01, + -11089.3452 + ], + "actual_end_pos": [ + 30444.4073, + -8605.01, + -11089.3452 + ], + "actual_end_rot": [ + 15.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30444.4073, + -8605.01, + -11089.3452 + ], + "start_rot": [ + 15.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 30394.4073, + -8691.6125, + -11089.3452 + ], + "actual_end_pos": [ + 30394.4073, + -8691.6125, + -11089.3452 + ], + "actual_end_rot": [ + 15.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30394.4073, + -8691.6125, + -11089.3452 + ], + "start_rot": [ + 15.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 30310.7556, + -8643.3162, + -11063.4633 + ], + "actual_end_pos": [ + 30310.7556, + -8643.3162, + -11063.4633 + ], + "actual_end_rot": [ + 15.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30310.7556, + -8643.3162, + -11063.4633 + ], + "start_rot": [ + 15.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 30310.7556, + -8643.3162, + -11063.4633 + ], + "actual_end_pos": [ + 30310.7556, + -8643.3162, + -11063.4633 + ], + "actual_end_rot": [ + 15.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30310.7556, + -8643.3162, + -11063.4633 + ], + "start_rot": [ + 15.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 30260.7556, + -8729.9188, + -11063.4633 + ], + "actual_end_pos": [ + 30260.7556, + -8729.9188, + -11063.4633 + ], + "actual_end_rot": [ + 15.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 30260.7556, + -8729.9188, + -11063.4633 + ], + "start_rot": [ + 15.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 30260.7556, + -8729.9188, + -11063.4633 + ], + "actual_end_pos": [ + 30260.7556, + -8729.9188, + -11063.4633 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30260.7556, + -8729.9188, + -11063.4633 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 30310.7556, + -8643.3162, + -11063.4633 + ], + "actual_end_pos": [ + 30310.7556, + -8643.3162, + -11063.4633 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30310.7556, + -8643.3162, + -11063.4633 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 30224.894, + -8593.744, + -11050.4107 + ], + "actual_end_pos": [ + 30224.894, + -8593.744, + -11050.4107 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30224.894, + -8593.744, + -11050.4107 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 30224.894, + -8593.744, + -11050.4107 + ], + "actual_end_pos": [ + 30224.894, + -8593.744, + -11050.4107 + ], + "actual_end_rot": [ + 7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30224.894, + -8593.744, + -11050.4107 + ], + "start_rot": [ + 7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 30320.6602, + -8619.4045, + -11063.4633 + ], + "actual_end_pos": [ + 30320.6602, + -8619.4045, + -11063.4633 + ], + "actual_end_rot": [ + 7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30320.6602, + -8619.4045, + -11063.4633 + ], + "start_rot": [ + 7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 30294.7783, + -8715.997, + -11063.4633 + ], + "actual_end_pos": [ + 30294.7783, + -8715.997, + -11063.4633 + ], + "actual_end_rot": [ + 7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30294.7783, + -8715.997, + -11063.4633 + ], + "start_rot": [ + 7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 30390.5445, + -8741.6575, + -11076.5159 + ], + "actual_end_pos": [ + 30390.5445, + -8741.6575, + -11076.5159 + ], + "actual_end_rot": [ + 7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30390.5445, + -8741.6575, + -11076.5159 + ], + "start_rot": [ + 7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 30486.3107, + -8767.318, + -11089.5686 + ], + "actual_end_pos": [ + 30486.3107, + -8767.318, + -11089.5686 + ], + "actual_end_rot": [ + 7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260411_181558__pair_003262_A_traj_003262_meta.json b/equivalence_easy/run_20260411_181558__pair_003262_A_traj_003262_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7f19d1713ee573ef7c4ab05a8d963ea7d27b68ae --- /dev/null +++ b/equivalence_easy/run_20260411_181558__pair_003262_A_traj_003262_meta.json @@ -0,0 +1,1464 @@ +{ + "trajectory_id": 3262, + "episode_id": 0, + "state_id": 2408, + "sample_index": 2408, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_A", + "partner_trajectory_id": 3263, + "primary_trajectory_id": 3262, + "paired_trajectory_id": 3263, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 30560.0, + -7940.0, + -11140.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "no_op", + "turn_right", + "move_left", + "look_down", + "move_forward", + "move_forward", + "look_down", + "look_down", + "turn_right", + "move_backward", + "move_right", + "move_right", + "turn_right", + "turn_right", + "move_right", + "look_down", + "move_backward", + "move_backward", + "look_up", + "move_right", + "move_right", + "turn_left", + "move_forward", + "move_forward", + "move_forward", + "move_right", + "move_forward", + "move_forward", + "turn_left", + "move_forward", + "move_forward", + "move_left", + "move_forward", + "look_down", + "turn_right", + "move_backward", + "move_backward", + "move_backward", + "turn_left", + "turn_left" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30560.0, + -7940.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 30560.0, + -7940.0, + -11140.0 + ], + "actual_end_pos": [ + 30560.0, + -7940.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30560.0, + -7940.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 30560.0, + -7940.0, + -11140.0 + ], + "actual_end_pos": [ + 30560.0, + -7940.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30560.0, + -7940.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 30585.8819, + -8036.5926, + -11140.0 + ], + "actual_end_pos": [ + 30585.8819, + -8036.5926, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 30585.8819, + -8036.5926, + -11140.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 30585.8819, + -8036.5926, + -11140.0 + ], + "actual_end_pos": [ + 30585.8819, + -8036.5926, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30585.8819, + -8036.5926, + -11140.0 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 30681.6481, + -8010.9321, + -11153.0526 + ], + "actual_end_pos": [ + 30681.6481, + -8010.9321, + -11153.0526 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30681.6481, + -8010.9321, + -11153.0526 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 30777.4143, + -7985.2716, + -11166.1052 + ], + "actual_end_pos": [ + 30777.4143, + -7985.2716, + -11166.1052 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 30777.4143, + -7985.2716, + -11166.1052 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 30777.4143, + -7985.2716, + -11166.1052 + ], + "actual_end_pos": [ + 30777.4143, + -7985.2716, + -11166.1052 + ], + "actual_end_rot": [ + -15.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 30777.4143, + -7985.2716, + -11166.1052 + ], + "start_rot": [ + -15.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 30777.4143, + -7985.2716, + -11166.1052 + ], + "actual_end_pos": [ + 30777.4143, + -7985.2716, + -11166.1052 + ], + "actual_end_rot": [ + -22.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30777.4143, + -7985.2716, + -11166.1052 + ], + "start_rot": [ + -22.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 30777.4143, + -7985.2716, + -11166.1052 + ], + "actual_end_pos": [ + 30777.4143, + -7985.2716, + -11166.1052 + ], + "actual_end_rot": [ + -22.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30777.4143, + -7985.2716, + -11166.1052 + ], + "start_rot": [ + -22.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 30697.404, + -8031.4656, + -11127.8369 + ], + "actual_end_pos": [ + 30697.404, + -8031.4656, + -11127.8369 + ], + "actual_end_rot": [ + -22.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30697.404, + -8031.4656, + -11127.8369 + ], + "start_rot": [ + -22.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 30647.404, + -7944.8631, + -11127.8369 + ], + "actual_end_pos": [ + 30647.404, + -7944.8631, + -11127.8369 + ], + "actual_end_rot": [ + -22.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30647.404, + -7944.8631, + -11127.8369 + ], + "start_rot": [ + -22.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 30597.404, + -7858.2605, + -11127.8369 + ], + "actual_end_pos": [ + 30597.404, + -7858.2605, + -11127.8369 + ], + "actual_end_rot": [ + -22.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30597.404, + -7858.2605, + -11127.8369 + ], + "start_rot": [ + -22.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 30597.404, + -7858.2605, + -11127.8369 + ], + "actual_end_pos": [ + 30597.404, + -7858.2605, + -11127.8369 + ], + "actual_end_rot": [ + -22.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30597.404, + -7858.2605, + -11127.8369 + ], + "start_rot": [ + -22.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 30597.404, + -7858.2605, + -11127.8369 + ], + "actual_end_pos": [ + 30597.404, + -7858.2605, + -11127.8369 + ], + "actual_end_rot": [ + -22.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30597.404, + -7858.2605, + -11127.8369 + ], + "start_rot": [ + -22.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 30510.8015, + -7808.2605, + -11127.8369 + ], + "actual_end_pos": [ + 30510.8015, + -7808.2605, + -11127.8369 + ], + "actual_end_rot": [ + -22.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 30510.8015, + -7808.2605, + -11127.8369 + ], + "start_rot": [ + -22.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 30510.8015, + -7808.2605, + -11127.8369 + ], + "actual_end_pos": [ + 30510.8015, + -7808.2605, + -11127.8369 + ], + "actual_end_rot": [ + -30.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30510.8015, + -7808.2605, + -11127.8369 + ], + "start_rot": [ + -30.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 30467.5002, + -7883.2605, + -11077.8369 + ], + "actual_end_pos": [ + 30467.5002, + -7883.2605, + -11077.8369 + ], + "actual_end_rot": [ + -30.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30467.5002, + -7883.2605, + -11077.8369 + ], + "start_rot": [ + -30.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 30424.1989, + -7958.2605, + -11027.8369 + ], + "actual_end_pos": [ + 30424.1989, + -7958.2605, + -11027.8369 + ], + "actual_end_rot": [ + -30.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 30424.1989, + -7958.2605, + -11027.8369 + ], + "start_rot": [ + -30.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 30424.1989, + -7958.2605, + -11027.8369 + ], + "actual_end_pos": [ + 30424.1989, + -7958.2605, + -11027.8369 + ], + "actual_end_rot": [ + -22.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30424.1989, + -7958.2605, + -11027.8369 + ], + "start_rot": [ + -22.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 30337.5964, + -7908.2605, + -11027.8369 + ], + "actual_end_pos": [ + 30337.5964, + -7908.2605, + -11027.8369 + ], + "actual_end_rot": [ + -22.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30337.5964, + -7908.2605, + -11027.8369 + ], + "start_rot": [ + -22.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 30250.9939, + -7858.2605, + -11027.8369 + ], + "actual_end_pos": [ + 30250.9939, + -7858.2605, + -11027.8369 + ], + "actual_end_rot": [ + -22.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30250.9939, + -7858.2605, + -11027.8369 + ], + "start_rot": [ + -22.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 30250.9939, + -7858.2605, + -11027.8369 + ], + "actual_end_pos": [ + 30250.9939, + -7858.2605, + -11027.8369 + ], + "actual_end_rot": [ + -22.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30250.9939, + -7858.2605, + -11027.8369 + ], + "start_rot": [ + -22.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 30316.322, + -7792.9324, + -11066.1052 + ], + "actual_end_pos": [ + 30316.322, + -7792.9324, + -11066.1052 + ], + "actual_end_rot": [ + -22.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30316.322, + -7792.9324, + -11066.1052 + ], + "start_rot": [ + -22.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 30381.6502, + -7727.6042, + -11104.3736 + ], + "actual_end_pos": [ + 30381.6502, + -7727.6042, + -11104.3736 + ], + "actual_end_rot": [ + -22.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30381.6502, + -7727.6042, + -11104.3736 + ], + "start_rot": [ + -22.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 30446.9783, + -7662.2761, + -11142.6419 + ], + "actual_end_pos": [ + 30446.9783, + -7662.2761, + -11142.6419 + ], + "actual_end_rot": [ + -22.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30446.9783, + -7662.2761, + -11142.6419 + ], + "start_rot": [ + -22.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 30376.2676, + -7591.5654, + -11142.6419 + ], + "actual_end_pos": [ + 30376.2676, + -7591.5654, + -11142.6419 + ], + "actual_end_rot": [ + -22.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30376.2676, + -7591.5654, + -11142.6419 + ], + "start_rot": [ + -22.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 30441.5958, + -7526.2372, + -11180.9103 + ], + "actual_end_pos": [ + 30441.5958, + -7526.2372, + -11180.9103 + ], + "actual_end_rot": [ + -22.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30441.5958, + -7526.2372, + -11180.9103 + ], + "start_rot": [ + -22.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 30506.9239, + -7460.9091, + -11219.1786 + ], + "actual_end_pos": [ + 30506.9239, + -7460.9091, + -11219.1786 + ], + "actual_end_rot": [ + -22.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30506.9239, + -7460.9091, + -11219.1786 + ], + "start_rot": [ + -22.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 30506.9239, + -7460.9091, + -11219.1786 + ], + "actual_end_pos": [ + 30506.9239, + -7460.9091, + -11219.1786 + ], + "actual_end_rot": [ + -22.5, + 30.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30506.9239, + -7460.9091, + -11219.1786 + ], + "start_rot": [ + -22.5, + 30.0, + -0.0 + ], + "expected_end_pos": [ + 30586.9342, + -7414.7151, + -11257.447 + ], + "actual_end_pos": [ + 30586.9342, + -7414.7151, + -11257.447 + ], + "actual_end_rot": [ + -22.5, + 30.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30586.9342, + -7414.7151, + -11257.447 + ], + "start_rot": [ + -22.5, + 30.0, + -0.0 + ], + "expected_end_pos": [ + 30666.9446, + -7368.5211, + -11295.7153 + ], + "actual_end_pos": [ + 30666.9446, + -7368.5211, + -11295.7153 + ], + "actual_end_rot": [ + -22.5, + 30.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30666.9446, + -7368.5211, + -11295.7153 + ], + "start_rot": [ + -22.5, + 30.0, + -0.0 + ], + "expected_end_pos": [ + 30716.9446, + -7455.1237, + -11295.7153 + ], + "actual_end_pos": [ + 30716.9446, + -7455.1237, + -11295.7153 + ], + "actual_end_rot": [ + -22.5, + 30.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30716.9446, + -7455.1237, + -11295.7153 + ], + "start_rot": [ + -22.5, + 30.0, + -0.0 + ], + "expected_end_pos": [ + 30796.9549, + -7408.9297, + -11333.9836 + ], + "actual_end_pos": [ + 30796.9549, + -7408.9297, + -11333.9836 + ], + "actual_end_rot": [ + -22.5, + 30.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 30796.9549, + -7408.9297, + -11333.9836 + ], + "start_rot": [ + -22.5, + 30.0, + -0.0 + ], + "expected_end_pos": [ + 30796.9549, + -7408.9297, + -11333.9836 + ], + "actual_end_pos": [ + 30796.9549, + -7408.9297, + -11333.9836 + ], + "actual_end_rot": [ + -30.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30796.9549, + -7408.9297, + -11333.9836 + ], + "start_rot": [ + -30.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 30796.9549, + -7408.9297, + -11333.9836 + ], + "actual_end_pos": [ + 30796.9549, + -7408.9297, + -11333.9836 + ], + "actual_end_rot": [ + -30.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30796.9549, + -7408.9297, + -11333.9836 + ], + "start_rot": [ + -30.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 30735.7176, + -7470.1669, + -11283.9836 + ], + "actual_end_pos": [ + 30735.7176, + -7470.1669, + -11283.9836 + ], + "actual_end_rot": [ + -30.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30735.7176, + -7470.1669, + -11283.9836 + ], + "start_rot": [ + -30.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 30674.4804, + -7531.4042, + -11233.9836 + ], + "actual_end_pos": [ + 30674.4804, + -7531.4042, + -11233.9836 + ], + "actual_end_rot": [ + -30.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30674.4804, + -7531.4042, + -11233.9836 + ], + "start_rot": [ + -30.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 30613.2431, + -7592.6414, + -11183.9836 + ], + "actual_end_pos": [ + 30613.2431, + -7592.6414, + -11183.9836 + ], + "actual_end_rot": [ + -30.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30613.2431, + -7592.6414, + -11183.9836 + ], + "start_rot": [ + -30.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 30613.2431, + -7592.6414, + -11183.9836 + ], + "actual_end_pos": [ + 30613.2431, + -7592.6414, + -11183.9836 + ], + "actual_end_rot": [ + -30.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30613.2431, + -7592.6414, + -11183.9836 + ], + "start_rot": [ + -30.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 30613.2431, + -7592.6414, + -11183.9836 + ], + "actual_end_pos": [ + 30613.2431, + -7592.6414, + -11183.9836 + ], + "actual_end_rot": [ + -30.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260411_181558__pair_003262_B_traj_003263_meta.json b/equivalence_easy/run_20260411_181558__pair_003262_B_traj_003263_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f47108b7efe8b924df6e1bee9b73813428454f5c --- /dev/null +++ b/equivalence_easy/run_20260411_181558__pair_003262_B_traj_003263_meta.json @@ -0,0 +1,1464 @@ +{ + "trajectory_id": 3263, + "episode_id": 0, + "state_id": 2408, + "sample_index": 2408, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_B", + "partner_trajectory_id": 3262, + "primary_trajectory_id": 3262, + "paired_trajectory_id": 3263, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 30560.0, + -7940.0, + -11140.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "no_op", + "turn_right", + "move_left", + "look_down", + "move_forward", + "move_forward", + "look_down", + "turn_right", + "look_down", + "move_right", + "move_backward", + "move_right", + "turn_right", + "turn_right", + "move_right", + "look_down", + "move_backward", + "move_backward", + "look_up", + "move_right", + "move_right", + "turn_left", + "move_forward", + "move_forward", + "move_right", + "move_forward", + "move_forward", + "move_forward", + "turn_left", + "move_left", + "move_forward", + "move_forward", + "move_forward", + "look_down", + "turn_right", + "move_backward", + "move_backward", + "move_backward", + "turn_left", + "turn_left" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30560.0, + -7940.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 30560.0, + -7940.0, + -11140.0 + ], + "actual_end_pos": [ + 30560.0, + -7940.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30560.0, + -7940.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 30560.0, + -7940.0, + -11140.0 + ], + "actual_end_pos": [ + 30560.0, + -7940.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30560.0, + -7940.0, + -11140.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 30585.8819, + -8036.5926, + -11140.0 + ], + "actual_end_pos": [ + 30585.8819, + -8036.5926, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 30585.8819, + -8036.5926, + -11140.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 30585.8819, + -8036.5926, + -11140.0 + ], + "actual_end_pos": [ + 30585.8819, + -8036.5926, + -11140.0 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30585.8819, + -8036.5926, + -11140.0 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 30681.6481, + -8010.9321, + -11153.0526 + ], + "actual_end_pos": [ + 30681.6481, + -8010.9321, + -11153.0526 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30681.6481, + -8010.9321, + -11153.0526 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 30777.4143, + -7985.2716, + -11166.1052 + ], + "actual_end_pos": [ + 30777.4143, + -7985.2716, + -11166.1052 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 30777.4143, + -7985.2716, + -11166.1052 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 30777.4143, + -7985.2716, + -11166.1052 + ], + "actual_end_pos": [ + 30777.4143, + -7985.2716, + -11166.1052 + ], + "actual_end_rot": [ + -15.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30777.4143, + -7985.2716, + -11166.1052 + ], + "start_rot": [ + -15.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 30777.4143, + -7985.2716, + -11166.1052 + ], + "actual_end_pos": [ + 30777.4143, + -7985.2716, + -11166.1052 + ], + "actual_end_rot": [ + -15.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 30777.4143, + -7985.2716, + -11166.1052 + ], + "start_rot": [ + -15.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 30777.4143, + -7985.2716, + -11166.1052 + ], + "actual_end_pos": [ + 30777.4143, + -7985.2716, + -11166.1052 + ], + "actual_end_rot": [ + -22.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30777.4143, + -7985.2716, + -11166.1052 + ], + "start_rot": [ + -22.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 30727.4143, + -7898.6691, + -11166.1052 + ], + "actual_end_pos": [ + 30727.4143, + -7898.6691, + -11166.1052 + ], + "actual_end_rot": [ + -22.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30727.4143, + -7898.6691, + -11166.1052 + ], + "start_rot": [ + -22.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 30647.404, + -7944.8631, + -11127.8369 + ], + "actual_end_pos": [ + 30647.404, + -7944.8631, + -11127.8369 + ], + "actual_end_rot": [ + -22.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30647.404, + -7944.8631, + -11127.8369 + ], + "start_rot": [ + -22.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 30597.404, + -7858.2605, + -11127.8369 + ], + "actual_end_pos": [ + 30597.404, + -7858.2605, + -11127.8369 + ], + "actual_end_rot": [ + -22.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30597.404, + -7858.2605, + -11127.8369 + ], + "start_rot": [ + -22.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 30597.404, + -7858.2605, + -11127.8369 + ], + "actual_end_pos": [ + 30597.404, + -7858.2605, + -11127.8369 + ], + "actual_end_rot": [ + -22.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30597.404, + -7858.2605, + -11127.8369 + ], + "start_rot": [ + -22.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 30597.404, + -7858.2605, + -11127.8369 + ], + "actual_end_pos": [ + 30597.404, + -7858.2605, + -11127.8369 + ], + "actual_end_rot": [ + -22.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30597.404, + -7858.2605, + -11127.8369 + ], + "start_rot": [ + -22.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 30510.8015, + -7808.2605, + -11127.8369 + ], + "actual_end_pos": [ + 30510.8015, + -7808.2605, + -11127.8369 + ], + "actual_end_rot": [ + -22.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 30510.8015, + -7808.2605, + -11127.8369 + ], + "start_rot": [ + -22.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 30510.8015, + -7808.2605, + -11127.8369 + ], + "actual_end_pos": [ + 30510.8015, + -7808.2605, + -11127.8369 + ], + "actual_end_rot": [ + -30.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30510.8015, + -7808.2605, + -11127.8369 + ], + "start_rot": [ + -30.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 30467.5002, + -7883.2605, + -11077.8369 + ], + "actual_end_pos": [ + 30467.5002, + -7883.2605, + -11077.8369 + ], + "actual_end_rot": [ + -30.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30467.5002, + -7883.2605, + -11077.8369 + ], + "start_rot": [ + -30.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 30424.1989, + -7958.2605, + -11027.8369 + ], + "actual_end_pos": [ + 30424.1989, + -7958.2605, + -11027.8369 + ], + "actual_end_rot": [ + -30.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 30424.1989, + -7958.2605, + -11027.8369 + ], + "start_rot": [ + -30.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 30424.1989, + -7958.2605, + -11027.8369 + ], + "actual_end_pos": [ + 30424.1989, + -7958.2605, + -11027.8369 + ], + "actual_end_rot": [ + -22.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30424.1989, + -7958.2605, + -11027.8369 + ], + "start_rot": [ + -22.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 30337.5964, + -7908.2605, + -11027.8369 + ], + "actual_end_pos": [ + 30337.5964, + -7908.2605, + -11027.8369 + ], + "actual_end_rot": [ + -22.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30337.5964, + -7908.2605, + -11027.8369 + ], + "start_rot": [ + -22.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 30250.9939, + -7858.2605, + -11027.8369 + ], + "actual_end_pos": [ + 30250.9939, + -7858.2605, + -11027.8369 + ], + "actual_end_rot": [ + -22.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30250.9939, + -7858.2605, + -11027.8369 + ], + "start_rot": [ + -22.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 30250.9939, + -7858.2605, + -11027.8369 + ], + "actual_end_pos": [ + 30250.9939, + -7858.2605, + -11027.8369 + ], + "actual_end_rot": [ + -22.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30250.9939, + -7858.2605, + -11027.8369 + ], + "start_rot": [ + -22.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 30316.322, + -7792.9324, + -11066.1052 + ], + "actual_end_pos": [ + 30316.322, + -7792.9324, + -11066.1052 + ], + "actual_end_rot": [ + -22.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30316.322, + -7792.9324, + -11066.1052 + ], + "start_rot": [ + -22.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 30381.6502, + -7727.6042, + -11104.3736 + ], + "actual_end_pos": [ + 30381.6502, + -7727.6042, + -11104.3736 + ], + "actual_end_rot": [ + -22.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30381.6502, + -7727.6042, + -11104.3736 + ], + "start_rot": [ + -22.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 30310.9395, + -7656.8935, + -11104.3736 + ], + "actual_end_pos": [ + 30310.9395, + -7656.8935, + -11104.3736 + ], + "actual_end_rot": [ + -22.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30310.9395, + -7656.8935, + -11104.3736 + ], + "start_rot": [ + -22.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 30376.2676, + -7591.5654, + -11142.6419 + ], + "actual_end_pos": [ + 30376.2676, + -7591.5654, + -11142.6419 + ], + "actual_end_rot": [ + -22.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30376.2676, + -7591.5654, + -11142.6419 + ], + "start_rot": [ + -22.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 30441.5958, + -7526.2372, + -11180.9103 + ], + "actual_end_pos": [ + 30441.5958, + -7526.2372, + -11180.9103 + ], + "actual_end_rot": [ + -22.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30441.5958, + -7526.2372, + -11180.9103 + ], + "start_rot": [ + -22.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 30506.9239, + -7460.9091, + -11219.1786 + ], + "actual_end_pos": [ + 30506.9239, + -7460.9091, + -11219.1786 + ], + "actual_end_rot": [ + -22.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30506.9239, + -7460.9091, + -11219.1786 + ], + "start_rot": [ + -22.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 30506.9239, + -7460.9091, + -11219.1786 + ], + "actual_end_pos": [ + 30506.9239, + -7460.9091, + -11219.1786 + ], + "actual_end_rot": [ + -22.5, + 30.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30506.9239, + -7460.9091, + -11219.1786 + ], + "start_rot": [ + -22.5, + 30.0, + -0.0 + ], + "expected_end_pos": [ + 30556.9239, + -7547.5116, + -11219.1786 + ], + "actual_end_pos": [ + 30556.9239, + -7547.5116, + -11219.1786 + ], + "actual_end_rot": [ + -22.5, + 30.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30556.9239, + -7547.5116, + -11219.1786 + ], + "start_rot": [ + -22.5, + 30.0, + -0.0 + ], + "expected_end_pos": [ + 30636.9342, + -7501.3177, + -11257.447 + ], + "actual_end_pos": [ + 30636.9342, + -7501.3177, + -11257.447 + ], + "actual_end_rot": [ + -22.5, + 30.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30636.9342, + -7501.3177, + -11257.447 + ], + "start_rot": [ + -22.5, + 30.0, + -0.0 + ], + "expected_end_pos": [ + 30716.9446, + -7455.1237, + -11295.7153 + ], + "actual_end_pos": [ + 30716.9446, + -7455.1237, + -11295.7153 + ], + "actual_end_rot": [ + -22.5, + 30.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30716.9446, + -7455.1237, + -11295.7153 + ], + "start_rot": [ + -22.5, + 30.0, + -0.0 + ], + "expected_end_pos": [ + 30796.9549, + -7408.9297, + -11333.9836 + ], + "actual_end_pos": [ + 30796.9549, + -7408.9297, + -11333.9836 + ], + "actual_end_rot": [ + -22.5, + 30.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 30796.9549, + -7408.9297, + -11333.9836 + ], + "start_rot": [ + -22.5, + 30.0, + -0.0 + ], + "expected_end_pos": [ + 30796.9549, + -7408.9297, + -11333.9836 + ], + "actual_end_pos": [ + 30796.9549, + -7408.9297, + -11333.9836 + ], + "actual_end_rot": [ + -30.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30796.9549, + -7408.9297, + -11333.9836 + ], + "start_rot": [ + -30.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 30796.9549, + -7408.9297, + -11333.9836 + ], + "actual_end_pos": [ + 30796.9549, + -7408.9297, + -11333.9836 + ], + "actual_end_rot": [ + -30.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30796.9549, + -7408.9297, + -11333.9836 + ], + "start_rot": [ + -30.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 30735.7176, + -7470.1669, + -11283.9836 + ], + "actual_end_pos": [ + 30735.7176, + -7470.1669, + -11283.9836 + ], + "actual_end_rot": [ + -30.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30735.7176, + -7470.1669, + -11283.9836 + ], + "start_rot": [ + -30.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 30674.4804, + -7531.4042, + -11233.9836 + ], + "actual_end_pos": [ + 30674.4804, + -7531.4042, + -11233.9836 + ], + "actual_end_rot": [ + -30.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30674.4804, + -7531.4042, + -11233.9836 + ], + "start_rot": [ + -30.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 30613.2431, + -7592.6414, + -11183.9836 + ], + "actual_end_pos": [ + 30613.2431, + -7592.6414, + -11183.9836 + ], + "actual_end_rot": [ + -30.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30613.2431, + -7592.6414, + -11183.9836 + ], + "start_rot": [ + -30.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 30613.2431, + -7592.6414, + -11183.9836 + ], + "actual_end_pos": [ + 30613.2431, + -7592.6414, + -11183.9836 + ], + "actual_end_rot": [ + -30.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30613.2431, + -7592.6414, + -11183.9836 + ], + "start_rot": [ + -30.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 30613.2431, + -7592.6414, + -11183.9836 + ], + "actual_end_pos": [ + 30613.2431, + -7592.6414, + -11183.9836 + ], + "actual_end_rot": [ + -30.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260411_181558__pair_003271_A_traj_003271_meta.json b/equivalence_easy/run_20260411_181558__pair_003271_A_traj_003271_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c5779251b48099a241b8a0f59a5f5ace56f6e9ee --- /dev/null +++ b/equivalence_easy/run_20260411_181558__pair_003271_A_traj_003271_meta.json @@ -0,0 +1,1464 @@ +{ + "trajectory_id": 3271, + "episode_id": 0, + "state_id": 2415, + "sample_index": 2415, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_A", + "partner_trajectory_id": 3272, + "primary_trajectory_id": 3271, + "paired_trajectory_id": 3272, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 30560.0, + -7940.0, + -11140.0 + ], + "rotation": [ + 0.0, + 315.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_right", + "move_forward", + "look_up", + "turn_right", + "move_left", + "move_backward", + "turn_left", + "no_op", + "move_forward", + "move_left", + "move_forward", + "no_op", + "turn_right", + "move_backward", + "move_left", + "move_backward", + "look_down", + "turn_left", + "move_right", + "move_right", + "move_backward", + "turn_right", + "turn_right", + "move_left", + "move_left", + "move_forward", + "move_right", + "look_down", + "look_down", + "move_forward", + "turn_right", + "move_left", + "look_up", + "turn_left", + "move_left", + "move_left", + "turn_right", + "turn_right", + "turn_right" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30560.0, + -7940.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 30630.7107, + -8010.7107, + -11140.0 + ], + "actual_end_pos": [ + 30630.7107, + -8010.7107, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30630.7107, + -8010.7107, + -11140.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 30701.4214, + -7940.0, + -11140.0 + ], + "actual_end_pos": [ + 30701.4214, + -7940.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30701.4214, + -7940.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 30772.132, + -8010.7107, + -11140.0 + ], + "actual_end_pos": [ + 30772.132, + -8010.7107, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 30772.132, + -8010.7107, + -11140.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 30772.132, + -8010.7107, + -11140.0 + ], + "actual_end_pos": [ + 30772.132, + -8010.7107, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30772.132, + -8010.7107, + -11140.0 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 30772.132, + -8010.7107, + -11140.0 + ], + "actual_end_pos": [ + 30772.132, + -8010.7107, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30772.132, + -8010.7107, + -11140.0 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 30722.132, + -8097.3132, + -11140.0 + ], + "actual_end_pos": [ + 30722.132, + -8097.3132, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30722.132, + -8097.3132, + -11140.0 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 30636.2704, + -8047.741, + -11153.0526 + ], + "actual_end_pos": [ + 30636.2704, + -8047.741, + -11153.0526 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30636.2704, + -8047.741, + -11153.0526 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 30636.2704, + -8047.741, + -11153.0526 + ], + "actual_end_pos": [ + 30636.2704, + -8047.741, + -11153.0526 + ], + "actual_end_rot": [ + 7.5, + -45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30636.2704, + -8047.741, + -11153.0526 + ], + "start_rot": [ + 7.5, + -45.0, + -0.0 + ], + "expected_end_pos": [ + 30636.2704, + -8047.741, + -11153.0526 + ], + "actual_end_pos": [ + 30636.2704, + -8047.741, + -11153.0526 + ], + "actual_end_rot": [ + 7.5, + -45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30636.2704, + -8047.741, + -11153.0526 + ], + "start_rot": [ + 7.5, + -45.0, + -0.0 + ], + "expected_end_pos": [ + 30706.3761, + -8117.8467, + -11140.0 + ], + "actual_end_pos": [ + 30706.3761, + -8117.8467, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + -45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30706.3761, + -8117.8467, + -11140.0 + ], + "start_rot": [ + 7.5, + -45.0, + -0.0 + ], + "expected_end_pos": [ + 30635.6655, + -8188.5574, + -11140.0 + ], + "actual_end_pos": [ + 30635.6655, + -8188.5574, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + -45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30635.6655, + -8188.5574, + -11140.0 + ], + "start_rot": [ + 7.5, + -45.0, + -0.0 + ], + "expected_end_pos": [ + 30705.7712, + -8258.6631, + -11126.9474 + ], + "actual_end_pos": [ + 30705.7712, + -8258.6631, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + -45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30705.7712, + -8258.6631, + -11126.9474 + ], + "start_rot": [ + 7.5, + -45.0, + -0.0 + ], + "expected_end_pos": [ + 30705.7712, + -8258.6631, + -11126.9474 + ], + "actual_end_pos": [ + 30705.7712, + -8258.6631, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + -45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30705.7712, + -8258.6631, + -11126.9474 + ], + "start_rot": [ + 7.5, + -45.0, + -0.0 + ], + "expected_end_pos": [ + 30705.7712, + -8258.6631, + -11126.9474 + ], + "actual_end_pos": [ + 30705.7712, + -8258.6631, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30705.7712, + -8258.6631, + -11126.9474 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 30619.9095, + -8209.0909, + -11140.0 + ], + "actual_end_pos": [ + 30619.9095, + -8209.0909, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30619.9095, + -8209.0909, + -11140.0 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 30569.9095, + -8295.6934, + -11140.0 + ], + "actual_end_pos": [ + 30569.9095, + -8295.6934, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30569.9095, + -8295.6934, + -11140.0 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 30484.0479, + -8246.1212, + -11153.0526 + ], + "actual_end_pos": [ + 30484.0479, + -8246.1212, + -11153.0526 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 30484.0479, + -8246.1212, + -11153.0526 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 30484.0479, + -8246.1212, + -11153.0526 + ], + "actual_end_pos": [ + 30484.0479, + -8246.1212, + -11153.0526 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30484.0479, + -8246.1212, + -11153.0526 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 30484.0479, + -8246.1212, + -11153.0526 + ], + "actual_end_pos": [ + 30484.0479, + -8246.1212, + -11153.0526 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30484.0479, + -8246.1212, + -11153.0526 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 30554.7586, + -8175.4105, + -11153.0526 + ], + "actual_end_pos": [ + 30554.7586, + -8175.4105, + -11153.0526 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30554.7586, + -8175.4105, + -11153.0526 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 30625.4693, + -8104.6998, + -11153.0526 + ], + "actual_end_pos": [ + 30625.4693, + -8104.6998, + -11153.0526 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30625.4693, + -8104.6998, + -11153.0526 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 30554.7586, + -8033.9891, + -11153.0526 + ], + "actual_end_pos": [ + 30554.7586, + -8033.9891, + -11153.0526 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30554.7586, + -8033.9891, + -11153.0526 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 30554.7586, + -8033.9891, + -11153.0526 + ], + "actual_end_pos": [ + 30554.7586, + -8033.9891, + -11153.0526 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30554.7586, + -8033.9891, + -11153.0526 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 30554.7586, + -8033.9891, + -11153.0526 + ], + "actual_end_pos": [ + 30554.7586, + -8033.9891, + -11153.0526 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30554.7586, + -8033.9891, + -11153.0526 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 30528.8767, + -8130.5817, + -11153.0526 + ], + "actual_end_pos": [ + 30528.8767, + -8130.5817, + -11153.0526 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30528.8767, + -8130.5817, + -11153.0526 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 30502.9948, + -8227.1743, + -11153.0526 + ], + "actual_end_pos": [ + 30502.9948, + -8227.1743, + -11153.0526 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30502.9948, + -8227.1743, + -11153.0526 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 30599.5874, + -8253.0562, + -11153.0526 + ], + "actual_end_pos": [ + 30599.5874, + -8253.0562, + -11153.0526 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30599.5874, + -8253.0562, + -11153.0526 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 30625.4693, + -8156.4636, + -11153.0526 + ], + "actual_end_pos": [ + 30625.4693, + -8156.4636, + -11153.0526 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 30625.4693, + -8156.4636, + -11153.0526 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 30625.4693, + -8156.4636, + -11153.0526 + ], + "actual_end_pos": [ + 30625.4693, + -8156.4636, + -11153.0526 + ], + "actual_end_rot": [ + -7.5, + -15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 30625.4693, + -8156.4636, + -11153.0526 + ], + "start_rot": [ + -7.5, + -15.0, + -0.0 + ], + "expected_end_pos": [ + 30625.4693, + -8156.4636, + -11153.0526 + ], + "actual_end_pos": [ + 30625.4693, + -8156.4636, + -11153.0526 + ], + "actual_end_rot": [ + -15.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30625.4693, + -8156.4636, + -11153.0526 + ], + "start_rot": [ + -15.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 30718.7705, + -8181.4636, + -11178.9345 + ], + "actual_end_pos": [ + 30718.7705, + -8181.4636, + -11178.9345 + ], + "actual_end_rot": [ + -15.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30718.7705, + -8181.4636, + -11178.9345 + ], + "start_rot": [ + -15.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 30718.7705, + -8181.4636, + -11178.9345 + ], + "actual_end_pos": [ + 30718.7705, + -8181.4636, + -11178.9345 + ], + "actual_end_rot": [ + -15.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30718.7705, + -8181.4636, + -11178.9345 + ], + "start_rot": [ + -15.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 30718.7705, + -8281.4636, + -11178.9345 + ], + "actual_end_pos": [ + 30718.7705, + -8281.4636, + -11178.9345 + ], + "actual_end_rot": [ + -15.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 30718.7705, + -8281.4636, + -11178.9345 + ], + "start_rot": [ + -15.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 30718.7705, + -8281.4636, + -11178.9345 + ], + "actual_end_pos": [ + 30718.7705, + -8281.4636, + -11178.9345 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30718.7705, + -8281.4636, + -11178.9345 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 30718.7705, + -8281.4636, + -11178.9345 + ], + "actual_end_pos": [ + 30718.7705, + -8281.4636, + -11178.9345 + ], + "actual_end_rot": [ + -7.5, + -15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30718.7705, + -8281.4636, + -11178.9345 + ], + "start_rot": [ + -7.5, + -15.0, + -0.0 + ], + "expected_end_pos": [ + 30692.8886, + -8378.0562, + -11178.9345 + ], + "actual_end_pos": [ + 30692.8886, + -8378.0562, + -11178.9345 + ], + "actual_end_rot": [ + -7.5, + -15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30692.8886, + -8378.0562, + -11178.9345 + ], + "start_rot": [ + -7.5, + -15.0, + -0.0 + ], + "expected_end_pos": [ + 30667.0067, + -8474.6488, + -11178.9345 + ], + "actual_end_pos": [ + 30667.0067, + -8474.6488, + -11178.9345 + ], + "actual_end_rot": [ + -7.5, + -15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30667.0067, + -8474.6488, + -11178.9345 + ], + "start_rot": [ + -7.5, + -15.0, + -0.0 + ], + "expected_end_pos": [ + 30667.0067, + -8474.6488, + -11178.9345 + ], + "actual_end_pos": [ + 30667.0067, + -8474.6488, + -11178.9345 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30667.0067, + -8474.6488, + -11178.9345 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 30667.0067, + -8474.6488, + -11178.9345 + ], + "actual_end_pos": [ + 30667.0067, + -8474.6488, + -11178.9345 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30667.0067, + -8474.6488, + -11178.9345 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 30667.0067, + -8474.6488, + -11178.9345 + ], + "actual_end_pos": [ + 30667.0067, + -8474.6488, + -11178.9345 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260411_181558__pair_003271_B_traj_003272_meta.json b/equivalence_easy/run_20260411_181558__pair_003271_B_traj_003272_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..18e749cc6521927c7141e54efc65fae740cb1423 --- /dev/null +++ b/equivalence_easy/run_20260411_181558__pair_003271_B_traj_003272_meta.json @@ -0,0 +1,1464 @@ +{ + "trajectory_id": 3272, + "episode_id": 0, + "state_id": 2415, + "sample_index": 2415, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_B", + "partner_trajectory_id": 3271, + "primary_trajectory_id": 3271, + "paired_trajectory_id": 3272, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 30560.0, + -7940.0, + -11140.0 + ], + "rotation": [ + 0.0, + 315.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_right", + "move_forward", + "turn_right", + "look_up", + "move_backward", + "move_left", + "turn_left", + "no_op", + "move_left", + "move_forward", + "move_forward", + "no_op", + "turn_right", + "move_backward", + "move_left", + "move_backward", + "turn_left", + "look_down", + "move_right", + "move_backward", + "move_right", + "turn_right", + "turn_right", + "move_left", + "move_left", + "move_right", + "move_forward", + "look_down", + "look_down", + "move_forward", + "turn_right", + "move_left", + "look_up", + "turn_left", + "move_left", + "move_left", + "turn_right", + "turn_right", + "turn_right" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30560.0, + -7940.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 30630.7107, + -8010.7107, + -11140.0 + ], + "actual_end_pos": [ + 30630.7107, + -8010.7107, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30630.7107, + -8010.7107, + -11140.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 30701.4214, + -7940.0, + -11140.0 + ], + "actual_end_pos": [ + 30701.4214, + -7940.0, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30701.4214, + -7940.0, + -11140.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 30772.132, + -8010.7107, + -11140.0 + ], + "actual_end_pos": [ + 30772.132, + -8010.7107, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30772.132, + -8010.7107, + -11140.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 30772.132, + -8010.7107, + -11140.0 + ], + "actual_end_pos": [ + 30772.132, + -8010.7107, + -11140.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 30772.132, + -8010.7107, + -11140.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 30772.132, + -8010.7107, + -11140.0 + ], + "actual_end_pos": [ + 30772.132, + -8010.7107, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30772.132, + -8010.7107, + -11140.0 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 30686.2704, + -7961.1384, + -11153.0526 + ], + "actual_end_pos": [ + 30686.2704, + -7961.1384, + -11153.0526 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30686.2704, + -7961.1384, + -11153.0526 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 30636.2704, + -8047.741, + -11153.0526 + ], + "actual_end_pos": [ + 30636.2704, + -8047.741, + -11153.0526 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30636.2704, + -8047.741, + -11153.0526 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 30636.2704, + -8047.741, + -11153.0526 + ], + "actual_end_pos": [ + 30636.2704, + -8047.741, + -11153.0526 + ], + "actual_end_rot": [ + 7.5, + -45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30636.2704, + -8047.741, + -11153.0526 + ], + "start_rot": [ + 7.5, + -45.0, + -0.0 + ], + "expected_end_pos": [ + 30636.2704, + -8047.741, + -11153.0526 + ], + "actual_end_pos": [ + 30636.2704, + -8047.741, + -11153.0526 + ], + "actual_end_rot": [ + 7.5, + -45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30636.2704, + -8047.741, + -11153.0526 + ], + "start_rot": [ + 7.5, + -45.0, + -0.0 + ], + "expected_end_pos": [ + 30565.5597, + -8118.4517, + -11153.0526 + ], + "actual_end_pos": [ + 30565.5597, + -8118.4517, + -11153.0526 + ], + "actual_end_rot": [ + 7.5, + -45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30565.5597, + -8118.4517, + -11153.0526 + ], + "start_rot": [ + 7.5, + -45.0, + -0.0 + ], + "expected_end_pos": [ + 30635.6655, + -8188.5574, + -11140.0 + ], + "actual_end_pos": [ + 30635.6655, + -8188.5574, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + -45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30635.6655, + -8188.5574, + -11140.0 + ], + "start_rot": [ + 7.5, + -45.0, + -0.0 + ], + "expected_end_pos": [ + 30705.7712, + -8258.6631, + -11126.9474 + ], + "actual_end_pos": [ + 30705.7712, + -8258.6631, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + -45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30705.7712, + -8258.6631, + -11126.9474 + ], + "start_rot": [ + 7.5, + -45.0, + -0.0 + ], + "expected_end_pos": [ + 30705.7712, + -8258.6631, + -11126.9474 + ], + "actual_end_pos": [ + 30705.7712, + -8258.6631, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + -45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30705.7712, + -8258.6631, + -11126.9474 + ], + "start_rot": [ + 7.5, + -45.0, + -0.0 + ], + "expected_end_pos": [ + 30705.7712, + -8258.6631, + -11126.9474 + ], + "actual_end_pos": [ + 30705.7712, + -8258.6631, + -11126.9474 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30705.7712, + -8258.6631, + -11126.9474 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 30619.9095, + -8209.0909, + -11140.0 + ], + "actual_end_pos": [ + 30619.9095, + -8209.0909, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30619.9095, + -8209.0909, + -11140.0 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 30569.9095, + -8295.6934, + -11140.0 + ], + "actual_end_pos": [ + 30569.9095, + -8295.6934, + -11140.0 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30569.9095, + -8295.6934, + -11140.0 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 30484.0479, + -8246.1212, + -11153.0526 + ], + "actual_end_pos": [ + 30484.0479, + -8246.1212, + -11153.0526 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30484.0479, + -8246.1212, + -11153.0526 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 30484.0479, + -8246.1212, + -11153.0526 + ], + "actual_end_pos": [ + 30484.0479, + -8246.1212, + -11153.0526 + ], + "actual_end_rot": [ + 7.5, + -45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 30484.0479, + -8246.1212, + -11153.0526 + ], + "start_rot": [ + 7.5, + -45.0, + -0.0 + ], + "expected_end_pos": [ + 30484.0479, + -8246.1212, + -11153.0526 + ], + "actual_end_pos": [ + 30484.0479, + -8246.1212, + -11153.0526 + ], + "actual_end_rot": [ + 0.0, + -45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30484.0479, + -8246.1212, + -11153.0526 + ], + "start_rot": [ + 0.0, + -45.0, + -0.0 + ], + "expected_end_pos": [ + 30554.7586, + -8175.4105, + -11153.0526 + ], + "actual_end_pos": [ + 30554.7586, + -8175.4105, + -11153.0526 + ], + "actual_end_rot": [ + 0.0, + -45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30554.7586, + -8175.4105, + -11153.0526 + ], + "start_rot": [ + 0.0, + -45.0, + -0.0 + ], + "expected_end_pos": [ + 30484.0479, + -8104.6998, + -11153.0526 + ], + "actual_end_pos": [ + 30484.0479, + -8104.6998, + -11153.0526 + ], + "actual_end_rot": [ + 0.0, + -45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30484.0479, + -8104.6998, + -11153.0526 + ], + "start_rot": [ + 0.0, + -45.0, + -0.0 + ], + "expected_end_pos": [ + 30554.7586, + -8033.9891, + -11153.0526 + ], + "actual_end_pos": [ + 30554.7586, + -8033.9891, + -11153.0526 + ], + "actual_end_rot": [ + 0.0, + -45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30554.7586, + -8033.9891, + -11153.0526 + ], + "start_rot": [ + 0.0, + -45.0, + -0.0 + ], + "expected_end_pos": [ + 30554.7586, + -8033.9891, + -11153.0526 + ], + "actual_end_pos": [ + 30554.7586, + -8033.9891, + -11153.0526 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30554.7586, + -8033.9891, + -11153.0526 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 30554.7586, + -8033.9891, + -11153.0526 + ], + "actual_end_pos": [ + 30554.7586, + -8033.9891, + -11153.0526 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30554.7586, + -8033.9891, + -11153.0526 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 30528.8767, + -8130.5817, + -11153.0526 + ], + "actual_end_pos": [ + 30528.8767, + -8130.5817, + -11153.0526 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30528.8767, + -8130.5817, + -11153.0526 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 30502.9948, + -8227.1743, + -11153.0526 + ], + "actual_end_pos": [ + 30502.9948, + -8227.1743, + -11153.0526 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30502.9948, + -8227.1743, + -11153.0526 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 30528.8767, + -8130.5817, + -11153.0526 + ], + "actual_end_pos": [ + 30528.8767, + -8130.5817, + -11153.0526 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30528.8767, + -8130.5817, + -11153.0526 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 30625.4693, + -8156.4636, + -11153.0526 + ], + "actual_end_pos": [ + 30625.4693, + -8156.4636, + -11153.0526 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 30625.4693, + -8156.4636, + -11153.0526 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 30625.4693, + -8156.4636, + -11153.0526 + ], + "actual_end_pos": [ + 30625.4693, + -8156.4636, + -11153.0526 + ], + "actual_end_rot": [ + -7.5, + -15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 30625.4693, + -8156.4636, + -11153.0526 + ], + "start_rot": [ + -7.5, + -15.0, + -0.0 + ], + "expected_end_pos": [ + 30625.4693, + -8156.4636, + -11153.0526 + ], + "actual_end_pos": [ + 30625.4693, + -8156.4636, + -11153.0526 + ], + "actual_end_rot": [ + -15.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30625.4693, + -8156.4636, + -11153.0526 + ], + "start_rot": [ + -15.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 30718.7705, + -8181.4636, + -11178.9345 + ], + "actual_end_pos": [ + 30718.7705, + -8181.4636, + -11178.9345 + ], + "actual_end_rot": [ + -15.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30718.7705, + -8181.4636, + -11178.9345 + ], + "start_rot": [ + -15.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 30718.7705, + -8181.4636, + -11178.9345 + ], + "actual_end_pos": [ + 30718.7705, + -8181.4636, + -11178.9345 + ], + "actual_end_rot": [ + -15.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30718.7705, + -8181.4636, + -11178.9345 + ], + "start_rot": [ + -15.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 30718.7705, + -8281.4636, + -11178.9345 + ], + "actual_end_pos": [ + 30718.7705, + -8281.4636, + -11178.9345 + ], + "actual_end_rot": [ + -15.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 30718.7705, + -8281.4636, + -11178.9345 + ], + "start_rot": [ + -15.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 30718.7705, + -8281.4636, + -11178.9345 + ], + "actual_end_pos": [ + 30718.7705, + -8281.4636, + -11178.9345 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 30718.7705, + -8281.4636, + -11178.9345 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 30718.7705, + -8281.4636, + -11178.9345 + ], + "actual_end_pos": [ + 30718.7705, + -8281.4636, + -11178.9345 + ], + "actual_end_rot": [ + -7.5, + -15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30718.7705, + -8281.4636, + -11178.9345 + ], + "start_rot": [ + -7.5, + -15.0, + -0.0 + ], + "expected_end_pos": [ + 30692.8886, + -8378.0562, + -11178.9345 + ], + "actual_end_pos": [ + 30692.8886, + -8378.0562, + -11178.9345 + ], + "actual_end_rot": [ + -7.5, + -15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30692.8886, + -8378.0562, + -11178.9345 + ], + "start_rot": [ + -7.5, + -15.0, + -0.0 + ], + "expected_end_pos": [ + 30667.0067, + -8474.6488, + -11178.9345 + ], + "actual_end_pos": [ + 30667.0067, + -8474.6488, + -11178.9345 + ], + "actual_end_rot": [ + -7.5, + -15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30667.0067, + -8474.6488, + -11178.9345 + ], + "start_rot": [ + -7.5, + -15.0, + -0.0 + ], + "expected_end_pos": [ + 30667.0067, + -8474.6488, + -11178.9345 + ], + "actual_end_pos": [ + 30667.0067, + -8474.6488, + -11178.9345 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30667.0067, + -8474.6488, + -11178.9345 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 30667.0067, + -8474.6488, + -11178.9345 + ], + "actual_end_pos": [ + 30667.0067, + -8474.6488, + -11178.9345 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 30667.0067, + -8474.6488, + -11178.9345 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 30667.0067, + -8474.6488, + -11178.9345 + ], + "actual_end_pos": [ + 30667.0067, + -8474.6488, + -11178.9345 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260413_221314__pair_000044_A_traj_000044_meta.json b/equivalence_easy/run_20260413_221314__pair_000044_A_traj_000044_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..03192a8fcc1deaeaaf6217fe51a70faad6b903b0 --- /dev/null +++ b/equivalence_easy/run_20260413_221314__pair_000044_A_traj_000044_meta.json @@ -0,0 +1,1476 @@ +{ + "trajectory_id": 44, + "episode_id": 0, + "state_id": 31, + "sample_index": 31, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_A", + "partner_trajectory_id": 45, + "primary_trajectory_id": 44, + "paired_trajectory_id": 45, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -5210.0, + 1260.0, + 200.0 + ], + "rotation": [ + 0.0, + 315.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_left", + "move_right", + "move_backward", + "turn_left", + "move_backward", + "move_left", + "move_left", + "turn_left", + "move_left", + "turn_left", + "move_left", + "look_down", + "move_forward", + "look_down", + "move_forward", + "move_forward", + "move_right", + "turn_left", + "move_left", + "move_left", + "move_backward", + "turn_right", + "turn_right", + "no_op", + "turn_right", + "move_forward", + "turn_left", + "move_right", + "turn_right", + "move_right", + "look_up", + "move_forward", + "move_left", + "move_backward", + "look_up", + "turn_left", + "look_up", + "move_right", + "move_right", + "move_backward" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -5210.0, + 1260.0, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -5210.0, + 1260.0, + 200.0 + ], + "actual_end_pos": [ + -5210.0, + 1260.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -5210.0, + 1260.0, + 200.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -5123.3975, + 1310.0, + 200.0 + ], + "actual_end_pos": [ + -5123.3975, + 1310.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -5123.3975, + 1310.0, + 200.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -5173.3975, + 1396.6025, + 200.0 + ], + "actual_end_pos": [ + -5173.3975, + 1396.6025, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -5173.3975, + 1396.6025, + 200.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -5173.3975, + 1396.6025, + 200.0 + ], + "actual_end_pos": [ + -5173.3975, + 1396.6025, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -5173.3975, + 1396.6025, + 200.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -5199.2794, + 1493.1951, + 200.0 + ], + "actual_end_pos": [ + -5199.2794, + 1493.1951, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -5199.2794, + 1493.1951, + 200.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -5295.8719, + 1467.3132, + 200.0 + ], + "actual_end_pos": [ + -5295.8719, + 1467.3132, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -5295.8719, + 1467.3132, + 200.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -5392.4645, + 1441.4313, + 200.0 + ], + "actual_end_pos": [ + -5392.4645, + 1441.4313, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -5392.4645, + 1441.4313, + 200.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -5392.4645, + 1441.4313, + 200.0 + ], + "actual_end_pos": [ + -5392.4645, + 1441.4313, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -5392.4645, + 1441.4313, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -5492.4645, + 1441.4313, + 200.0 + ], + "actual_end_pos": [ + -5492.4645, + 1441.4313, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -5492.4645, + 1441.4313, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -5492.4645, + 1441.4313, + 200.0 + ], + "actual_end_pos": [ + -5492.4645, + 1441.4313, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -5492.4645, + 1441.4313, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -5589.0571, + 1467.3132, + 200.0 + ], + "actual_end_pos": [ + -5589.0571, + 1467.3132, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -5589.0571, + 1467.3132, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -5589.0571, + 1467.3132, + 200.0 + ], + "actual_end_pos": [ + -5589.0571, + 1467.3132, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -5589.0571, + 1467.3132, + 200.0 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -5614.7176, + 1371.547, + 186.9474 + ], + "actual_end_pos": [ + -5614.7176, + 1371.547, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -5614.7176, + 1371.547, + 186.9474 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -5614.7176, + 1371.547, + 186.9474 + ], + "actual_end_pos": [ + -5614.7176, + 1371.547, + 186.9474 + ], + "actual_end_rot": [ + -15.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -5614.7176, + 1371.547, + 186.9474 + ], + "start_rot": [ + -15.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -5639.7176, + 1278.2457, + 161.0655 + ], + "actual_end_pos": [ + -5639.7176, + 1278.2457, + 161.0655 + ], + "actual_end_rot": [ + -15.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -5639.7176, + 1278.2457, + 161.0655 + ], + "start_rot": [ + -15.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -5664.7176, + 1184.9445, + 135.1836 + ], + "actual_end_pos": [ + -5664.7176, + 1184.9445, + 135.1836 + ], + "actual_end_rot": [ + -15.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -5664.7176, + 1184.9445, + 135.1836 + ], + "start_rot": [ + -15.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -5568.125, + 1159.0625, + 135.1836 + ], + "actual_end_pos": [ + -5568.125, + 1159.0625, + 135.1836 + ], + "actual_end_rot": [ + -15.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -5568.125, + 1159.0625, + 135.1836 + ], + "start_rot": [ + -15.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -5568.125, + 1159.0625, + 135.1836 + ], + "actual_end_pos": [ + -5568.125, + 1159.0625, + 135.1836 + ], + "actual_end_rot": [ + -15.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -5568.125, + 1159.0625, + 135.1836 + ], + "start_rot": [ + -15.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -5654.7275, + 1209.0625, + 135.1836 + ], + "actual_end_pos": [ + -5654.7275, + 1209.0625, + 135.1836 + ], + "actual_end_rot": [ + -15.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -5654.7275, + 1209.0625, + 135.1836 + ], + "start_rot": [ + -15.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -5741.3301, + 1259.0625, + 135.1836 + ], + "actual_end_pos": [ + -5741.3301, + 1259.0625, + 135.1836 + ], + "actual_end_rot": [ + -15.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -5741.3301, + 1259.0625, + 135.1836 + ], + "start_rot": [ + -15.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -5693.0338, + 1342.7142, + 161.0655 + ], + "actual_end_pos": [ + -5693.0338, + 1342.7142, + 161.0655 + ], + "actual_end_rot": [ + -15.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -5693.0338, + 1342.7142, + 161.0655 + ], + "start_rot": [ + -15.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -5693.0338, + 1342.7142, + 161.0655 + ], + "actual_end_pos": [ + -5693.0338, + 1342.7142, + 161.0655 + ], + "actual_end_rot": [ + -15.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -5693.0338, + 1342.7142, + 161.0655 + ], + "start_rot": [ + -15.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -5693.0338, + 1342.7142, + 161.0655 + ], + "actual_end_pos": [ + -5693.0338, + 1342.7142, + 161.0655 + ], + "actual_end_rot": [ + -15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -5693.0338, + 1342.7142, + 161.0655 + ], + "start_rot": [ + -15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -5693.0338, + 1342.7142, + 161.0655 + ], + "actual_end_pos": [ + -5693.0338, + 1342.7142, + 161.0655 + ], + "actual_end_rot": [ + -15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -5693.0338, + 1342.7142, + 161.0655 + ], + "start_rot": [ + -15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -5693.0338, + 1342.7142, + 161.0655 + ], + "actual_end_pos": [ + -5693.0338, + 1342.7142, + 161.0655 + ], + "actual_end_rot": [ + -15.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -5693.0338, + 1342.7142, + 161.0655 + ], + "start_rot": [ + -15.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -5668.0338, + 1249.4129, + 135.1836 + ], + "actual_end_pos": [ + -5668.0338, + 1249.4129, + 135.1836 + ], + "actual_end_rot": [ + -15.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -5668.0338, + 1249.4129, + 135.1836 + ], + "start_rot": [ + -15.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -5668.0338, + 1249.4129, + 135.1836 + ], + "actual_end_pos": [ + -5668.0338, + 1249.4129, + 135.1836 + ], + "actual_end_rot": [ + -15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -5668.0338, + 1249.4129, + 135.1836 + ], + "start_rot": [ + -15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -5568.0338, + 1249.4129, + 135.1836 + ], + "actual_end_pos": [ + -5568.0338, + 1249.4129, + 135.1836 + ], + "actual_end_rot": [ + -15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -5568.0338, + 1249.4129, + 135.1836 + ], + "start_rot": [ + -15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -5568.0338, + 1249.4129, + 135.1836 + ], + "actual_end_pos": [ + -5568.0338, + 1249.4129, + 135.1836 + ], + "actual_end_rot": [ + -15.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -5568.0338, + 1249.4129, + 135.1836 + ], + "start_rot": [ + -15.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -5471.4412, + 1275.2948, + 135.1836 + ], + "actual_end_pos": [ + -5471.4412, + 1275.2948, + 135.1836 + ], + "actual_end_rot": [ + -15.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -5471.4412, + 1275.2948, + 135.1836 + ], + "start_rot": [ + -15.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -5471.4412, + 1275.2948, + 135.1836 + ], + "actual_end_pos": [ + -5471.4412, + 1275.2948, + 135.1836 + ], + "actual_end_rot": [ + -7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -5471.4412, + 1275.2948, + 135.1836 + ], + "start_rot": [ + -7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -5445.7807, + 1179.5286, + 122.131 + ], + "actual_end_pos": [ + -5445.7807, + 1179.5286, + 122.131 + ], + "actual_end_rot": [ + -7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -5445.7807, + 1179.5286, + 122.131 + ], + "start_rot": [ + -7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -5542.3733, + 1153.6467, + 122.131 + ], + "actual_end_pos": [ + -5542.3733, + 1153.6467, + 122.131 + ], + "actual_end_rot": [ + -7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -5542.3733, + 1153.6467, + 122.131 + ], + "start_rot": [ + -7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -5568.0338, + 1249.4129, + 135.1836 + ], + "actual_end_pos": [ + -5568.0338, + 1249.4129, + 135.1836 + ], + "actual_end_rot": [ + -7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -5568.0338, + 1249.4129, + 135.1836 + ], + "start_rot": [ + -7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -5568.0338, + 1249.4129, + 135.1836 + ], + "actual_end_pos": [ + -5568.0338, + 1249.4129, + 135.1836 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -5568.0338, + 1249.4129, + 135.1836 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -5568.0338, + 1249.4129, + 135.1836 + ], + "actual_end_pos": [ + -5568.0338, + 1249.4129, + 135.1836 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -5568.0338, + 1249.4129, + 135.1836 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -5568.0338, + 1249.4129, + 135.1836 + ], + "actual_end_pos": [ + -5568.0338, + 1249.4129, + 135.1836 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -5568.0338, + 1249.4129, + 135.1836 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -5468.0338, + 1249.4129, + 135.1836 + ], + "actual_end_pos": [ + -5468.0338, + 1249.4129, + 135.1836 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -5468.0338, + 1249.4129, + 135.1836 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -5368.0338, + 1249.4129, + 135.1836 + ], + "actual_end_pos": [ + -5368.0338, + 1249.4129, + 135.1836 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -5368.0338, + 1249.4129, + 135.1836 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -5368.0338, + 1348.5574, + 122.131 + ], + "actual_end_pos": [ + -5368.0338, + 1348.5574, + 122.131 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 18, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260413_221314__pair_000044_B_traj_000045_meta.json b/equivalence_easy/run_20260413_221314__pair_000044_B_traj_000045_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bbd35d429f7218e4e6ffbfd57efaa5123010bb59 --- /dev/null +++ b/equivalence_easy/run_20260413_221314__pair_000044_B_traj_000045_meta.json @@ -0,0 +1,1476 @@ +{ + "trajectory_id": 45, + "episode_id": 0, + "state_id": 31, + "sample_index": 31, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_B", + "partner_trajectory_id": 44, + "primary_trajectory_id": 44, + "paired_trajectory_id": 45, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -5210.0, + 1260.0, + 200.0 + ], + "rotation": [ + 0.0, + 315.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_left", + "move_backward", + "move_right", + "turn_left", + "move_left", + "move_left", + "move_backward", + "turn_left", + "move_left", + "turn_left", + "move_left", + "look_down", + "move_forward", + "look_down", + "move_forward", + "move_right", + "move_forward", + "turn_left", + "move_left", + "move_left", + "move_backward", + "turn_right", + "turn_right", + "no_op", + "turn_right", + "move_forward", + "turn_left", + "move_right", + "turn_right", + "move_right", + "look_up", + "move_left", + "move_backward", + "move_forward", + "turn_left", + "look_up", + "look_up", + "move_right", + "move_right", + "move_backward" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -5210.0, + 1260.0, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -5210.0, + 1260.0, + 200.0 + ], + "actual_end_pos": [ + -5210.0, + 1260.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -5210.0, + 1260.0, + 200.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -5260.0, + 1346.6025, + 200.0 + ], + "actual_end_pos": [ + -5260.0, + 1346.6025, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -5260.0, + 1346.6025, + 200.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -5173.3975, + 1396.6025, + 200.0 + ], + "actual_end_pos": [ + -5173.3975, + 1396.6025, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -5173.3975, + 1396.6025, + 200.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -5173.3975, + 1396.6025, + 200.0 + ], + "actual_end_pos": [ + -5173.3975, + 1396.6025, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -5173.3975, + 1396.6025, + 200.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -5269.99, + 1370.7206, + 200.0 + ], + "actual_end_pos": [ + -5269.99, + 1370.7206, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -5269.99, + 1370.7206, + 200.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -5366.5826, + 1344.8387, + 200.0 + ], + "actual_end_pos": [ + -5366.5826, + 1344.8387, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -5366.5826, + 1344.8387, + 200.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -5392.4645, + 1441.4313, + 200.0 + ], + "actual_end_pos": [ + -5392.4645, + 1441.4313, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -5392.4645, + 1441.4313, + 200.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -5392.4645, + 1441.4313, + 200.0 + ], + "actual_end_pos": [ + -5392.4645, + 1441.4313, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -5392.4645, + 1441.4313, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -5492.4645, + 1441.4313, + 200.0 + ], + "actual_end_pos": [ + -5492.4645, + 1441.4313, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -5492.4645, + 1441.4313, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -5492.4645, + 1441.4313, + 200.0 + ], + "actual_end_pos": [ + -5492.4645, + 1441.4313, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -5492.4645, + 1441.4313, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -5589.0571, + 1467.3132, + 200.0 + ], + "actual_end_pos": [ + -5589.0571, + 1467.3132, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -5589.0571, + 1467.3132, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -5589.0571, + 1467.3132, + 200.0 + ], + "actual_end_pos": [ + -5589.0571, + 1467.3132, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -5589.0571, + 1467.3132, + 200.0 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -5614.7176, + 1371.547, + 186.9474 + ], + "actual_end_pos": [ + -5614.7176, + 1371.547, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -5614.7176, + 1371.547, + 186.9474 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -5614.7176, + 1371.547, + 186.9474 + ], + "actual_end_pos": [ + -5614.7176, + 1371.547, + 186.9474 + ], + "actual_end_rot": [ + -15.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -5614.7176, + 1371.547, + 186.9474 + ], + "start_rot": [ + -15.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -5639.7176, + 1278.2457, + 161.0655 + ], + "actual_end_pos": [ + -5639.7176, + 1278.2457, + 161.0655 + ], + "actual_end_rot": [ + -15.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -5639.7176, + 1278.2457, + 161.0655 + ], + "start_rot": [ + -15.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -5543.125, + 1252.3638, + 161.0655 + ], + "actual_end_pos": [ + -5543.125, + 1252.3638, + 161.0655 + ], + "actual_end_rot": [ + -15.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -5543.125, + 1252.3638, + 161.0655 + ], + "start_rot": [ + -15.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -5568.125, + 1159.0625, + 135.1836 + ], + "actual_end_pos": [ + -5568.125, + 1159.0625, + 135.1836 + ], + "actual_end_rot": [ + -15.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -5568.125, + 1159.0625, + 135.1836 + ], + "start_rot": [ + -15.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -5568.125, + 1159.0625, + 135.1836 + ], + "actual_end_pos": [ + -5568.125, + 1159.0625, + 135.1836 + ], + "actual_end_rot": [ + -15.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -5568.125, + 1159.0625, + 135.1836 + ], + "start_rot": [ + -15.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -5654.7275, + 1209.0625, + 135.1836 + ], + "actual_end_pos": [ + -5654.7275, + 1209.0625, + 135.1836 + ], + "actual_end_rot": [ + -15.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -5654.7275, + 1209.0625, + 135.1836 + ], + "start_rot": [ + -15.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -5741.3301, + 1259.0625, + 135.1836 + ], + "actual_end_pos": [ + -5741.3301, + 1259.0625, + 135.1836 + ], + "actual_end_rot": [ + -15.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -5741.3301, + 1259.0625, + 135.1836 + ], + "start_rot": [ + -15.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -5693.0338, + 1342.7142, + 161.0655 + ], + "actual_end_pos": [ + -5693.0338, + 1342.7142, + 161.0655 + ], + "actual_end_rot": [ + -15.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -5693.0338, + 1342.7142, + 161.0655 + ], + "start_rot": [ + -15.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -5693.0338, + 1342.7142, + 161.0655 + ], + "actual_end_pos": [ + -5693.0338, + 1342.7142, + 161.0655 + ], + "actual_end_rot": [ + -15.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -5693.0338, + 1342.7142, + 161.0655 + ], + "start_rot": [ + -15.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -5693.0338, + 1342.7142, + 161.0655 + ], + "actual_end_pos": [ + -5693.0338, + 1342.7142, + 161.0655 + ], + "actual_end_rot": [ + -15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -5693.0338, + 1342.7142, + 161.0655 + ], + "start_rot": [ + -15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -5693.0338, + 1342.7142, + 161.0655 + ], + "actual_end_pos": [ + -5693.0338, + 1342.7142, + 161.0655 + ], + "actual_end_rot": [ + -15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -5693.0338, + 1342.7142, + 161.0655 + ], + "start_rot": [ + -15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -5693.0338, + 1342.7142, + 161.0655 + ], + "actual_end_pos": [ + -5693.0338, + 1342.7142, + 161.0655 + ], + "actual_end_rot": [ + -15.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -5693.0338, + 1342.7142, + 161.0655 + ], + "start_rot": [ + -15.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -5668.0338, + 1249.4129, + 135.1836 + ], + "actual_end_pos": [ + -5668.0338, + 1249.4129, + 135.1836 + ], + "actual_end_rot": [ + -15.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -5668.0338, + 1249.4129, + 135.1836 + ], + "start_rot": [ + -15.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -5668.0338, + 1249.4129, + 135.1836 + ], + "actual_end_pos": [ + -5668.0338, + 1249.4129, + 135.1836 + ], + "actual_end_rot": [ + -15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -5668.0338, + 1249.4129, + 135.1836 + ], + "start_rot": [ + -15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -5568.0338, + 1249.4129, + 135.1836 + ], + "actual_end_pos": [ + -5568.0338, + 1249.4129, + 135.1836 + ], + "actual_end_rot": [ + -15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -5568.0338, + 1249.4129, + 135.1836 + ], + "start_rot": [ + -15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -5568.0338, + 1249.4129, + 135.1836 + ], + "actual_end_pos": [ + -5568.0338, + 1249.4129, + 135.1836 + ], + "actual_end_rot": [ + -15.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -5568.0338, + 1249.4129, + 135.1836 + ], + "start_rot": [ + -15.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -5471.4412, + 1275.2948, + 135.1836 + ], + "actual_end_pos": [ + -5471.4412, + 1275.2948, + 135.1836 + ], + "actual_end_rot": [ + -15.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -5471.4412, + 1275.2948, + 135.1836 + ], + "start_rot": [ + -15.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -5471.4412, + 1275.2948, + 135.1836 + ], + "actual_end_pos": [ + -5471.4412, + 1275.2948, + 135.1836 + ], + "actual_end_rot": [ + -7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -5471.4412, + 1275.2948, + 135.1836 + ], + "start_rot": [ + -7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -5568.0338, + 1249.4129, + 135.1836 + ], + "actual_end_pos": [ + -5568.0338, + 1249.4129, + 135.1836 + ], + "actual_end_rot": [ + -7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -5568.0338, + 1249.4129, + 135.1836 + ], + "start_rot": [ + -7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -5593.6943, + 1345.1791, + 148.2362 + ], + "actual_end_pos": [ + -5593.6943, + 1345.1791, + 148.2362 + ], + "actual_end_rot": [ + -7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -5593.6943, + 1345.1791, + 148.2362 + ], + "start_rot": [ + -7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -5568.0338, + 1249.4129, + 135.1836 + ], + "actual_end_pos": [ + -5568.0338, + 1249.4129, + 135.1836 + ], + "actual_end_rot": [ + -7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -5568.0338, + 1249.4129, + 135.1836 + ], + "start_rot": [ + -7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -5568.0338, + 1249.4129, + 135.1836 + ], + "actual_end_pos": [ + -5568.0338, + 1249.4129, + 135.1836 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -5568.0338, + 1249.4129, + 135.1836 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -5568.0338, + 1249.4129, + 135.1836 + ], + "actual_end_pos": [ + -5568.0338, + 1249.4129, + 135.1836 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -5568.0338, + 1249.4129, + 135.1836 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -5568.0338, + 1249.4129, + 135.1836 + ], + "actual_end_pos": [ + -5568.0338, + 1249.4129, + 135.1836 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -5568.0338, + 1249.4129, + 135.1836 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -5468.0338, + 1249.4129, + 135.1836 + ], + "actual_end_pos": [ + -5468.0338, + 1249.4129, + 135.1836 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -5468.0338, + 1249.4129, + 135.1836 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -5368.0338, + 1249.4129, + 135.1836 + ], + "actual_end_pos": [ + -5368.0338, + 1249.4129, + 135.1836 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -5368.0338, + 1249.4129, + 135.1836 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -5368.0338, + 1348.5574, + 122.131 + ], + "actual_end_pos": [ + -5368.0338, + 1348.5574, + 122.131 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 18, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260413_221314__pair_000131_A_traj_000131_meta.json b/equivalence_easy/run_20260413_221314__pair_000131_A_traj_000131_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c41d9d3c8e4c94d5dfcf3caf6488a85c37bcfc47 --- /dev/null +++ b/equivalence_easy/run_20260413_221314__pair_000131_A_traj_000131_meta.json @@ -0,0 +1,1476 @@ +{ + "trajectory_id": 131, + "episode_id": 0, + "state_id": 96, + "sample_index": 96, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_A", + "partner_trajectory_id": 132, + "primary_trajectory_id": 131, + "paired_trajectory_id": 132, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -5210.0, + 6260.0, + 200.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "look_down", + "move_right", + "move_right", + "move_forward", + "move_right", + "move_forward", + "move_left", + "turn_left", + "move_right", + "move_right", + "move_backward", + "turn_left", + "move_right", + "look_down", + "look_down", + "move_right", + "turn_left", + "move_left", + "move_backward", + "move_right", + "look_up", + "move_forward", + "move_forward", + "move_forward", + "move_right", + "move_right", + "move_forward", + "no_op", + "move_forward", + "move_forward", + "turn_right", + "move_left", + "turn_right", + "no_op", + "move_right", + "turn_left", + "move_left", + "look_down", + "move_forward", + "look_down" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -5210.0, + 6260.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -5210.0, + 6260.0, + 200.0 + ], + "actual_end_pos": [ + -5210.0, + 6260.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -5210.0, + 6260.0, + 200.0 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -5210.0, + 6360.0, + 200.0 + ], + "actual_end_pos": [ + -5210.0, + 6360.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -5210.0, + 6360.0, + 200.0 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -5210.0, + 6460.0, + 200.0 + ], + "actual_end_pos": [ + -5210.0, + 6460.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -5210.0, + 6460.0, + 200.0 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -5110.8555, + 6460.0, + 186.9474 + ], + "actual_end_pos": [ + -5110.8555, + 6460.0, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -5110.8555, + 6460.0, + 186.9474 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -5110.8555, + 6560.0, + 186.9474 + ], + "actual_end_pos": [ + -5110.8555, + 6560.0, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -5110.8555, + 6560.0, + 186.9474 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -5011.711, + 6560.0, + 173.8948 + ], + "actual_end_pos": [ + -5011.711, + 6560.0, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -5011.711, + 6560.0, + 173.8948 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -5011.711, + 6460.0, + 173.8948 + ], + "actual_end_pos": [ + -5011.711, + 6460.0, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -5011.711, + 6460.0, + 173.8948 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -5011.711, + 6460.0, + 173.8948 + ], + "actual_end_pos": [ + -5011.711, + 6460.0, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + -15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -5011.711, + 6460.0, + 173.8948 + ], + "start_rot": [ + -7.5, + -15.0, + -0.0 + ], + "expected_end_pos": [ + -4985.8291, + 6556.5926, + 173.8948 + ], + "actual_end_pos": [ + -4985.8291, + 6556.5926, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + -15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -4985.8291, + 6556.5926, + 173.8948 + ], + "start_rot": [ + -7.5, + -15.0, + -0.0 + ], + "expected_end_pos": [ + -4959.9472, + 6653.1852, + 173.8948 + ], + "actual_end_pos": [ + -4959.9472, + 6653.1852, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + -15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -4959.9472, + 6653.1852, + 173.8948 + ], + "start_rot": [ + -7.5, + -15.0, + -0.0 + ], + "expected_end_pos": [ + -5055.7134, + 6678.8456, + 186.9474 + ], + "actual_end_pos": [ + -5055.7134, + 6678.8456, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + -15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -5055.7134, + 6678.8456, + 186.9474 + ], + "start_rot": [ + -7.5, + -15.0, + -0.0 + ], + "expected_end_pos": [ + -5055.7134, + 6678.8456, + 186.9474 + ], + "actual_end_pos": [ + -5055.7134, + 6678.8456, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -5055.7134, + 6678.8456, + 186.9474 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -5005.7134, + 6765.4482, + 186.9474 + ], + "actual_end_pos": [ + -5005.7134, + 6765.4482, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -5005.7134, + 6765.4482, + 186.9474 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -5005.7134, + 6765.4482, + 186.9474 + ], + "actual_end_pos": [ + -5005.7134, + 6765.4482, + 186.9474 + ], + "actual_end_rot": [ + -15.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -5005.7134, + 6765.4482, + 186.9474 + ], + "start_rot": [ + -15.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -5005.7134, + 6765.4482, + 186.9474 + ], + "actual_end_pos": [ + -5005.7134, + 6765.4482, + 186.9474 + ], + "actual_end_rot": [ + -22.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -5005.7134, + 6765.4482, + 186.9474 + ], + "start_rot": [ + -22.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -4955.7134, + 6852.0507, + 186.9474 + ], + "actual_end_pos": [ + -4955.7134, + 6852.0507, + 186.9474 + ], + "actual_end_rot": [ + -22.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4955.7134, + 6852.0507, + 186.9474 + ], + "start_rot": [ + -22.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -4955.7134, + 6852.0507, + 186.9474 + ], + "actual_end_pos": [ + -4955.7134, + 6852.0507, + 186.9474 + ], + "actual_end_rot": [ + -22.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -4955.7134, + 6852.0507, + 186.9474 + ], + "start_rot": [ + -22.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -5026.4241, + 6781.34, + 186.9474 + ], + "actual_end_pos": [ + -5026.4241, + 6781.34, + 186.9474 + ], + "actual_end_rot": [ + -22.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -5026.4241, + 6781.34, + 186.9474 + ], + "start_rot": [ + -22.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -5091.7523, + 6846.6682, + 225.2157 + ], + "actual_end_pos": [ + -5091.7523, + 6846.6682, + 225.2157 + ], + "actual_end_rot": [ + -22.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -5091.7523, + 6846.6682, + 225.2157 + ], + "start_rot": [ + -22.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -5021.0416, + 6917.3789, + 225.2157 + ], + "actual_end_pos": [ + -5021.0416, + 6917.3789, + 225.2157 + ], + "actual_end_rot": [ + -22.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -5021.0416, + 6917.3789, + 225.2157 + ], + "start_rot": [ + -22.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -5021.0416, + 6917.3789, + 225.2157 + ], + "actual_end_pos": [ + -5021.0416, + 6917.3789, + 225.2157 + ], + "actual_end_rot": [ + -15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -5021.0416, + 6917.3789, + 225.2157 + ], + "start_rot": [ + -15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4952.7403, + 6849.0776, + 199.3338 + ], + "actual_end_pos": [ + -4952.7403, + 6849.0776, + 199.3338 + ], + "actual_end_rot": [ + -15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4952.7403, + 6849.0776, + 199.3338 + ], + "start_rot": [ + -15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4884.439, + 6780.7763, + 173.4519 + ], + "actual_end_pos": [ + -4884.439, + 6780.7763, + 173.4519 + ], + "actual_end_rot": [ + -15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4884.439, + 6780.7763, + 173.4519 + ], + "start_rot": [ + -15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4816.1378, + 6712.4751, + 147.57 + ], + "actual_end_pos": [ + -4816.1378, + 6712.4751, + 147.57 + ], + "actual_end_rot": [ + -15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -4816.1378, + 6712.4751, + 147.57 + ], + "start_rot": [ + -15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4745.4271, + 6783.1857, + 147.57 + ], + "actual_end_pos": [ + -4745.4271, + 6783.1857, + 147.57 + ], + "actual_end_rot": [ + -15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -4745.4271, + 6783.1857, + 147.57 + ], + "start_rot": [ + -15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4674.7164, + 6853.8964, + 147.57 + ], + "actual_end_pos": [ + -4674.7164, + 6853.8964, + 147.57 + ], + "actual_end_rot": [ + -15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4674.7164, + 6853.8964, + 147.57 + ], + "start_rot": [ + -15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4606.4152, + 6785.5952, + 121.6881 + ], + "actual_end_pos": [ + -4606.4152, + 6785.5952, + 121.6881 + ], + "actual_end_rot": [ + -15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4606.4152, + 6785.5952, + 121.6881 + ], + "start_rot": [ + -15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4606.4152, + 6785.5952, + 121.6881 + ], + "actual_end_pos": [ + -4606.4152, + 6785.5952, + 121.6881 + ], + "actual_end_rot": [ + -15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4606.4152, + 6785.5952, + 121.6881 + ], + "start_rot": [ + -15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4538.1139, + 6717.2939, + 95.8062 + ], + "actual_end_pos": [ + -4538.1139, + 6717.2939, + 95.8062 + ], + "actual_end_rot": [ + -15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4538.1139, + 6717.2939, + 95.8062 + ], + "start_rot": [ + -15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4469.8126, + 6648.9926, + 69.9243 + ], + "actual_end_pos": [ + -4469.8126, + 6648.9926, + 69.9243 + ], + "actual_end_rot": [ + -15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4469.8126, + 6648.9926, + 69.9243 + ], + "start_rot": [ + -15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4469.8126, + 6648.9926, + 69.9243 + ], + "actual_end_pos": [ + -4469.8126, + 6648.9926, + 69.9243 + ], + "actual_end_rot": [ + -15.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -4469.8126, + 6648.9926, + 69.9243 + ], + "start_rot": [ + -15.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -4519.8126, + 6562.3901, + 69.9243 + ], + "actual_end_pos": [ + -4519.8126, + 6562.3901, + 69.9243 + ], + "actual_end_rot": [ + -15.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4519.8126, + 6562.3901, + 69.9243 + ], + "start_rot": [ + -15.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -4519.8126, + 6562.3901, + 69.9243 + ], + "actual_end_pos": [ + -4519.8126, + 6562.3901, + 69.9243 + ], + "actual_end_rot": [ + -15.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4519.8126, + 6562.3901, + 69.9243 + ], + "start_rot": [ + -15.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -4519.8126, + 6562.3901, + 69.9243 + ], + "actual_end_pos": [ + -4519.8126, + 6562.3901, + 69.9243 + ], + "actual_end_rot": [ + -15.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -4519.8126, + 6562.3901, + 69.9243 + ], + "start_rot": [ + -15.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -4493.9307, + 6658.9827, + 69.9243 + ], + "actual_end_pos": [ + -4493.9307, + 6658.9827, + 69.9243 + ], + "actual_end_rot": [ + -15.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4493.9307, + 6658.9827, + 69.9243 + ], + "start_rot": [ + -15.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -4493.9307, + 6658.9827, + 69.9243 + ], + "actual_end_pos": [ + -4493.9307, + 6658.9827, + 69.9243 + ], + "actual_end_rot": [ + -15.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -4493.9307, + 6658.9827, + 69.9243 + ], + "start_rot": [ + -15.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -4543.9307, + 6572.3801, + 69.9243 + ], + "actual_end_pos": [ + -4543.9307, + 6572.3801, + 69.9243 + ], + "actual_end_rot": [ + -15.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -4543.9307, + 6572.3801, + 69.9243 + ], + "start_rot": [ + -15.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -4543.9307, + 6572.3801, + 69.9243 + ], + "actual_end_pos": [ + -4543.9307, + 6572.3801, + 69.9243 + ], + "actual_end_rot": [ + -22.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4543.9307, + 6572.3801, + 69.9243 + ], + "start_rot": [ + -22.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -4463.9204, + 6526.1861, + 31.656 + ], + "actual_end_pos": [ + -4463.9204, + 6526.1861, + 31.656 + ], + "actual_end_rot": [ + -22.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -4463.9204, + 6526.1861, + 31.656 + ], + "start_rot": [ + -22.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -4463.9204, + 6526.1861, + 31.656 + ], + "actual_end_pos": [ + -4463.9204, + 6526.1861, + 31.656 + ], + "actual_end_rot": [ + -30.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 18, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260413_221314__pair_000131_B_traj_000132_meta.json b/equivalence_easy/run_20260413_221314__pair_000131_B_traj_000132_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2f523800e5fef8c96ca0a9d135f2d76d3e5bfca0 --- /dev/null +++ b/equivalence_easy/run_20260413_221314__pair_000131_B_traj_000132_meta.json @@ -0,0 +1,1476 @@ +{ + "trajectory_id": 132, + "episode_id": 0, + "state_id": 96, + "sample_index": 96, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_B", + "partner_trajectory_id": 131, + "primary_trajectory_id": 131, + "paired_trajectory_id": 132, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -5210.0, + 6260.0, + 200.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "look_down", + "move_forward", + "move_right", + "move_right", + "move_right", + "move_left", + "move_forward", + "turn_left", + "move_right", + "move_right", + "move_backward", + "turn_left", + "move_right", + "look_down", + "look_down", + "move_right", + "turn_left", + "move_right", + "move_backward", + "move_left", + "look_up", + "move_forward", + "move_right", + "move_forward", + "move_right", + "move_forward", + "move_forward", + "no_op", + "move_forward", + "move_forward", + "turn_right", + "move_left", + "turn_right", + "no_op", + "move_right", + "turn_left", + "move_left", + "look_down", + "move_forward", + "look_down" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -5210.0, + 6260.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -5210.0, + 6260.0, + 200.0 + ], + "actual_end_pos": [ + -5210.0, + 6260.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -5210.0, + 6260.0, + 200.0 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -5110.8555, + 6260.0, + 186.9474 + ], + "actual_end_pos": [ + -5110.8555, + 6260.0, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -5110.8555, + 6260.0, + 186.9474 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -5110.8555, + 6360.0, + 186.9474 + ], + "actual_end_pos": [ + -5110.8555, + 6360.0, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -5110.8555, + 6360.0, + 186.9474 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -5110.8555, + 6460.0, + 186.9474 + ], + "actual_end_pos": [ + -5110.8555, + 6460.0, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -5110.8555, + 6460.0, + 186.9474 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -5110.8555, + 6560.0, + 186.9474 + ], + "actual_end_pos": [ + -5110.8555, + 6560.0, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -5110.8555, + 6560.0, + 186.9474 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -5110.8555, + 6460.0, + 186.9474 + ], + "actual_end_pos": [ + -5110.8555, + 6460.0, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -5110.8555, + 6460.0, + 186.9474 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -5011.711, + 6460.0, + 173.8948 + ], + "actual_end_pos": [ + -5011.711, + 6460.0, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -5011.711, + 6460.0, + 173.8948 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -5011.711, + 6460.0, + 173.8948 + ], + "actual_end_pos": [ + -5011.711, + 6460.0, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + -15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -5011.711, + 6460.0, + 173.8948 + ], + "start_rot": [ + -7.5, + -15.0, + -0.0 + ], + "expected_end_pos": [ + -4985.8291, + 6556.5926, + 173.8948 + ], + "actual_end_pos": [ + -4985.8291, + 6556.5926, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + -15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -4985.8291, + 6556.5926, + 173.8948 + ], + "start_rot": [ + -7.5, + -15.0, + -0.0 + ], + "expected_end_pos": [ + -4959.9472, + 6653.1852, + 173.8948 + ], + "actual_end_pos": [ + -4959.9472, + 6653.1852, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + -15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -4959.9472, + 6653.1852, + 173.8948 + ], + "start_rot": [ + -7.5, + -15.0, + -0.0 + ], + "expected_end_pos": [ + -5055.7134, + 6678.8456, + 186.9474 + ], + "actual_end_pos": [ + -5055.7134, + 6678.8456, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + -15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -5055.7134, + 6678.8456, + 186.9474 + ], + "start_rot": [ + -7.5, + -15.0, + -0.0 + ], + "expected_end_pos": [ + -5055.7134, + 6678.8456, + 186.9474 + ], + "actual_end_pos": [ + -5055.7134, + 6678.8456, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -5055.7134, + 6678.8456, + 186.9474 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -5005.7134, + 6765.4482, + 186.9474 + ], + "actual_end_pos": [ + -5005.7134, + 6765.4482, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -5005.7134, + 6765.4482, + 186.9474 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -5005.7134, + 6765.4482, + 186.9474 + ], + "actual_end_pos": [ + -5005.7134, + 6765.4482, + 186.9474 + ], + "actual_end_rot": [ + -15.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -5005.7134, + 6765.4482, + 186.9474 + ], + "start_rot": [ + -15.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -5005.7134, + 6765.4482, + 186.9474 + ], + "actual_end_pos": [ + -5005.7134, + 6765.4482, + 186.9474 + ], + "actual_end_rot": [ + -22.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -5005.7134, + 6765.4482, + 186.9474 + ], + "start_rot": [ + -22.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -4955.7134, + 6852.0507, + 186.9474 + ], + "actual_end_pos": [ + -4955.7134, + 6852.0507, + 186.9474 + ], + "actual_end_rot": [ + -22.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4955.7134, + 6852.0507, + 186.9474 + ], + "start_rot": [ + -22.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -4955.7134, + 6852.0507, + 186.9474 + ], + "actual_end_pos": [ + -4955.7134, + 6852.0507, + 186.9474 + ], + "actual_end_rot": [ + -22.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -4955.7134, + 6852.0507, + 186.9474 + ], + "start_rot": [ + -22.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4885.0028, + 6922.7614, + 186.9474 + ], + "actual_end_pos": [ + -4885.0028, + 6922.7614, + 186.9474 + ], + "actual_end_rot": [ + -22.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -4885.0028, + 6922.7614, + 186.9474 + ], + "start_rot": [ + -22.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4950.3309, + 6988.0896, + 225.2157 + ], + "actual_end_pos": [ + -4950.3309, + 6988.0896, + 225.2157 + ], + "actual_end_rot": [ + -22.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -4950.3309, + 6988.0896, + 225.2157 + ], + "start_rot": [ + -22.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -5021.0416, + 6917.3789, + 225.2157 + ], + "actual_end_pos": [ + -5021.0416, + 6917.3789, + 225.2157 + ], + "actual_end_rot": [ + -22.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -5021.0416, + 6917.3789, + 225.2157 + ], + "start_rot": [ + -22.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -5021.0416, + 6917.3789, + 225.2157 + ], + "actual_end_pos": [ + -5021.0416, + 6917.3789, + 225.2157 + ], + "actual_end_rot": [ + -15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -5021.0416, + 6917.3789, + 225.2157 + ], + "start_rot": [ + -15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4952.7403, + 6849.0776, + 199.3338 + ], + "actual_end_pos": [ + -4952.7403, + 6849.0776, + 199.3338 + ], + "actual_end_rot": [ + -15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -4952.7403, + 6849.0776, + 199.3338 + ], + "start_rot": [ + -15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4882.0296, + 6919.7883, + 199.3338 + ], + "actual_end_pos": [ + -4882.0296, + 6919.7883, + 199.3338 + ], + "actual_end_rot": [ + -15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4882.0296, + 6919.7883, + 199.3338 + ], + "start_rot": [ + -15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4813.7284, + 6851.487, + 173.4519 + ], + "actual_end_pos": [ + -4813.7284, + 6851.487, + 173.4519 + ], + "actual_end_rot": [ + -15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -4813.7284, + 6851.487, + 173.4519 + ], + "start_rot": [ + -15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4743.0177, + 6922.1977, + 173.4519 + ], + "actual_end_pos": [ + -4743.0177, + 6922.1977, + 173.4519 + ], + "actual_end_rot": [ + -15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4743.0177, + 6922.1977, + 173.4519 + ], + "start_rot": [ + -15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4674.7164, + 6853.8964, + 147.57 + ], + "actual_end_pos": [ + -4674.7164, + 6853.8964, + 147.57 + ], + "actual_end_rot": [ + -15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4674.7164, + 6853.8964, + 147.57 + ], + "start_rot": [ + -15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4606.4152, + 6785.5952, + 121.6881 + ], + "actual_end_pos": [ + -4606.4152, + 6785.5952, + 121.6881 + ], + "actual_end_rot": [ + -15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4606.4152, + 6785.5952, + 121.6881 + ], + "start_rot": [ + -15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4606.4152, + 6785.5952, + 121.6881 + ], + "actual_end_pos": [ + -4606.4152, + 6785.5952, + 121.6881 + ], + "actual_end_rot": [ + -15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4606.4152, + 6785.5952, + 121.6881 + ], + "start_rot": [ + -15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4538.1139, + 6717.2939, + 95.8062 + ], + "actual_end_pos": [ + -4538.1139, + 6717.2939, + 95.8062 + ], + "actual_end_rot": [ + -15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4538.1139, + 6717.2939, + 95.8062 + ], + "start_rot": [ + -15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4469.8126, + 6648.9926, + 69.9243 + ], + "actual_end_pos": [ + -4469.8126, + 6648.9926, + 69.9243 + ], + "actual_end_rot": [ + -15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4469.8126, + 6648.9926, + 69.9243 + ], + "start_rot": [ + -15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -4469.8126, + 6648.9926, + 69.9243 + ], + "actual_end_pos": [ + -4469.8126, + 6648.9926, + 69.9243 + ], + "actual_end_rot": [ + -15.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -4469.8126, + 6648.9926, + 69.9243 + ], + "start_rot": [ + -15.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -4519.8126, + 6562.3901, + 69.9243 + ], + "actual_end_pos": [ + -4519.8126, + 6562.3901, + 69.9243 + ], + "actual_end_rot": [ + -15.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4519.8126, + 6562.3901, + 69.9243 + ], + "start_rot": [ + -15.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -4519.8126, + 6562.3901, + 69.9243 + ], + "actual_end_pos": [ + -4519.8126, + 6562.3901, + 69.9243 + ], + "actual_end_rot": [ + -15.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -4519.8126, + 6562.3901, + 69.9243 + ], + "start_rot": [ + -15.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -4519.8126, + 6562.3901, + 69.9243 + ], + "actual_end_pos": [ + -4519.8126, + 6562.3901, + 69.9243 + ], + "actual_end_rot": [ + -15.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -4519.8126, + 6562.3901, + 69.9243 + ], + "start_rot": [ + -15.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -4493.9307, + 6658.9827, + 69.9243 + ], + "actual_end_pos": [ + -4493.9307, + 6658.9827, + 69.9243 + ], + "actual_end_rot": [ + -15.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4493.9307, + 6658.9827, + 69.9243 + ], + "start_rot": [ + -15.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -4493.9307, + 6658.9827, + 69.9243 + ], + "actual_end_pos": [ + -4493.9307, + 6658.9827, + 69.9243 + ], + "actual_end_rot": [ + -15.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -4493.9307, + 6658.9827, + 69.9243 + ], + "start_rot": [ + -15.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -4543.9307, + 6572.3801, + 69.9243 + ], + "actual_end_pos": [ + -4543.9307, + 6572.3801, + 69.9243 + ], + "actual_end_rot": [ + -15.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -4543.9307, + 6572.3801, + 69.9243 + ], + "start_rot": [ + -15.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -4543.9307, + 6572.3801, + 69.9243 + ], + "actual_end_pos": [ + -4543.9307, + 6572.3801, + 69.9243 + ], + "actual_end_rot": [ + -22.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4543.9307, + 6572.3801, + 69.9243 + ], + "start_rot": [ + -22.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -4463.9204, + 6526.1861, + 31.656 + ], + "actual_end_pos": [ + -4463.9204, + 6526.1861, + 31.656 + ], + "actual_end_rot": [ + -22.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -4463.9204, + 6526.1861, + 31.656 + ], + "start_rot": [ + -22.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -4463.9204, + 6526.1861, + 31.656 + ], + "actual_end_pos": [ + -4463.9204, + 6526.1861, + 31.656 + ], + "actual_end_rot": [ + -30.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 18, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260413_221314__pair_000294_A_traj_000294_meta.json b/equivalence_easy/run_20260413_221314__pair_000294_A_traj_000294_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f01cb68f3994977b750bdc2525f5989ecf6d6e35 --- /dev/null +++ b/equivalence_easy/run_20260413_221314__pair_000294_A_traj_000294_meta.json @@ -0,0 +1,1476 @@ +{ + "trajectory_id": 294, + "episode_id": 0, + "state_id": 225, + "sample_index": 225, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_A", + "partner_trajectory_id": 295, + "primary_trajectory_id": 294, + "paired_trajectory_id": 295, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -4210.0, + -2740.0, + 200.0 + ], + "rotation": [ + 0.0, + 45.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_left", + "turn_left", + "turn_left", + "move_right", + "turn_left", + "look_up", + "turn_right", + "move_right", + "move_forward", + "move_forward", + "move_forward", + "move_left", + "move_forward", + "move_forward", + "move_forward", + "move_left", + "turn_right", + "look_up", + "move_forward", + "move_forward", + "turn_right", + "move_left", + "move_left", + "move_left", + "move_forward", + "look_up", + "move_right", + "look_down", + "turn_right", + "move_backward", + "move_left", + "move_left", + "move_left", + "move_backward", + "move_right", + "move_right", + "move_forward", + "move_forward", + "move_left", + "turn_right" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4210.0, + -2740.0, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -4210.0, + -2740.0, + 200.0 + ], + "actual_end_pos": [ + -4210.0, + -2740.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4210.0, + -2740.0, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -4210.0, + -2740.0, + 200.0 + ], + "actual_end_pos": [ + -4210.0, + -2740.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4210.0, + -2740.0, + 200.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -4210.0, + -2740.0, + 200.0 + ], + "actual_end_pos": [ + -4210.0, + -2740.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -4210.0, + -2740.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4210.0, + -2640.0, + 200.0 + ], + "actual_end_pos": [ + -4210.0, + -2640.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4210.0, + -2640.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4210.0, + -2640.0, + 200.0 + ], + "actual_end_pos": [ + -4210.0, + -2640.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -4210.0, + -2640.0, + 200.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -4210.0, + -2640.0, + 200.0 + ], + "actual_end_pos": [ + -4210.0, + -2640.0, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4210.0, + -2640.0, + 200.0 + ], + "start_rot": [ + 7.5, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -4210.0, + -2640.0, + 200.0 + ], + "actual_end_pos": [ + -4210.0, + -2640.0, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -4210.0, + -2640.0, + 200.0 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4210.0, + -2540.0, + 200.0 + ], + "actual_end_pos": [ + -4210.0, + -2540.0, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4210.0, + -2540.0, + 200.0 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4110.8555, + -2540.0, + 213.0526 + ], + "actual_end_pos": [ + -4110.8555, + -2540.0, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4110.8555, + -2540.0, + 213.0526 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4011.711, + -2540.0, + 226.1052 + ], + "actual_end_pos": [ + -4011.711, + -2540.0, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4011.711, + -2540.0, + 226.1052 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3912.5665, + -2540.0, + 239.1579 + ], + "actual_end_pos": [ + -3912.5665, + -2540.0, + 239.1579 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3912.5665, + -2540.0, + 239.1579 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3912.5665, + -2640.0, + 239.1579 + ], + "actual_end_pos": [ + -3912.5665, + -2640.0, + 239.1579 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3912.5665, + -2640.0, + 239.1579 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3813.4221, + -2640.0, + 252.2105 + ], + "actual_end_pos": [ + -3813.4221, + -2640.0, + 252.2105 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3813.4221, + -2640.0, + 252.2105 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3714.2776, + -2640.0, + 265.2631 + ], + "actual_end_pos": [ + -3714.2776, + -2640.0, + 265.2631 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3714.2776, + -2640.0, + 265.2631 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3615.1331, + -2640.0, + 278.3157 + ], + "actual_end_pos": [ + -3615.1331, + -2640.0, + 278.3157 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3615.1331, + -2640.0, + 278.3157 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3615.1331, + -2740.0, + 278.3157 + ], + "actual_end_pos": [ + -3615.1331, + -2740.0, + 278.3157 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3615.1331, + -2740.0, + 278.3157 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3615.1331, + -2740.0, + 278.3157 + ], + "actual_end_pos": [ + -3615.1331, + -2740.0, + 278.3157 + ], + "actual_end_rot": [ + 7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -3615.1331, + -2740.0, + 278.3157 + ], + "start_rot": [ + 7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -3615.1331, + -2740.0, + 278.3157 + ], + "actual_end_pos": [ + -3615.1331, + -2740.0, + 278.3157 + ], + "actual_end_rot": [ + 15.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3615.1331, + -2740.0, + 278.3157 + ], + "start_rot": [ + 15.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -3521.8318, + -2715.0, + 304.1976 + ], + "actual_end_pos": [ + -3521.8318, + -2715.0, + 304.1976 + ], + "actual_end_rot": [ + 15.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3521.8318, + -2715.0, + 304.1976 + ], + "start_rot": [ + 15.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -3428.5305, + -2690.0, + 330.0795 + ], + "actual_end_pos": [ + -3428.5305, + -2690.0, + 330.0795 + ], + "actual_end_rot": [ + 15.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3428.5305, + -2690.0, + 330.0795 + ], + "start_rot": [ + 15.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -3428.5305, + -2690.0, + 330.0795 + ], + "actual_end_pos": [ + -3428.5305, + -2690.0, + 330.0795 + ], + "actual_end_rot": [ + 15.0, + 30.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3428.5305, + -2690.0, + 330.0795 + ], + "start_rot": [ + 15.0, + 30.0, + -0.0 + ], + "expected_end_pos": [ + -3378.5305, + -2776.6025, + 330.0795 + ], + "actual_end_pos": [ + -3378.5305, + -2776.6025, + 330.0795 + ], + "actual_end_rot": [ + 15.0, + 30.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3378.5305, + -2776.6025, + 330.0795 + ], + "start_rot": [ + 15.0, + 30.0, + -0.0 + ], + "expected_end_pos": [ + -3328.5305, + -2863.2051, + 330.0795 + ], + "actual_end_pos": [ + -3328.5305, + -2863.2051, + 330.0795 + ], + "actual_end_rot": [ + 15.0, + 30.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3328.5305, + -2863.2051, + 330.0795 + ], + "start_rot": [ + 15.0, + 30.0, + -0.0 + ], + "expected_end_pos": [ + -3278.5305, + -2949.8076, + 330.0795 + ], + "actual_end_pos": [ + -3278.5305, + -2949.8076, + 330.0795 + ], + "actual_end_rot": [ + 15.0, + 30.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3278.5305, + -2949.8076, + 330.0795 + ], + "start_rot": [ + 15.0, + 30.0, + -0.0 + ], + "expected_end_pos": [ + -3194.8789, + -2901.5113, + 355.9614 + ], + "actual_end_pos": [ + -3194.8789, + -2901.5113, + 355.9614 + ], + "actual_end_rot": [ + 15.0, + 30.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -3194.8789, + -2901.5113, + 355.9614 + ], + "start_rot": [ + 15.0, + 30.0, + -0.0 + ], + "expected_end_pos": [ + -3194.8789, + -2901.5113, + 355.9614 + ], + "actual_end_pos": [ + -3194.8789, + -2901.5113, + 355.9614 + ], + "actual_end_rot": [ + 22.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3194.8789, + -2901.5113, + 355.9614 + ], + "start_rot": [ + 22.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -3244.8789, + -2814.9088, + 355.9614 + ], + "actual_end_pos": [ + -3244.8789, + -2814.9088, + 355.9614 + ], + "actual_end_rot": [ + 22.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -3244.8789, + -2814.9088, + 355.9614 + ], + "start_rot": [ + 22.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -3244.8789, + -2814.9088, + 355.9614 + ], + "actual_end_pos": [ + -3244.8789, + -2814.9088, + 355.9614 + ], + "actual_end_rot": [ + 15.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3244.8789, + -2814.9088, + 355.9614 + ], + "start_rot": [ + 15.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -3244.8789, + -2814.9088, + 355.9614 + ], + "actual_end_pos": [ + -3244.8789, + -2814.9088, + 355.9614 + ], + "actual_end_rot": [ + 15.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3244.8789, + -2814.9088, + 355.9614 + ], + "start_rot": [ + 15.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3313.1802, + -2883.2101, + 330.0795 + ], + "actual_end_pos": [ + -3313.1802, + -2883.2101, + 330.0795 + ], + "actual_end_rot": [ + 15.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3313.1802, + -2883.2101, + 330.0795 + ], + "start_rot": [ + 15.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3242.4695, + -2953.9207, + 330.0795 + ], + "actual_end_pos": [ + -3242.4695, + -2953.9207, + 330.0795 + ], + "actual_end_rot": [ + 15.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3242.4695, + -2953.9207, + 330.0795 + ], + "start_rot": [ + 15.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3171.7588, + -3024.6314, + 330.0795 + ], + "actual_end_pos": [ + -3171.7588, + -3024.6314, + 330.0795 + ], + "actual_end_rot": [ + 15.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3171.7588, + -3024.6314, + 330.0795 + ], + "start_rot": [ + 15.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3101.0482, + -3095.3421, + 330.0795 + ], + "actual_end_pos": [ + -3101.0482, + -3095.3421, + 330.0795 + ], + "actual_end_rot": [ + 15.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3101.0482, + -3095.3421, + 330.0795 + ], + "start_rot": [ + 15.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3169.3494, + -3163.6434, + 304.1976 + ], + "actual_end_pos": [ + -3169.3494, + -3163.6434, + 304.1976 + ], + "actual_end_rot": [ + 15.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3169.3494, + -3163.6434, + 304.1976 + ], + "start_rot": [ + 15.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3240.0601, + -3092.9327, + 304.1976 + ], + "actual_end_pos": [ + -3240.0601, + -3092.9327, + 304.1976 + ], + "actual_end_rot": [ + 15.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3240.0601, + -3092.9327, + 304.1976 + ], + "start_rot": [ + 15.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3310.7708, + -3022.222, + 304.1976 + ], + "actual_end_pos": [ + -3310.7708, + -3022.222, + 304.1976 + ], + "actual_end_rot": [ + 15.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3310.7708, + -3022.222, + 304.1976 + ], + "start_rot": [ + 15.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3242.4695, + -2953.9207, + 330.0795 + ], + "actual_end_pos": [ + -3242.4695, + -2953.9207, + 330.0795 + ], + "actual_end_rot": [ + 15.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3242.4695, + -2953.9207, + 330.0795 + ], + "start_rot": [ + 15.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3174.1682, + -2885.6195, + 355.9614 + ], + "actual_end_pos": [ + -3174.1682, + -2885.6195, + 355.9614 + ], + "actual_end_rot": [ + 15.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3174.1682, + -2885.6195, + 355.9614 + ], + "start_rot": [ + 15.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3103.4576, + -2956.3301, + 355.9614 + ], + "actual_end_pos": [ + -3103.4576, + -2956.3301, + 355.9614 + ], + "actual_end_rot": [ + 15.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3103.4576, + -2956.3301, + 355.9614 + ], + "start_rot": [ + 15.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3103.4576, + -2956.3301, + 355.9614 + ], + "actual_end_pos": [ + -3103.4576, + -2956.3301, + 355.9614 + ], + "actual_end_rot": [ + 15.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 18, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260413_221314__pair_000294_B_traj_000295_meta.json b/equivalence_easy/run_20260413_221314__pair_000294_B_traj_000295_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1145c5b4daa59eb2d74a530cb24d48d2a05bb07b --- /dev/null +++ b/equivalence_easy/run_20260413_221314__pair_000294_B_traj_000295_meta.json @@ -0,0 +1,1476 @@ +{ + "trajectory_id": 295, + "episode_id": 0, + "state_id": 225, + "sample_index": 225, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_B", + "partner_trajectory_id": 294, + "primary_trajectory_id": 294, + "paired_trajectory_id": 295, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -4210.0, + -2740.0, + 200.0 + ], + "rotation": [ + 0.0, + 45.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_left", + "turn_left", + "turn_left", + "move_right", + "turn_left", + "look_up", + "turn_right", + "move_forward", + "move_forward", + "move_forward", + "move_left", + "move_forward", + "move_forward", + "move_forward", + "move_right", + "move_left", + "turn_right", + "look_up", + "move_forward", + "move_forward", + "turn_right", + "move_forward", + "move_left", + "move_left", + "move_left", + "look_up", + "move_right", + "look_down", + "turn_right", + "move_left", + "move_backward", + "move_left", + "move_left", + "move_left", + "move_right", + "move_right", + "move_forward", + "move_forward", + "move_backward", + "turn_right" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4210.0, + -2740.0, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -4210.0, + -2740.0, + 200.0 + ], + "actual_end_pos": [ + -4210.0, + -2740.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4210.0, + -2740.0, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -4210.0, + -2740.0, + 200.0 + ], + "actual_end_pos": [ + -4210.0, + -2740.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4210.0, + -2740.0, + 200.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -4210.0, + -2740.0, + 200.0 + ], + "actual_end_pos": [ + -4210.0, + -2740.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -4210.0, + -2740.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4210.0, + -2640.0, + 200.0 + ], + "actual_end_pos": [ + -4210.0, + -2640.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -4210.0, + -2640.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4210.0, + -2640.0, + 200.0 + ], + "actual_end_pos": [ + -4210.0, + -2640.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -4210.0, + -2640.0, + 200.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -4210.0, + -2640.0, + 200.0 + ], + "actual_end_pos": [ + -4210.0, + -2640.0, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -4210.0, + -2640.0, + 200.0 + ], + "start_rot": [ + 7.5, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -4210.0, + -2640.0, + 200.0 + ], + "actual_end_pos": [ + -4210.0, + -2640.0, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4210.0, + -2640.0, + 200.0 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4110.8555, + -2640.0, + 213.0526 + ], + "actual_end_pos": [ + -4110.8555, + -2640.0, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4110.8555, + -2640.0, + 213.0526 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -4011.711, + -2640.0, + 226.1052 + ], + "actual_end_pos": [ + -4011.711, + -2640.0, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -4011.711, + -2640.0, + 226.1052 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3912.5665, + -2640.0, + 239.1579 + ], + "actual_end_pos": [ + -3912.5665, + -2640.0, + 239.1579 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3912.5665, + -2640.0, + 239.1579 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3912.5665, + -2740.0, + 239.1579 + ], + "actual_end_pos": [ + -3912.5665, + -2740.0, + 239.1579 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3912.5665, + -2740.0, + 239.1579 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3813.4221, + -2740.0, + 252.2105 + ], + "actual_end_pos": [ + -3813.4221, + -2740.0, + 252.2105 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3813.4221, + -2740.0, + 252.2105 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3714.2776, + -2740.0, + 265.2631 + ], + "actual_end_pos": [ + -3714.2776, + -2740.0, + 265.2631 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3714.2776, + -2740.0, + 265.2631 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3615.1331, + -2740.0, + 278.3157 + ], + "actual_end_pos": [ + -3615.1331, + -2740.0, + 278.3157 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3615.1331, + -2740.0, + 278.3157 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3615.1331, + -2640.0, + 278.3157 + ], + "actual_end_pos": [ + -3615.1331, + -2640.0, + 278.3157 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3615.1331, + -2640.0, + 278.3157 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3615.1331, + -2740.0, + 278.3157 + ], + "actual_end_pos": [ + -3615.1331, + -2740.0, + 278.3157 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3615.1331, + -2740.0, + 278.3157 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -3615.1331, + -2740.0, + 278.3157 + ], + "actual_end_pos": [ + -3615.1331, + -2740.0, + 278.3157 + ], + "actual_end_rot": [ + 7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -3615.1331, + -2740.0, + 278.3157 + ], + "start_rot": [ + 7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -3615.1331, + -2740.0, + 278.3157 + ], + "actual_end_pos": [ + -3615.1331, + -2740.0, + 278.3157 + ], + "actual_end_rot": [ + 15.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3615.1331, + -2740.0, + 278.3157 + ], + "start_rot": [ + 15.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -3521.8318, + -2715.0, + 304.1976 + ], + "actual_end_pos": [ + -3521.8318, + -2715.0, + 304.1976 + ], + "actual_end_rot": [ + 15.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3521.8318, + -2715.0, + 304.1976 + ], + "start_rot": [ + 15.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -3428.5305, + -2690.0, + 330.0795 + ], + "actual_end_pos": [ + -3428.5305, + -2690.0, + 330.0795 + ], + "actual_end_rot": [ + 15.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3428.5305, + -2690.0, + 330.0795 + ], + "start_rot": [ + 15.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -3428.5305, + -2690.0, + 330.0795 + ], + "actual_end_pos": [ + -3428.5305, + -2690.0, + 330.0795 + ], + "actual_end_rot": [ + 15.0, + 30.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3428.5305, + -2690.0, + 330.0795 + ], + "start_rot": [ + 15.0, + 30.0, + -0.0 + ], + "expected_end_pos": [ + -3344.8789, + -2641.7037, + 355.9614 + ], + "actual_end_pos": [ + -3344.8789, + -2641.7037, + 355.9614 + ], + "actual_end_rot": [ + 15.0, + 30.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3344.8789, + -2641.7037, + 355.9614 + ], + "start_rot": [ + 15.0, + 30.0, + -0.0 + ], + "expected_end_pos": [ + -3294.8789, + -2728.3062, + 355.9614 + ], + "actual_end_pos": [ + -3294.8789, + -2728.3062, + 355.9614 + ], + "actual_end_rot": [ + 15.0, + 30.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3294.8789, + -2728.3062, + 355.9614 + ], + "start_rot": [ + 15.0, + 30.0, + -0.0 + ], + "expected_end_pos": [ + -3244.8789, + -2814.9088, + 355.9614 + ], + "actual_end_pos": [ + -3244.8789, + -2814.9088, + 355.9614 + ], + "actual_end_rot": [ + 15.0, + 30.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3244.8789, + -2814.9088, + 355.9614 + ], + "start_rot": [ + 15.0, + 30.0, + -0.0 + ], + "expected_end_pos": [ + -3194.8789, + -2901.5113, + 355.9614 + ], + "actual_end_pos": [ + -3194.8789, + -2901.5113, + 355.9614 + ], + "actual_end_rot": [ + 15.0, + 30.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -3194.8789, + -2901.5113, + 355.9614 + ], + "start_rot": [ + 15.0, + 30.0, + -0.0 + ], + "expected_end_pos": [ + -3194.8789, + -2901.5113, + 355.9614 + ], + "actual_end_pos": [ + -3194.8789, + -2901.5113, + 355.9614 + ], + "actual_end_rot": [ + 22.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3194.8789, + -2901.5113, + 355.9614 + ], + "start_rot": [ + 22.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -3244.8789, + -2814.9088, + 355.9614 + ], + "actual_end_pos": [ + -3244.8789, + -2814.9088, + 355.9614 + ], + "actual_end_rot": [ + 22.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -3244.8789, + -2814.9088, + 355.9614 + ], + "start_rot": [ + 22.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -3244.8789, + -2814.9088, + 355.9614 + ], + "actual_end_pos": [ + -3244.8789, + -2814.9088, + 355.9614 + ], + "actual_end_rot": [ + 15.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3244.8789, + -2814.9088, + 355.9614 + ], + "start_rot": [ + 15.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -3244.8789, + -2814.9088, + 355.9614 + ], + "actual_end_pos": [ + -3244.8789, + -2814.9088, + 355.9614 + ], + "actual_end_rot": [ + 15.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3244.8789, + -2814.9088, + 355.9614 + ], + "start_rot": [ + 15.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3174.1682, + -2885.6195, + 355.9614 + ], + "actual_end_pos": [ + -3174.1682, + -2885.6195, + 355.9614 + ], + "actual_end_rot": [ + 15.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3174.1682, + -2885.6195, + 355.9614 + ], + "start_rot": [ + 15.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3242.4695, + -2953.9207, + 330.0795 + ], + "actual_end_pos": [ + -3242.4695, + -2953.9207, + 330.0795 + ], + "actual_end_rot": [ + 15.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3242.4695, + -2953.9207, + 330.0795 + ], + "start_rot": [ + 15.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3171.7588, + -3024.6314, + 330.0795 + ], + "actual_end_pos": [ + -3171.7588, + -3024.6314, + 330.0795 + ], + "actual_end_rot": [ + 15.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3171.7588, + -3024.6314, + 330.0795 + ], + "start_rot": [ + 15.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3101.0482, + -3095.3421, + 330.0795 + ], + "actual_end_pos": [ + -3101.0482, + -3095.3421, + 330.0795 + ], + "actual_end_rot": [ + 15.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3101.0482, + -3095.3421, + 330.0795 + ], + "start_rot": [ + 15.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3030.3375, + -3166.0528, + 330.0795 + ], + "actual_end_pos": [ + -3030.3375, + -3166.0528, + 330.0795 + ], + "actual_end_rot": [ + 15.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3030.3375, + -3166.0528, + 330.0795 + ], + "start_rot": [ + 15.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3101.0482, + -3095.3421, + 330.0795 + ], + "actual_end_pos": [ + -3101.0482, + -3095.3421, + 330.0795 + ], + "actual_end_rot": [ + 15.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3101.0482, + -3095.3421, + 330.0795 + ], + "start_rot": [ + 15.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3171.7588, + -3024.6314, + 330.0795 + ], + "actual_end_pos": [ + -3171.7588, + -3024.6314, + 330.0795 + ], + "actual_end_rot": [ + 15.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3171.7588, + -3024.6314, + 330.0795 + ], + "start_rot": [ + 15.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3103.4576, + -2956.3301, + 355.9614 + ], + "actual_end_pos": [ + -3103.4576, + -2956.3301, + 355.9614 + ], + "actual_end_rot": [ + 15.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3103.4576, + -2956.3301, + 355.9614 + ], + "start_rot": [ + 15.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3035.1563, + -2888.0289, + 381.8433 + ], + "actual_end_pos": [ + -3035.1563, + -2888.0289, + 381.8433 + ], + "actual_end_rot": [ + 15.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3035.1563, + -2888.0289, + 381.8433 + ], + "start_rot": [ + 15.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3103.4576, + -2956.3301, + 355.9614 + ], + "actual_end_pos": [ + -3103.4576, + -2956.3301, + 355.9614 + ], + "actual_end_rot": [ + 15.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3103.4576, + -2956.3301, + 355.9614 + ], + "start_rot": [ + 15.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3103.4576, + -2956.3301, + 355.9614 + ], + "actual_end_pos": [ + -3103.4576, + -2956.3301, + 355.9614 + ], + "actual_end_rot": [ + 15.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 18, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260413_221314__pair_000567_A_traj_000567_meta.json b/equivalence_easy/run_20260413_221314__pair_000567_A_traj_000567_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f748beac77bfa596177731c04686aa9d2f79dccc --- /dev/null +++ b/equivalence_easy/run_20260413_221314__pair_000567_A_traj_000567_meta.json @@ -0,0 +1,1476 @@ +{ + "trajectory_id": 567, + "episode_id": 0, + "state_id": 433, + "sample_index": 433, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_A", + "partner_trajectory_id": 568, + "primary_trajectory_id": 567, + "paired_trajectory_id": 568, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -3710.0, + 2260.0, + 200.0 + ], + "rotation": [ + 0.0, + 45.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "move_backward", + "turn_left", + "move_right", + "move_backward", + "move_right", + "move_forward", + "no_op", + "no_op", + "move_left", + "move_forward", + "look_up", + "turn_left", + "move_right", + "move_forward", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "move_right", + "move_backward", + "turn_right", + "move_left", + "turn_right", + "turn_right", + "move_backward", + "move_right", + "move_right", + "turn_right", + "move_left", + "move_forward", + "look_up", + "move_forward", + "move_forward", + "move_right", + "move_right", + "no_op", + "turn_right", + "no_op", + "move_forward" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3710.0, + 2260.0, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3639.2893, + 2189.2893, + 200.0 + ], + "actual_end_pos": [ + -3639.2893, + 2189.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3639.2893, + 2189.2893, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3710.0, + 2118.5786, + 200.0 + ], + "actual_end_pos": [ + -3710.0, + 2118.5786, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3710.0, + 2118.5786, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3710.0, + 2118.5786, + 200.0 + ], + "actual_end_pos": [ + -3710.0, + 2118.5786, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3710.0, + 2118.5786, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -3760.0, + 2205.1812, + 200.0 + ], + "actual_end_pos": [ + -3760.0, + 2205.1812, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3760.0, + 2205.1812, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -3846.6025, + 2155.1812, + 200.0 + ], + "actual_end_pos": [ + -3846.6025, + 2155.1812, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3846.6025, + 2155.1812, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -3896.6025, + 2241.7837, + 200.0 + ], + "actual_end_pos": [ + -3896.6025, + 2241.7837, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3896.6025, + 2241.7837, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -3810.0, + 2291.7837, + 200.0 + ], + "actual_end_pos": [ + -3810.0, + 2291.7837, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3810.0, + 2291.7837, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -3810.0, + 2291.7837, + 200.0 + ], + "actual_end_pos": [ + -3810.0, + 2291.7837, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3810.0, + 2291.7837, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -3810.0, + 2291.7837, + 200.0 + ], + "actual_end_pos": [ + -3810.0, + 2291.7837, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3810.0, + 2291.7837, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -3760.0, + 2205.1812, + 200.0 + ], + "actual_end_pos": [ + -3760.0, + 2205.1812, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3760.0, + 2205.1812, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -3673.3975, + 2255.1812, + 200.0 + ], + "actual_end_pos": [ + -3673.3975, + 2255.1812, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -3673.3975, + 2255.1812, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -3673.3975, + 2255.1812, + 200.0 + ], + "actual_end_pos": [ + -3673.3975, + 2255.1812, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3673.3975, + 2255.1812, + 200.0 + ], + "start_rot": [ + 7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -3673.3975, + 2255.1812, + 200.0 + ], + "actual_end_pos": [ + -3673.3975, + 2255.1812, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3673.3975, + 2255.1812, + 200.0 + ], + "start_rot": [ + 7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -3699.2794, + 2351.7738, + 200.0 + ], + "actual_end_pos": [ + -3699.2794, + 2351.7738, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3699.2794, + 2351.7738, + 200.0 + ], + "start_rot": [ + 7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -3603.5131, + 2377.4342, + 213.0526 + ], + "actual_end_pos": [ + -3603.5131, + 2377.4342, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3603.5131, + 2377.4342, + 213.0526 + ], + "start_rot": [ + 7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -3507.7469, + 2403.0947, + 226.1052 + ], + "actual_end_pos": [ + -3507.7469, + 2403.0947, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3507.7469, + 2403.0947, + 226.1052 + ], + "start_rot": [ + 7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -3411.9807, + 2428.7552, + 239.1579 + ], + "actual_end_pos": [ + -3411.9807, + 2428.7552, + 239.1579 + ], + "actual_end_rot": [ + 7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3411.9807, + 2428.7552, + 239.1579 + ], + "start_rot": [ + 7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -3411.9807, + 2428.7552, + 239.1579 + ], + "actual_end_pos": [ + -3411.9807, + 2428.7552, + 239.1579 + ], + "actual_end_rot": [ + 7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3411.9807, + 2428.7552, + 239.1579 + ], + "start_rot": [ + 7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -3411.9807, + 2428.7552, + 239.1579 + ], + "actual_end_pos": [ + -3411.9807, + 2428.7552, + 239.1579 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3411.9807, + 2428.7552, + 239.1579 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3482.6914, + 2499.4659, + 239.1579 + ], + "actual_end_pos": [ + -3482.6914, + 2499.4659, + 239.1579 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3482.6914, + 2499.4659, + 239.1579 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3552.7971, + 2429.3602, + 226.1052 + ], + "actual_end_pos": [ + -3552.7971, + 2429.3602, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3552.7971, + 2429.3602, + 226.1052 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3552.7971, + 2429.3602, + 226.1052 + ], + "actual_end_pos": [ + -3552.7971, + 2429.3602, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3552.7971, + 2429.3602, + 226.1052 + ], + "start_rot": [ + 7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -3466.1946, + 2379.3601, + 226.1052 + ], + "actual_end_pos": [ + -3466.1946, + 2379.3601, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3466.1946, + 2379.3601, + 226.1052 + ], + "start_rot": [ + 7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -3466.1946, + 2379.3601, + 226.1052 + ], + "actual_end_pos": [ + -3466.1946, + 2379.3601, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + 75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3466.1946, + 2379.3601, + 226.1052 + ], + "start_rot": [ + 7.5, + 75.0, + -0.0 + ], + "expected_end_pos": [ + -3466.1946, + 2379.3601, + 226.1052 + ], + "actual_end_pos": [ + -3466.1946, + 2379.3601, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3466.1946, + 2379.3601, + 226.1052 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3466.1946, + 2280.2157, + 213.0526 + ], + "actual_end_pos": [ + -3466.1946, + 2280.2157, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3466.1946, + 2280.2157, + 213.0526 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3566.1946, + 2280.2157, + 213.0526 + ], + "actual_end_pos": [ + -3566.1946, + 2280.2157, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3566.1946, + 2280.2157, + 213.0526 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3666.1946, + 2280.2157, + 213.0526 + ], + "actual_end_pos": [ + -3666.1946, + 2280.2157, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3666.1946, + 2280.2157, + 213.0526 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3666.1946, + 2280.2157, + 213.0526 + ], + "actual_end_pos": [ + -3666.1946, + 2280.2157, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3666.1946, + 2280.2157, + 213.0526 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -3569.602, + 2306.0976, + 213.0526 + ], + "actual_end_pos": [ + -3569.602, + 2306.0976, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3569.602, + 2306.0976, + 213.0526 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -3595.2625, + 2401.8638, + 226.1052 + ], + "actual_end_pos": [ + -3595.2625, + 2401.8638, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -3595.2625, + 2401.8638, + 226.1052 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -3595.2625, + 2401.8638, + 226.1052 + ], + "actual_end_pos": [ + -3595.2625, + 2401.8638, + 226.1052 + ], + "actual_end_rot": [ + 15.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3595.2625, + 2401.8638, + 226.1052 + ], + "start_rot": [ + 15.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -3620.2625, + 2495.1651, + 251.9871 + ], + "actual_end_pos": [ + -3620.2625, + 2495.1651, + 251.9871 + ], + "actual_end_rot": [ + 15.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3620.2625, + 2495.1651, + 251.9871 + ], + "start_rot": [ + 15.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -3645.2625, + 2588.4663, + 277.869 + ], + "actual_end_pos": [ + -3645.2625, + 2588.4663, + 277.869 + ], + "actual_end_rot": [ + 15.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3645.2625, + 2588.4663, + 277.869 + ], + "start_rot": [ + 15.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -3741.8551, + 2562.5844, + 277.869 + ], + "actual_end_pos": [ + -3741.8551, + 2562.5844, + 277.869 + ], + "actual_end_rot": [ + 15.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3741.8551, + 2562.5844, + 277.869 + ], + "start_rot": [ + 15.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -3838.4476, + 2536.7025, + 277.869 + ], + "actual_end_pos": [ + -3838.4476, + 2536.7025, + 277.869 + ], + "actual_end_rot": [ + 15.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3838.4476, + 2536.7025, + 277.869 + ], + "start_rot": [ + 15.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -3838.4476, + 2536.7025, + 277.869 + ], + "actual_end_pos": [ + -3838.4476, + 2536.7025, + 277.869 + ], + "actual_end_rot": [ + 15.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3838.4476, + 2536.7025, + 277.869 + ], + "start_rot": [ + 15.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -3838.4476, + 2536.7025, + 277.869 + ], + "actual_end_pos": [ + -3838.4476, + 2536.7025, + 277.869 + ], + "actual_end_rot": [ + 15.0, + 120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3838.4476, + 2536.7025, + 277.869 + ], + "start_rot": [ + 15.0, + 120.0, + -0.0 + ], + "expected_end_pos": [ + -3838.4476, + 2536.7025, + 277.869 + ], + "actual_end_pos": [ + -3838.4476, + 2536.7025, + 277.869 + ], + "actual_end_rot": [ + 15.0, + 120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3838.4476, + 2536.7025, + 277.869 + ], + "start_rot": [ + 15.0, + 120.0, + -0.0 + ], + "expected_end_pos": [ + -3886.7439, + 2620.3542, + 303.751 + ], + "actual_end_pos": [ + -3886.7439, + 2620.3542, + 303.751 + ], + "actual_end_rot": [ + 15.0, + 120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 18, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260413_221314__pair_000567_B_traj_000568_meta.json b/equivalence_easy/run_20260413_221314__pair_000567_B_traj_000568_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6094fd7a46d63b3d7c0602feab2ac7d242886bc1 --- /dev/null +++ b/equivalence_easy/run_20260413_221314__pair_000567_B_traj_000568_meta.json @@ -0,0 +1,1476 @@ +{ + "trajectory_id": 568, + "episode_id": 0, + "state_id": 433, + "sample_index": 433, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_B", + "partner_trajectory_id": 567, + "primary_trajectory_id": 567, + "paired_trajectory_id": 568, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -3710.0, + 2260.0, + 200.0 + ], + "rotation": [ + 0.0, + 45.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "move_backward", + "turn_left", + "move_right", + "move_right", + "move_backward", + "move_forward", + "no_op", + "no_op", + "move_forward", + "move_left", + "look_up", + "turn_left", + "move_forward", + "move_forward", + "move_forward", + "move_right", + "turn_right", + "turn_right", + "move_backward", + "move_right", + "turn_right", + "move_left", + "turn_right", + "turn_right", + "move_right", + "move_right", + "move_backward", + "turn_right", + "move_forward", + "move_left", + "look_up", + "move_right", + "move_forward", + "move_forward", + "move_right", + "no_op", + "turn_right", + "no_op", + "move_forward" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3710.0, + 2260.0, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3639.2893, + 2189.2893, + 200.0 + ], + "actual_end_pos": [ + -3639.2893, + 2189.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3639.2893, + 2189.2893, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3710.0, + 2118.5786, + 200.0 + ], + "actual_end_pos": [ + -3710.0, + 2118.5786, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3710.0, + 2118.5786, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3710.0, + 2118.5786, + 200.0 + ], + "actual_end_pos": [ + -3710.0, + 2118.5786, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3710.0, + 2118.5786, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -3760.0, + 2205.1812, + 200.0 + ], + "actual_end_pos": [ + -3760.0, + 2205.1812, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3760.0, + 2205.1812, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -3810.0, + 2291.7837, + 200.0 + ], + "actual_end_pos": [ + -3810.0, + 2291.7837, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3810.0, + 2291.7837, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -3896.6025, + 2241.7837, + 200.0 + ], + "actual_end_pos": [ + -3896.6025, + 2241.7837, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3896.6025, + 2241.7837, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -3810.0, + 2291.7837, + 200.0 + ], + "actual_end_pos": [ + -3810.0, + 2291.7837, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3810.0, + 2291.7837, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -3810.0, + 2291.7837, + 200.0 + ], + "actual_end_pos": [ + -3810.0, + 2291.7837, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3810.0, + 2291.7837, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -3810.0, + 2291.7837, + 200.0 + ], + "actual_end_pos": [ + -3810.0, + 2291.7837, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3810.0, + 2291.7837, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -3723.3975, + 2341.7837, + 200.0 + ], + "actual_end_pos": [ + -3723.3975, + 2341.7837, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3723.3975, + 2341.7837, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -3673.3975, + 2255.1812, + 200.0 + ], + "actual_end_pos": [ + -3673.3975, + 2255.1812, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -3673.3975, + 2255.1812, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -3673.3975, + 2255.1812, + 200.0 + ], + "actual_end_pos": [ + -3673.3975, + 2255.1812, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3673.3975, + 2255.1812, + 200.0 + ], + "start_rot": [ + 7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -3673.3975, + 2255.1812, + 200.0 + ], + "actual_end_pos": [ + -3673.3975, + 2255.1812, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3673.3975, + 2255.1812, + 200.0 + ], + "start_rot": [ + 7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -3577.6312, + 2280.8417, + 213.0526 + ], + "actual_end_pos": [ + -3577.6312, + 2280.8417, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3577.6312, + 2280.8417, + 213.0526 + ], + "start_rot": [ + 7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -3481.865, + 2306.5021, + 226.1052 + ], + "actual_end_pos": [ + -3481.865, + 2306.5021, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3481.865, + 2306.5021, + 226.1052 + ], + "start_rot": [ + 7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -3386.0988, + 2332.1626, + 239.1579 + ], + "actual_end_pos": [ + -3386.0988, + 2332.1626, + 239.1579 + ], + "actual_end_rot": [ + 7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3386.0988, + 2332.1626, + 239.1579 + ], + "start_rot": [ + 7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -3411.9807, + 2428.7552, + 239.1579 + ], + "actual_end_pos": [ + -3411.9807, + 2428.7552, + 239.1579 + ], + "actual_end_rot": [ + 7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3411.9807, + 2428.7552, + 239.1579 + ], + "start_rot": [ + 7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -3411.9807, + 2428.7552, + 239.1579 + ], + "actual_end_pos": [ + -3411.9807, + 2428.7552, + 239.1579 + ], + "actual_end_rot": [ + 7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3411.9807, + 2428.7552, + 239.1579 + ], + "start_rot": [ + 7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -3411.9807, + 2428.7552, + 239.1579 + ], + "actual_end_pos": [ + -3411.9807, + 2428.7552, + 239.1579 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3411.9807, + 2428.7552, + 239.1579 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3482.0864, + 2358.6495, + 226.1052 + ], + "actual_end_pos": [ + -3482.0864, + 2358.6495, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3482.0864, + 2358.6495, + 226.1052 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3552.7971, + 2429.3602, + 226.1052 + ], + "actual_end_pos": [ + -3552.7971, + 2429.3602, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3552.7971, + 2429.3602, + 226.1052 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3552.7971, + 2429.3602, + 226.1052 + ], + "actual_end_pos": [ + -3552.7971, + 2429.3602, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3552.7971, + 2429.3602, + 226.1052 + ], + "start_rot": [ + 7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -3466.1946, + 2379.3601, + 226.1052 + ], + "actual_end_pos": [ + -3466.1946, + 2379.3601, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3466.1946, + 2379.3601, + 226.1052 + ], + "start_rot": [ + 7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -3466.1946, + 2379.3601, + 226.1052 + ], + "actual_end_pos": [ + -3466.1946, + 2379.3601, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + 75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3466.1946, + 2379.3601, + 226.1052 + ], + "start_rot": [ + 7.5, + 75.0, + -0.0 + ], + "expected_end_pos": [ + -3466.1946, + 2379.3601, + 226.1052 + ], + "actual_end_pos": [ + -3466.1946, + 2379.3601, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3466.1946, + 2379.3601, + 226.1052 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3566.1946, + 2379.3602, + 226.1052 + ], + "actual_end_pos": [ + -3566.1946, + 2379.3602, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3566.1946, + 2379.3602, + 226.1052 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3666.1946, + 2379.3602, + 226.1052 + ], + "actual_end_pos": [ + -3666.1946, + 2379.3602, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3666.1946, + 2379.3602, + 226.1052 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3666.1946, + 2280.2157, + 213.0526 + ], + "actual_end_pos": [ + -3666.1946, + 2280.2157, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3666.1946, + 2280.2157, + 213.0526 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3666.1946, + 2280.2157, + 213.0526 + ], + "actual_end_pos": [ + -3666.1946, + 2280.2157, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3666.1946, + 2280.2157, + 213.0526 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -3691.8551, + 2375.9819, + 226.1052 + ], + "actual_end_pos": [ + -3691.8551, + 2375.9819, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3691.8551, + 2375.9819, + 226.1052 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -3595.2625, + 2401.8638, + 226.1052 + ], + "actual_end_pos": [ + -3595.2625, + 2401.8638, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -3595.2625, + 2401.8638, + 226.1052 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -3595.2625, + 2401.8638, + 226.1052 + ], + "actual_end_pos": [ + -3595.2625, + 2401.8638, + 226.1052 + ], + "actual_end_rot": [ + 15.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3595.2625, + 2401.8638, + 226.1052 + ], + "start_rot": [ + 15.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -3691.8551, + 2375.9819, + 226.1052 + ], + "actual_end_pos": [ + -3691.8551, + 2375.9819, + 226.1052 + ], + "actual_end_rot": [ + 15.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3691.8551, + 2375.9819, + 226.1052 + ], + "start_rot": [ + 15.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -3716.8551, + 2469.2832, + 251.9871 + ], + "actual_end_pos": [ + -3716.8551, + 2469.2832, + 251.9871 + ], + "actual_end_rot": [ + 15.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3716.8551, + 2469.2832, + 251.9871 + ], + "start_rot": [ + 15.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -3741.8551, + 2562.5844, + 277.869 + ], + "actual_end_pos": [ + -3741.8551, + 2562.5844, + 277.869 + ], + "actual_end_rot": [ + 15.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3741.8551, + 2562.5844, + 277.869 + ], + "start_rot": [ + 15.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -3838.4476, + 2536.7025, + 277.869 + ], + "actual_end_pos": [ + -3838.4476, + 2536.7025, + 277.869 + ], + "actual_end_rot": [ + 15.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3838.4476, + 2536.7025, + 277.869 + ], + "start_rot": [ + 15.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -3838.4476, + 2536.7025, + 277.869 + ], + "actual_end_pos": [ + -3838.4476, + 2536.7025, + 277.869 + ], + "actual_end_rot": [ + 15.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3838.4476, + 2536.7025, + 277.869 + ], + "start_rot": [ + 15.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -3838.4476, + 2536.7025, + 277.869 + ], + "actual_end_pos": [ + -3838.4476, + 2536.7025, + 277.869 + ], + "actual_end_rot": [ + 15.0, + 120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3838.4476, + 2536.7025, + 277.869 + ], + "start_rot": [ + 15.0, + 120.0, + -0.0 + ], + "expected_end_pos": [ + -3838.4476, + 2536.7025, + 277.869 + ], + "actual_end_pos": [ + -3838.4476, + 2536.7025, + 277.869 + ], + "actual_end_rot": [ + 15.0, + 120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3838.4476, + 2536.7025, + 277.869 + ], + "start_rot": [ + 15.0, + 120.0, + -0.0 + ], + "expected_end_pos": [ + -3886.7439, + 2620.3542, + 303.751 + ], + "actual_end_pos": [ + -3886.7439, + 2620.3542, + 303.751 + ], + "actual_end_rot": [ + 15.0, + 120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 18, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260422_172644__pair_004217_A_traj_004217_meta.json b/equivalence_easy/run_20260422_172644__pair_004217_A_traj_004217_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ab7bf141907c6285b5728489035123f19ec7ccd4 --- /dev/null +++ b/equivalence_easy/run_20260422_172644__pair_004217_A_traj_004217_meta.json @@ -0,0 +1,1476 @@ +{ + "trajectory_id": 4217, + "episode_id": 0, + "state_id": 3134, + "sample_index": 3134, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_A", + "partner_trajectory_id": 4218, + "primary_trajectory_id": 4217, + "paired_trajectory_id": 4218, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 1880.0, + -2170.0, + 850.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_right", + "move_right", + "turn_left", + "move_forward", + "look_up", + "look_up", + "move_backward", + "turn_right", + "look_down", + "turn_left", + "move_left", + "move_left", + "look_down", + "move_forward", + "look_up", + "move_backward", + "no_op", + "look_up", + "move_right", + "move_right", + "look_down", + "turn_left", + "move_left", + "move_forward", + "turn_left", + "move_left", + "no_op", + "turn_left", + "move_forward", + "look_down", + "no_op", + "move_forward", + "move_forward", + "look_up", + "move_forward", + "no_op", + "move_left", + "turn_right", + "move_right", + "look_up" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1880.0, + -2170.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1880.0, + -2170.0, + 850.0 + ], + "actual_end_pos": [ + 1880.0, + -2170.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1880.0, + -2170.0, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 1976.5926, + -2144.1181, + 850.0 + ], + "actual_end_pos": [ + 1976.5926, + -2144.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1976.5926, + -2144.1181, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 1976.5926, + -2144.1181, + 850.0 + ], + "actual_end_pos": [ + 1976.5926, + -2144.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1976.5926, + -2144.1181, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1976.5926, + -2244.1181, + 850.0 + ], + "actual_end_pos": [ + 1976.5926, + -2244.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 1976.5926, + -2244.1181, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1976.5926, + -2244.1181, + 850.0 + ], + "actual_end_pos": [ + 1976.5926, + -2244.1181, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 1976.5926, + -2244.1181, + 850.0 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1976.5926, + -2244.1181, + 850.0 + ], + "actual_end_pos": [ + 1976.5926, + -2244.1181, + 850.0 + ], + "actual_end_rot": [ + 15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1976.5926, + -2244.1181, + 850.0 + ], + "start_rot": [ + 15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1976.5926, + -2147.5255, + 824.1181 + ], + "actual_end_pos": [ + 1976.5926, + -2147.5255, + 824.1181 + ], + "actual_end_rot": [ + 15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1976.5926, + -2147.5255, + 824.1181 + ], + "start_rot": [ + 15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1976.5926, + -2147.5255, + 824.1181 + ], + "actual_end_pos": [ + 1976.5926, + -2147.5255, + 824.1181 + ], + "actual_end_rot": [ + 15.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 1976.5926, + -2147.5255, + 824.1181 + ], + "start_rot": [ + 15.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 1976.5926, + -2147.5255, + 824.1181 + ], + "actual_end_pos": [ + 1976.5926, + -2147.5255, + 824.1181 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1976.5926, + -2147.5255, + 824.1181 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 1976.5926, + -2147.5255, + 824.1181 + ], + "actual_end_pos": [ + 1976.5926, + -2147.5255, + 824.1181 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1976.5926, + -2147.5255, + 824.1181 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1876.5926, + -2147.5255, + 824.1181 + ], + "actual_end_pos": [ + 1876.5926, + -2147.5255, + 824.1181 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1876.5926, + -2147.5255, + 824.1181 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1776.5926, + -2147.5255, + 824.1181 + ], + "actual_end_pos": [ + 1776.5926, + -2147.5255, + 824.1181 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 1776.5926, + -2147.5255, + 824.1181 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1776.5926, + -2147.5255, + 824.1181 + ], + "actual_end_pos": [ + 1776.5926, + -2147.5255, + 824.1181 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1776.5926, + -2147.5255, + 824.1181 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1776.5926, + -2247.5255, + 824.1181 + ], + "actual_end_pos": [ + 1776.5926, + -2247.5255, + 824.1181 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 1776.5926, + -2247.5255, + 824.1181 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1776.5926, + -2247.5255, + 824.1181 + ], + "actual_end_pos": [ + 1776.5926, + -2247.5255, + 824.1181 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1776.5926, + -2247.5255, + 824.1181 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1776.5926, + -2148.381, + 811.0655 + ], + "actual_end_pos": [ + 1776.5926, + -2148.381, + 811.0655 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1776.5926, + -2148.381, + 811.0655 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1776.5926, + -2148.381, + 811.0655 + ], + "actual_end_pos": [ + 1776.5926, + -2148.381, + 811.0655 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 1776.5926, + -2148.381, + 811.0655 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1776.5926, + -2148.381, + 811.0655 + ], + "actual_end_pos": [ + 1776.5926, + -2148.381, + 811.0655 + ], + "actual_end_rot": [ + 15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1776.5926, + -2148.381, + 811.0655 + ], + "start_rot": [ + 15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1876.5926, + -2148.381, + 811.0655 + ], + "actual_end_pos": [ + 1876.5926, + -2148.381, + 811.0655 + ], + "actual_end_rot": [ + 15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1876.5926, + -2148.381, + 811.0655 + ], + "start_rot": [ + 15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1976.5926, + -2148.381, + 811.0655 + ], + "actual_end_pos": [ + 1976.5926, + -2148.381, + 811.0655 + ], + "actual_end_rot": [ + 15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 1976.5926, + -2148.381, + 811.0655 + ], + "start_rot": [ + 15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1976.5926, + -2148.381, + 811.0655 + ], + "actual_end_pos": [ + 1976.5926, + -2148.381, + 811.0655 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1976.5926, + -2148.381, + 811.0655 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1976.5926, + -2148.381, + 811.0655 + ], + "actual_end_pos": [ + 1976.5926, + -2148.381, + 811.0655 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1976.5926, + -2148.381, + 811.0655 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 1880.0, + -2122.4991, + 811.0655 + ], + "actual_end_pos": [ + 1880.0, + -2122.4991, + 811.0655 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1880.0, + -2122.4991, + 811.0655 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 1854.3395, + -2218.2653, + 824.1181 + ], + "actual_end_pos": [ + 1854.3395, + -2218.2653, + 824.1181 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1854.3395, + -2218.2653, + 824.1181 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 1854.3395, + -2218.2653, + 824.1181 + ], + "actual_end_pos": [ + 1854.3395, + -2218.2653, + 824.1181 + ], + "actual_end_rot": [ + 7.5, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1854.3395, + -2218.2653, + 824.1181 + ], + "start_rot": [ + 7.5, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 1767.737, + -2168.2653, + 824.1181 + ], + "actual_end_pos": [ + 1767.737, + -2168.2653, + 824.1181 + ], + "actual_end_rot": [ + 7.5, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1767.737, + -2168.2653, + 824.1181 + ], + "start_rot": [ + 7.5, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 1767.737, + -2168.2653, + 824.1181 + ], + "actual_end_pos": [ + 1767.737, + -2168.2653, + 824.1181 + ], + "actual_end_rot": [ + 7.5, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1767.737, + -2168.2653, + 824.1181 + ], + "start_rot": [ + 7.5, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 1767.737, + -2168.2653, + 824.1181 + ], + "actual_end_pos": [ + 1767.737, + -2168.2653, + 824.1181 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1767.737, + -2168.2653, + 824.1181 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 1697.6312, + -2238.3711, + 837.1707 + ], + "actual_end_pos": [ + 1697.6312, + -2238.3711, + 837.1707 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 1697.6312, + -2238.3711, + 837.1707 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 1697.6312, + -2238.3711, + 837.1707 + ], + "actual_end_pos": [ + 1697.6312, + -2238.3711, + 837.1707 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1697.6312, + -2238.3711, + 837.1707 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 1697.6312, + -2238.3711, + 837.1707 + ], + "actual_end_pos": [ + 1697.6312, + -2238.3711, + 837.1707 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1697.6312, + -2238.3711, + 837.1707 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 1626.9206, + -2309.0818, + 837.1707 + ], + "actual_end_pos": [ + 1626.9206, + -2309.0818, + 837.1707 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1626.9206, + -2309.0818, + 837.1707 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 1556.2099, + -2379.7924, + 837.1707 + ], + "actual_end_pos": [ + 1556.2099, + -2379.7924, + 837.1707 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 1556.2099, + -2379.7924, + 837.1707 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 1556.2099, + -2379.7924, + 837.1707 + ], + "actual_end_pos": [ + 1556.2099, + -2379.7924, + 837.1707 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1556.2099, + -2379.7924, + 837.1707 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 1486.1042, + -2449.8982, + 850.2233 + ], + "actual_end_pos": [ + 1486.1042, + -2449.8982, + 850.2233 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1486.1042, + -2449.8982, + 850.2233 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 1486.1042, + -2449.8982, + 850.2233 + ], + "actual_end_pos": [ + 1486.1042, + -2449.8982, + 850.2233 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1486.1042, + -2449.8982, + 850.2233 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 1415.3935, + -2379.1875, + 850.2233 + ], + "actual_end_pos": [ + 1415.3935, + -2379.1875, + 850.2233 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1415.3935, + -2379.1875, + 850.2233 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 1415.3935, + -2379.1875, + 850.2233 + ], + "actual_end_pos": [ + 1415.3935, + -2379.1875, + 850.2233 + ], + "actual_end_rot": [ + 7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1415.3935, + -2379.1875, + 850.2233 + ], + "start_rot": [ + 7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 1501.996, + -2429.1875, + 850.2233 + ], + "actual_end_pos": [ + 1501.996, + -2429.1875, + 850.2233 + ], + "actual_end_rot": [ + 7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 1501.996, + -2429.1875, + 850.2233 + ], + "start_rot": [ + 7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 1501.996, + -2429.1875, + 850.2233 + ], + "actual_end_pos": [ + 1501.996, + -2429.1875, + 850.2233 + ], + "actual_end_rot": [ + 15.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260422_172644__pair_004217_B_traj_004218_meta.json b/equivalence_easy/run_20260422_172644__pair_004217_B_traj_004218_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b95e224b2dd359386f2eff1eefb4460aa32db621 --- /dev/null +++ b/equivalence_easy/run_20260422_172644__pair_004217_B_traj_004218_meta.json @@ -0,0 +1,1476 @@ +{ + "trajectory_id": 4218, + "episode_id": 0, + "state_id": 3134, + "sample_index": 3134, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_B", + "partner_trajectory_id": 4217, + "primary_trajectory_id": 4217, + "paired_trajectory_id": 4218, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 1880.0, + -2170.0, + 850.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_right", + "move_right", + "turn_left", + "move_forward", + "look_up", + "look_up", + "move_backward", + "turn_right", + "look_down", + "turn_left", + "move_left", + "move_left", + "look_down", + "move_forward", + "look_up", + "move_backward", + "no_op", + "look_up", + "move_right", + "move_right", + "turn_left", + "look_down", + "move_forward", + "move_left", + "turn_left", + "move_left", + "no_op", + "turn_left", + "move_forward", + "look_down", + "no_op", + "move_forward", + "move_forward", + "look_up", + "move_forward", + "no_op", + "move_left", + "turn_right", + "move_right", + "look_up" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1880.0, + -2170.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1880.0, + -2170.0, + 850.0 + ], + "actual_end_pos": [ + 1880.0, + -2170.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1880.0, + -2170.0, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 1976.5926, + -2144.1181, + 850.0 + ], + "actual_end_pos": [ + 1976.5926, + -2144.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1976.5926, + -2144.1181, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 1976.5926, + -2144.1181, + 850.0 + ], + "actual_end_pos": [ + 1976.5926, + -2144.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1976.5926, + -2144.1181, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1976.5926, + -2244.1181, + 850.0 + ], + "actual_end_pos": [ + 1976.5926, + -2244.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 1976.5926, + -2244.1181, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1976.5926, + -2244.1181, + 850.0 + ], + "actual_end_pos": [ + 1976.5926, + -2244.1181, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 1976.5926, + -2244.1181, + 850.0 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1976.5926, + -2244.1181, + 850.0 + ], + "actual_end_pos": [ + 1976.5926, + -2244.1181, + 850.0 + ], + "actual_end_rot": [ + 15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1976.5926, + -2244.1181, + 850.0 + ], + "start_rot": [ + 15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1976.5926, + -2147.5255, + 824.1181 + ], + "actual_end_pos": [ + 1976.5926, + -2147.5255, + 824.1181 + ], + "actual_end_rot": [ + 15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1976.5926, + -2147.5255, + 824.1181 + ], + "start_rot": [ + 15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1976.5926, + -2147.5255, + 824.1181 + ], + "actual_end_pos": [ + 1976.5926, + -2147.5255, + 824.1181 + ], + "actual_end_rot": [ + 15.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 1976.5926, + -2147.5255, + 824.1181 + ], + "start_rot": [ + 15.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 1976.5926, + -2147.5255, + 824.1181 + ], + "actual_end_pos": [ + 1976.5926, + -2147.5255, + 824.1181 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1976.5926, + -2147.5255, + 824.1181 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 1976.5926, + -2147.5255, + 824.1181 + ], + "actual_end_pos": [ + 1976.5926, + -2147.5255, + 824.1181 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1976.5926, + -2147.5255, + 824.1181 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1876.5926, + -2147.5255, + 824.1181 + ], + "actual_end_pos": [ + 1876.5926, + -2147.5255, + 824.1181 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1876.5926, + -2147.5255, + 824.1181 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1776.5926, + -2147.5255, + 824.1181 + ], + "actual_end_pos": [ + 1776.5926, + -2147.5255, + 824.1181 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 1776.5926, + -2147.5255, + 824.1181 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1776.5926, + -2147.5255, + 824.1181 + ], + "actual_end_pos": [ + 1776.5926, + -2147.5255, + 824.1181 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1776.5926, + -2147.5255, + 824.1181 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1776.5926, + -2247.5255, + 824.1181 + ], + "actual_end_pos": [ + 1776.5926, + -2247.5255, + 824.1181 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 1776.5926, + -2247.5255, + 824.1181 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1776.5926, + -2247.5255, + 824.1181 + ], + "actual_end_pos": [ + 1776.5926, + -2247.5255, + 824.1181 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1776.5926, + -2247.5255, + 824.1181 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1776.5926, + -2148.381, + 811.0655 + ], + "actual_end_pos": [ + 1776.5926, + -2148.381, + 811.0655 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1776.5926, + -2148.381, + 811.0655 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1776.5926, + -2148.381, + 811.0655 + ], + "actual_end_pos": [ + 1776.5926, + -2148.381, + 811.0655 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 1776.5926, + -2148.381, + 811.0655 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1776.5926, + -2148.381, + 811.0655 + ], + "actual_end_pos": [ + 1776.5926, + -2148.381, + 811.0655 + ], + "actual_end_rot": [ + 15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1776.5926, + -2148.381, + 811.0655 + ], + "start_rot": [ + 15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1876.5926, + -2148.381, + 811.0655 + ], + "actual_end_pos": [ + 1876.5926, + -2148.381, + 811.0655 + ], + "actual_end_rot": [ + 15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1876.5926, + -2148.381, + 811.0655 + ], + "start_rot": [ + 15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1976.5926, + -2148.381, + 811.0655 + ], + "actual_end_pos": [ + 1976.5926, + -2148.381, + 811.0655 + ], + "actual_end_rot": [ + 15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1976.5926, + -2148.381, + 811.0655 + ], + "start_rot": [ + 15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1976.5926, + -2148.381, + 811.0655 + ], + "actual_end_pos": [ + 1976.5926, + -2148.381, + 811.0655 + ], + "actual_end_rot": [ + 15.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 1976.5926, + -2148.381, + 811.0655 + ], + "start_rot": [ + 15.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 1976.5926, + -2148.381, + 811.0655 + ], + "actual_end_pos": [ + 1976.5926, + -2148.381, + 811.0655 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1976.5926, + -2148.381, + 811.0655 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 1950.9321, + -2244.1472, + 824.1181 + ], + "actual_end_pos": [ + 1950.9321, + -2244.1472, + 824.1181 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1950.9321, + -2244.1472, + 824.1181 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 1854.3395, + -2218.2653, + 824.1181 + ], + "actual_end_pos": [ + 1854.3395, + -2218.2653, + 824.1181 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1854.3395, + -2218.2653, + 824.1181 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 1854.3395, + -2218.2653, + 824.1181 + ], + "actual_end_pos": [ + 1854.3395, + -2218.2653, + 824.1181 + ], + "actual_end_rot": [ + 7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1854.3395, + -2218.2653, + 824.1181 + ], + "start_rot": [ + 7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 1767.737, + -2168.2653, + 824.1181 + ], + "actual_end_pos": [ + 1767.737, + -2168.2653, + 824.1181 + ], + "actual_end_rot": [ + 7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1767.737, + -2168.2653, + 824.1181 + ], + "start_rot": [ + 7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 1767.737, + -2168.2653, + 824.1181 + ], + "actual_end_pos": [ + 1767.737, + -2168.2653, + 824.1181 + ], + "actual_end_rot": [ + 7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1767.737, + -2168.2653, + 824.1181 + ], + "start_rot": [ + 7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 1767.737, + -2168.2653, + 824.1181 + ], + "actual_end_pos": [ + 1767.737, + -2168.2653, + 824.1181 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1767.737, + -2168.2653, + 824.1181 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 1697.6312, + -2238.3711, + 837.1707 + ], + "actual_end_pos": [ + 1697.6312, + -2238.3711, + 837.1707 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 1697.6312, + -2238.3711, + 837.1707 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 1697.6312, + -2238.3711, + 837.1707 + ], + "actual_end_pos": [ + 1697.6312, + -2238.3711, + 837.1707 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1697.6312, + -2238.3711, + 837.1707 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 1697.6312, + -2238.3711, + 837.1707 + ], + "actual_end_pos": [ + 1697.6312, + -2238.3711, + 837.1707 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1697.6312, + -2238.3711, + 837.1707 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 1626.9206, + -2309.0818, + 837.1707 + ], + "actual_end_pos": [ + 1626.9206, + -2309.0818, + 837.1707 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1626.9206, + -2309.0818, + 837.1707 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 1556.2099, + -2379.7924, + 837.1707 + ], + "actual_end_pos": [ + 1556.2099, + -2379.7924, + 837.1707 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 1556.2099, + -2379.7924, + 837.1707 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 1556.2099, + -2379.7924, + 837.1707 + ], + "actual_end_pos": [ + 1556.2099, + -2379.7924, + 837.1707 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1556.2099, + -2379.7924, + 837.1707 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 1486.1042, + -2449.8982, + 850.2233 + ], + "actual_end_pos": [ + 1486.1042, + -2449.8982, + 850.2233 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1486.1042, + -2449.8982, + 850.2233 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 1486.1042, + -2449.8982, + 850.2233 + ], + "actual_end_pos": [ + 1486.1042, + -2449.8982, + 850.2233 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1486.1042, + -2449.8982, + 850.2233 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 1415.3935, + -2379.1875, + 850.2233 + ], + "actual_end_pos": [ + 1415.3935, + -2379.1875, + 850.2233 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1415.3935, + -2379.1875, + 850.2233 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 1415.3935, + -2379.1875, + 850.2233 + ], + "actual_end_pos": [ + 1415.3935, + -2379.1875, + 850.2233 + ], + "actual_end_rot": [ + 7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1415.3935, + -2379.1875, + 850.2233 + ], + "start_rot": [ + 7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 1501.996, + -2429.1875, + 850.2233 + ], + "actual_end_pos": [ + 1501.996, + -2429.1875, + 850.2233 + ], + "actual_end_rot": [ + 7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 1501.996, + -2429.1875, + 850.2233 + ], + "start_rot": [ + 7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 1501.996, + -2429.1875, + 850.2233 + ], + "actual_end_pos": [ + 1501.996, + -2429.1875, + 850.2233 + ], + "actual_end_rot": [ + 15.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260422_172644__pair_004236_A_traj_004236_meta.json b/equivalence_easy/run_20260422_172644__pair_004236_A_traj_004236_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a1e49e84c98658c1dce6140dc3329f207a890b4d --- /dev/null +++ b/equivalence_easy/run_20260422_172644__pair_004236_A_traj_004236_meta.json @@ -0,0 +1,1476 @@ +{ + "trajectory_id": 4236, + "episode_id": 0, + "state_id": 3147, + "sample_index": 3147, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_A", + "partner_trajectory_id": 4237, + "primary_trajectory_id": 4236, + "paired_trajectory_id": 4237, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 1880.0, + -1770.0, + 850.0 + ], + "rotation": [ + 0.0, + 135.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_backward", + "look_down", + "move_right", + "move_forward", + "move_right", + "move_right", + "move_backward", + "move_left", + "move_forward", + "move_left", + "move_left", + "no_op", + "turn_right", + "move_forward", + "move_right", + "move_right", + "move_forward", + "move_right", + "turn_left", + "move_backward", + "no_op", + "move_left", + "turn_right", + "move_left", + "move_forward", + "turn_left", + "move_right", + "turn_left", + "turn_left", + "turn_right", + "move_left", + "turn_right", + "move_backward", + "move_backward", + "look_down", + "move_left", + "turn_left", + "move_left", + "move_left" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1880.0, + -1770.0, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 1950.7107, + -1840.7107, + 850.0 + ], + "actual_end_pos": [ + 1950.7107, + -1840.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1950.7107, + -1840.7107, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 2021.4214, + -1911.4214, + 850.0 + ], + "actual_end_pos": [ + 2021.4214, + -1911.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 2021.4214, + -1911.4214, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 2021.4214, + -1911.4214, + 850.0 + ], + "actual_end_pos": [ + 2021.4214, + -1911.4214, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2021.4214, + -1911.4214, + 850.0 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 1950.7107, + -1982.132, + 850.0 + ], + "actual_end_pos": [ + 1950.7107, + -1982.132, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1950.7107, + -1982.132, + 850.0 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 1880.6049, + -1912.0263, + 836.9474 + ], + "actual_end_pos": [ + 1880.6049, + -1912.0263, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1880.6049, + -1912.0263, + 836.9474 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 1809.8943, + -1982.737, + 836.9474 + ], + "actual_end_pos": [ + 1809.8943, + -1982.737, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1809.8943, + -1982.737, + 836.9474 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 1739.1836, + -2053.4476, + 836.9474 + ], + "actual_end_pos": [ + 1739.1836, + -2053.4476, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1739.1836, + -2053.4476, + 836.9474 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 1809.2893, + -2123.5534, + 850.0 + ], + "actual_end_pos": [ + 1809.2893, + -2123.5534, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1809.2893, + -2123.5534, + 850.0 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 1880.0, + -2052.8427, + 850.0 + ], + "actual_end_pos": [ + 1880.0, + -2052.8427, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1880.0, + -2052.8427, + 850.0 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 1809.8943, + -1982.737, + 836.9474 + ], + "actual_end_pos": [ + 1809.8943, + -1982.737, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1809.8943, + -1982.737, + 836.9474 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 1880.6049, + -1912.0263, + 836.9474 + ], + "actual_end_pos": [ + 1880.6049, + -1912.0263, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1880.6049, + -1912.0263, + 836.9474 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 1951.3156, + -1841.3156, + 836.9474 + ], + "actual_end_pos": [ + 1951.3156, + -1841.3156, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1951.3156, + -1841.3156, + 836.9474 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 1951.3156, + -1841.3156, + 836.9474 + ], + "actual_end_pos": [ + 1951.3156, + -1841.3156, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1951.3156, + -1841.3156, + 836.9474 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 1951.3156, + -1841.3156, + 836.9474 + ], + "actual_end_pos": [ + 1951.3156, + -1841.3156, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1951.3156, + -1841.3156, + 836.9474 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 1865.454, + -1791.7434, + 823.8948 + ], + "actual_end_pos": [ + 1865.454, + -1791.7434, + 823.8948 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1865.454, + -1791.7434, + 823.8948 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 1815.454, + -1878.3459, + 823.8948 + ], + "actual_end_pos": [ + 1815.454, + -1878.3459, + 823.8948 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1815.454, + -1878.3459, + 823.8948 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 1765.454, + -1964.9485, + 823.8948 + ], + "actual_end_pos": [ + 1765.454, + -1964.9485, + 823.8948 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1765.454, + -1964.9485, + 823.8948 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 1679.5923, + -1915.3762, + 810.8421 + ], + "actual_end_pos": [ + 1679.5923, + -1915.3762, + 810.8421 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1679.5923, + -1915.3762, + 810.8421 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 1629.5923, + -2001.9787, + 810.8421 + ], + "actual_end_pos": [ + 1629.5923, + -2001.9787, + 810.8421 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1629.5923, + -2001.9787, + 810.8421 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 1629.5923, + -2001.9787, + 810.8421 + ], + "actual_end_pos": [ + 1629.5923, + -2001.9787, + 810.8421 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1629.5923, + -2001.9787, + 810.8421 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 1699.6981, + -2072.0845, + 823.8948 + ], + "actual_end_pos": [ + 1699.6981, + -2072.0845, + 823.8948 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1699.6981, + -2072.0845, + 823.8948 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 1699.6981, + -2072.0845, + 823.8948 + ], + "actual_end_pos": [ + 1699.6981, + -2072.0845, + 823.8948 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1699.6981, + -2072.0845, + 823.8948 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 1770.4087, + -2001.3738, + 823.8948 + ], + "actual_end_pos": [ + 1770.4087, + -2001.3738, + 823.8948 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1770.4087, + -2001.3738, + 823.8948 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 1770.4087, + -2001.3738, + 823.8948 + ], + "actual_end_pos": [ + 1770.4087, + -2001.3738, + 823.8948 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1770.4087, + -2001.3738, + 823.8948 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 1820.4087, + -1914.7713, + 823.8948 + ], + "actual_end_pos": [ + 1820.4087, + -1914.7713, + 823.8948 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1820.4087, + -1914.7713, + 823.8948 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 1734.5471, + -1865.199, + 810.8421 + ], + "actual_end_pos": [ + 1734.5471, + -1865.199, + 810.8421 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1734.5471, + -1865.199, + 810.8421 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 1734.5471, + -1865.199, + 810.8421 + ], + "actual_end_pos": [ + 1734.5471, + -1865.199, + 810.8421 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1734.5471, + -1865.199, + 810.8421 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 1663.8364, + -1935.9097, + 810.8421 + ], + "actual_end_pos": [ + 1663.8364, + -1935.9097, + 810.8421 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1663.8364, + -1935.9097, + 810.8421 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 1663.8364, + -1935.9097, + 810.8421 + ], + "actual_end_pos": [ + 1663.8364, + -1935.9097, + 810.8421 + ], + "actual_end_rot": [ + -7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1663.8364, + -1935.9097, + 810.8421 + ], + "start_rot": [ + -7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 1663.8364, + -1935.9097, + 810.8421 + ], + "actual_end_pos": [ + 1663.8364, + -1935.9097, + 810.8421 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1663.8364, + -1935.9097, + 810.8421 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 1663.8364, + -1935.9097, + 810.8421 + ], + "actual_end_pos": [ + 1663.8364, + -1935.9097, + 810.8421 + ], + "actual_end_rot": [ + -7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1663.8364, + -1935.9097, + 810.8421 + ], + "start_rot": [ + -7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 1750.439, + -1885.9097, + 810.8421 + ], + "actual_end_pos": [ + 1750.439, + -1885.9097, + 810.8421 + ], + "actual_end_rot": [ + -7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1750.439, + -1885.9097, + 810.8421 + ], + "start_rot": [ + -7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 1750.439, + -1885.9097, + 810.8421 + ], + "actual_end_pos": [ + 1750.439, + -1885.9097, + 810.8421 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1750.439, + -1885.9097, + 810.8421 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 1820.5447, + -1956.0154, + 823.8948 + ], + "actual_end_pos": [ + 1820.5447, + -1956.0154, + 823.8948 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1820.5447, + -1956.0154, + 823.8948 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 1890.6504, + -2026.1212, + 836.9474 + ], + "actual_end_pos": [ + 1890.6504, + -2026.1212, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 1890.6504, + -2026.1212, + 836.9474 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 1890.6504, + -2026.1212, + 836.9474 + ], + "actual_end_pos": [ + 1890.6504, + -2026.1212, + 836.9474 + ], + "actual_end_rot": [ + -15.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1890.6504, + -2026.1212, + 836.9474 + ], + "start_rot": [ + -15.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 1961.3611, + -1955.4105, + 836.9474 + ], + "actual_end_pos": [ + 1961.3611, + -1955.4105, + 836.9474 + ], + "actual_end_rot": [ + -15.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1961.3611, + -1955.4105, + 836.9474 + ], + "start_rot": [ + -15.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 1961.3611, + -1955.4105, + 836.9474 + ], + "actual_end_pos": [ + 1961.3611, + -1955.4105, + 836.9474 + ], + "actual_end_rot": [ + -15.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1961.3611, + -1955.4105, + 836.9474 + ], + "start_rot": [ + -15.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 2047.9637, + -1905.4105, + 836.9474 + ], + "actual_end_pos": [ + 2047.9637, + -1905.4105, + 836.9474 + ], + "actual_end_rot": [ + -15.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2047.9637, + -1905.4105, + 836.9474 + ], + "start_rot": [ + -15.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 2134.5662, + -1855.4105, + 836.9474 + ], + "actual_end_pos": [ + 2134.5662, + -1855.4105, + 836.9474 + ], + "actual_end_rot": [ + -15.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260422_172644__pair_004236_B_traj_004237_meta.json b/equivalence_easy/run_20260422_172644__pair_004236_B_traj_004237_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9d875ff84724779041d1244735ad33b2d6a9608b --- /dev/null +++ b/equivalence_easy/run_20260422_172644__pair_004236_B_traj_004237_meta.json @@ -0,0 +1,1476 @@ +{ + "trajectory_id": 4237, + "episode_id": 0, + "state_id": 3147, + "sample_index": 3147, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_B", + "partner_trajectory_id": 4236, + "primary_trajectory_id": 4236, + "paired_trajectory_id": 4237, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 1880.0, + -1770.0, + 850.0 + ], + "rotation": [ + 0.0, + 135.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_backward", + "look_down", + "move_forward", + "move_right", + "move_right", + "move_right", + "move_backward", + "move_left", + "move_left", + "move_forward", + "move_left", + "no_op", + "turn_right", + "move_right", + "move_forward", + "move_right", + "move_forward", + "move_right", + "turn_left", + "move_backward", + "no_op", + "move_left", + "turn_right", + "move_left", + "move_forward", + "turn_left", + "move_right", + "turn_right", + "turn_left", + "turn_left", + "move_left", + "turn_right", + "move_backward", + "move_backward", + "look_down", + "move_left", + "turn_left", + "move_left", + "move_left" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1880.0, + -1770.0, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 1950.7107, + -1840.7107, + 850.0 + ], + "actual_end_pos": [ + 1950.7107, + -1840.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1950.7107, + -1840.7107, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 2021.4214, + -1911.4214, + 850.0 + ], + "actual_end_pos": [ + 2021.4214, + -1911.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 2021.4214, + -1911.4214, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 2021.4214, + -1911.4214, + 850.0 + ], + "actual_end_pos": [ + 2021.4214, + -1911.4214, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2021.4214, + -1911.4214, + 850.0 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 1951.3156, + -1841.3156, + 836.9474 + ], + "actual_end_pos": [ + 1951.3156, + -1841.3156, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1951.3156, + -1841.3156, + 836.9474 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 1880.6049, + -1912.0263, + 836.9474 + ], + "actual_end_pos": [ + 1880.6049, + -1912.0263, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1880.6049, + -1912.0263, + 836.9474 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 1809.8943, + -1982.737, + 836.9474 + ], + "actual_end_pos": [ + 1809.8943, + -1982.737, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1809.8943, + -1982.737, + 836.9474 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 1739.1836, + -2053.4476, + 836.9474 + ], + "actual_end_pos": [ + 1739.1836, + -2053.4476, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1739.1836, + -2053.4476, + 836.9474 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 1809.2893, + -2123.5534, + 850.0 + ], + "actual_end_pos": [ + 1809.2893, + -2123.5534, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1809.2893, + -2123.5534, + 850.0 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 1880.0, + -2052.8427, + 850.0 + ], + "actual_end_pos": [ + 1880.0, + -2052.8427, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1880.0, + -2052.8427, + 850.0 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 1950.7107, + -1982.132, + 850.0 + ], + "actual_end_pos": [ + 1950.7107, + -1982.132, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1950.7107, + -1982.132, + 850.0 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 1880.6049, + -1912.0263, + 836.9474 + ], + "actual_end_pos": [ + 1880.6049, + -1912.0263, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1880.6049, + -1912.0263, + 836.9474 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 1951.3156, + -1841.3156, + 836.9474 + ], + "actual_end_pos": [ + 1951.3156, + -1841.3156, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1951.3156, + -1841.3156, + 836.9474 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 1951.3156, + -1841.3156, + 836.9474 + ], + "actual_end_pos": [ + 1951.3156, + -1841.3156, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1951.3156, + -1841.3156, + 836.9474 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 1951.3156, + -1841.3156, + 836.9474 + ], + "actual_end_pos": [ + 1951.3156, + -1841.3156, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1951.3156, + -1841.3156, + 836.9474 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 1901.3156, + -1927.9182, + 836.9474 + ], + "actual_end_pos": [ + 1901.3156, + -1927.9182, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1901.3156, + -1927.9182, + 836.9474 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 1815.454, + -1878.3459, + 823.8948 + ], + "actual_end_pos": [ + 1815.454, + -1878.3459, + 823.8948 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1815.454, + -1878.3459, + 823.8948 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 1765.454, + -1964.9485, + 823.8948 + ], + "actual_end_pos": [ + 1765.454, + -1964.9485, + 823.8948 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1765.454, + -1964.9485, + 823.8948 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 1679.5923, + -1915.3762, + 810.8421 + ], + "actual_end_pos": [ + 1679.5923, + -1915.3762, + 810.8421 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1679.5923, + -1915.3762, + 810.8421 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 1629.5923, + -2001.9787, + 810.8421 + ], + "actual_end_pos": [ + 1629.5923, + -2001.9787, + 810.8421 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1629.5923, + -2001.9787, + 810.8421 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 1629.5923, + -2001.9787, + 810.8421 + ], + "actual_end_pos": [ + 1629.5923, + -2001.9787, + 810.8421 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1629.5923, + -2001.9787, + 810.8421 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 1699.6981, + -2072.0845, + 823.8948 + ], + "actual_end_pos": [ + 1699.6981, + -2072.0845, + 823.8948 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1699.6981, + -2072.0845, + 823.8948 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 1699.6981, + -2072.0845, + 823.8948 + ], + "actual_end_pos": [ + 1699.6981, + -2072.0845, + 823.8948 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1699.6981, + -2072.0845, + 823.8948 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 1770.4087, + -2001.3738, + 823.8948 + ], + "actual_end_pos": [ + 1770.4087, + -2001.3738, + 823.8948 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1770.4087, + -2001.3738, + 823.8948 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 1770.4087, + -2001.3738, + 823.8948 + ], + "actual_end_pos": [ + 1770.4087, + -2001.3738, + 823.8948 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1770.4087, + -2001.3738, + 823.8948 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 1820.4087, + -1914.7713, + 823.8948 + ], + "actual_end_pos": [ + 1820.4087, + -1914.7713, + 823.8948 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1820.4087, + -1914.7713, + 823.8948 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 1734.5471, + -1865.199, + 810.8421 + ], + "actual_end_pos": [ + 1734.5471, + -1865.199, + 810.8421 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1734.5471, + -1865.199, + 810.8421 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 1734.5471, + -1865.199, + 810.8421 + ], + "actual_end_pos": [ + 1734.5471, + -1865.199, + 810.8421 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1734.5471, + -1865.199, + 810.8421 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 1663.8364, + -1935.9097, + 810.8421 + ], + "actual_end_pos": [ + 1663.8364, + -1935.9097, + 810.8421 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1663.8364, + -1935.9097, + 810.8421 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 1663.8364, + -1935.9097, + 810.8421 + ], + "actual_end_pos": [ + 1663.8364, + -1935.9097, + 810.8421 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1663.8364, + -1935.9097, + 810.8421 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 1663.8364, + -1935.9097, + 810.8421 + ], + "actual_end_pos": [ + 1663.8364, + -1935.9097, + 810.8421 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1663.8364, + -1935.9097, + 810.8421 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 1663.8364, + -1935.9097, + 810.8421 + ], + "actual_end_pos": [ + 1663.8364, + -1935.9097, + 810.8421 + ], + "actual_end_rot": [ + -7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1663.8364, + -1935.9097, + 810.8421 + ], + "start_rot": [ + -7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 1750.439, + -1885.9097, + 810.8421 + ], + "actual_end_pos": [ + 1750.439, + -1885.9097, + 810.8421 + ], + "actual_end_rot": [ + -7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1750.439, + -1885.9097, + 810.8421 + ], + "start_rot": [ + -7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 1750.439, + -1885.9097, + 810.8421 + ], + "actual_end_pos": [ + 1750.439, + -1885.9097, + 810.8421 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1750.439, + -1885.9097, + 810.8421 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 1820.5447, + -1956.0154, + 823.8948 + ], + "actual_end_pos": [ + 1820.5447, + -1956.0154, + 823.8948 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1820.5447, + -1956.0154, + 823.8948 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 1890.6504, + -2026.1212, + 836.9474 + ], + "actual_end_pos": [ + 1890.6504, + -2026.1212, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 1890.6504, + -2026.1212, + 836.9474 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 1890.6504, + -2026.1212, + 836.9474 + ], + "actual_end_pos": [ + 1890.6504, + -2026.1212, + 836.9474 + ], + "actual_end_rot": [ + -15.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1890.6504, + -2026.1212, + 836.9474 + ], + "start_rot": [ + -15.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 1961.3611, + -1955.4105, + 836.9474 + ], + "actual_end_pos": [ + 1961.3611, + -1955.4105, + 836.9474 + ], + "actual_end_rot": [ + -15.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1961.3611, + -1955.4105, + 836.9474 + ], + "start_rot": [ + -15.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 1961.3611, + -1955.4105, + 836.9474 + ], + "actual_end_pos": [ + 1961.3611, + -1955.4105, + 836.9474 + ], + "actual_end_rot": [ + -15.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1961.3611, + -1955.4105, + 836.9474 + ], + "start_rot": [ + -15.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 2047.9637, + -1905.4105, + 836.9474 + ], + "actual_end_pos": [ + 2047.9637, + -1905.4105, + 836.9474 + ], + "actual_end_rot": [ + -15.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2047.9637, + -1905.4105, + 836.9474 + ], + "start_rot": [ + -15.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 2134.5662, + -1855.4105, + 836.9474 + ], + "actual_end_pos": [ + 2134.5662, + -1855.4105, + 836.9474 + ], + "actual_end_rot": [ + -15.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260422_172644__pair_004258_A_traj_004258_meta.json b/equivalence_easy/run_20260422_172644__pair_004258_A_traj_004258_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e44b4bf7cb83fb828f86b5eda29e400fcdef08ea --- /dev/null +++ b/equivalence_easy/run_20260422_172644__pair_004258_A_traj_004258_meta.json @@ -0,0 +1,1476 @@ +{ + "trajectory_id": 4258, + "episode_id": 0, + "state_id": 3163, + "sample_index": 3163, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_A", + "partner_trajectory_id": 4259, + "primary_trajectory_id": 4258, + "paired_trajectory_id": 4259, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 1880.0, + -970.0, + 850.0 + ], + "rotation": [ + 0.0, + 135.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "turn_right", + "move_right", + "move_forward", + "turn_left", + "move_backward", + "turn_right", + "move_forward", + "look_down", + "move_left", + "move_left", + "turn_right", + "turn_right", + "move_backward", + "move_right", + "turn_right", + "turn_right", + "move_left", + "turn_right", + "move_right", + "turn_right", + "turn_right", + "turn_right", + "move_right", + "move_backward", + "move_right", + "move_right", + "move_forward", + "move_right", + "move_backward", + "no_op", + "move_forward", + "turn_left", + "turn_left", + "look_down", + "move_backward", + "look_up", + "move_forward", + "turn_left", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1880.0, + -970.0, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 1950.7107, + -1040.7107, + 850.0 + ], + "actual_end_pos": [ + 1950.7107, + -1040.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1950.7107, + -1040.7107, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 1950.7107, + -1040.7107, + 850.0 + ], + "actual_end_pos": [ + 1950.7107, + -1040.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1950.7107, + -1040.7107, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 1900.7107, + -1127.3132, + 850.0 + ], + "actual_end_pos": [ + 1900.7107, + -1127.3132, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1900.7107, + -1127.3132, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 1814.1081, + -1077.3132, + 850.0 + ], + "actual_end_pos": [ + 1814.1081, + -1077.3132, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1814.1081, + -1077.3132, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 1814.1081, + -1077.3132, + 850.0 + ], + "actual_end_pos": [ + 1814.1081, + -1077.3132, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1814.1081, + -1077.3132, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 1884.8188, + -1148.0239, + 850.0 + ], + "actual_end_pos": [ + 1884.8188, + -1148.0239, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1884.8188, + -1148.0239, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 1884.8188, + -1148.0239, + 850.0 + ], + "actual_end_pos": [ + 1884.8188, + -1148.0239, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1884.8188, + -1148.0239, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 1798.2163, + -1098.0239, + 850.0 + ], + "actual_end_pos": [ + 1798.2163, + -1098.0239, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 1798.2163, + -1098.0239, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 1798.2163, + -1098.0239, + 850.0 + ], + "actual_end_pos": [ + 1798.2163, + -1098.0239, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1798.2163, + -1098.0239, + 850.0 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 1848.2163, + -1011.4214, + 850.0 + ], + "actual_end_pos": [ + 1848.2163, + -1011.4214, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1848.2163, + -1011.4214, + 850.0 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 1898.2163, + -924.8188, + 850.0 + ], + "actual_end_pos": [ + 1898.2163, + -924.8188, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1898.2163, + -924.8188, + 850.0 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 1898.2163, + -924.8188, + 850.0 + ], + "actual_end_pos": [ + 1898.2163, + -924.8188, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1898.2163, + -924.8188, + 850.0 + ], + "start_rot": [ + -7.5, + 165.0, + -0.0 + ], + "expected_end_pos": [ + 1898.2163, + -924.8188, + 850.0 + ], + "actual_end_pos": [ + 1898.2163, + -924.8188, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 180.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1898.2163, + -924.8188, + 850.0 + ], + "start_rot": [ + -7.5, + 180.0, + -0.0 + ], + "expected_end_pos": [ + 1997.3608, + -924.8188, + 863.0526 + ], + "actual_end_pos": [ + 1997.3608, + -924.8188, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 180.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1997.3608, + -924.8188, + 863.0526 + ], + "start_rot": [ + -7.5, + 180.0, + -0.0 + ], + "expected_end_pos": [ + 1997.3608, + -1024.8188, + 863.0526 + ], + "actual_end_pos": [ + 1997.3608, + -1024.8188, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 180.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1997.3608, + -1024.8188, + 863.0526 + ], + "start_rot": [ + -7.5, + 180.0, + -0.0 + ], + "expected_end_pos": [ + 1997.3608, + -1024.8188, + 863.0526 + ], + "actual_end_pos": [ + 1997.3608, + -1024.8188, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1997.3608, + -1024.8188, + 863.0526 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 1997.3608, + -1024.8188, + 863.0526 + ], + "actual_end_pos": [ + 1997.3608, + -1024.8188, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1997.3608, + -1024.8188, + 863.0526 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 1947.3608, + -938.2163, + 863.0526 + ], + "actual_end_pos": [ + 1947.3608, + -938.2163, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1947.3608, + -938.2163, + 863.0526 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 1947.3608, + -938.2163, + 863.0526 + ], + "actual_end_pos": [ + 1947.3608, + -938.2163, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1947.3608, + -938.2163, + 863.0526 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2018.0714, + -1008.927, + 863.0526 + ], + "actual_end_pos": [ + 2018.0714, + -1008.927, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2018.0714, + -1008.927, + 863.0526 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2018.0714, + -1008.927, + 863.0526 + ], + "actual_end_pos": [ + 2018.0714, + -1008.927, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2018.0714, + -1008.927, + 863.0526 + ], + "start_rot": [ + -7.5, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 2018.0714, + -1008.927, + 863.0526 + ], + "actual_end_pos": [ + 2018.0714, + -1008.927, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2018.0714, + -1008.927, + 863.0526 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 2018.0714, + -1008.927, + 863.0526 + ], + "actual_end_pos": [ + 2018.0714, + -1008.927, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2018.0714, + -1008.927, + 863.0526 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2118.0714, + -1008.927, + 863.0526 + ], + "actual_end_pos": [ + 2118.0714, + -1008.927, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2118.0714, + -1008.927, + 863.0526 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2118.0714, + -909.7825, + 876.1052 + ], + "actual_end_pos": [ + 2118.0714, + -909.7825, + 876.1052 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2118.0714, + -909.7825, + 876.1052 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2218.0714, + -909.7825, + 876.1052 + ], + "actual_end_pos": [ + 2218.0714, + -909.7825, + 876.1052 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2218.0714, + -909.7825, + 876.1052 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2318.0714, + -909.7825, + 876.1052 + ], + "actual_end_pos": [ + 2318.0714, + -909.7825, + 876.1052 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2318.0714, + -909.7825, + 876.1052 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2318.0714, + -1008.927, + 863.0526 + ], + "actual_end_pos": [ + 2318.0714, + -1008.927, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2318.0714, + -1008.927, + 863.0526 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2418.0714, + -1008.927, + 863.0526 + ], + "actual_end_pos": [ + 2418.0714, + -1008.927, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2418.0714, + -1008.927, + 863.0526 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2418.0714, + -909.7825, + 876.1052 + ], + "actual_end_pos": [ + 2418.0714, + -909.7825, + 876.1052 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2418.0714, + -909.7825, + 876.1052 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2418.0714, + -909.7825, + 876.1052 + ], + "actual_end_pos": [ + 2418.0714, + -909.7825, + 876.1052 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2418.0714, + -909.7825, + 876.1052 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2418.0714, + -1008.927, + 863.0526 + ], + "actual_end_pos": [ + 2418.0714, + -1008.927, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2418.0714, + -1008.927, + 863.0526 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2418.0714, + -1008.927, + 863.0526 + ], + "actual_end_pos": [ + 2418.0714, + -1008.927, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2418.0714, + -1008.927, + 863.0526 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 2418.0714, + -1008.927, + 863.0526 + ], + "actual_end_pos": [ + 2418.0714, + -1008.927, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 2418.0714, + -1008.927, + 863.0526 + ], + "start_rot": [ + -7.5, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 2418.0714, + -1008.927, + 863.0526 + ], + "actual_end_pos": [ + 2418.0714, + -1008.927, + 863.0526 + ], + "actual_end_rot": [ + -15.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2418.0714, + -1008.927, + 863.0526 + ], + "start_rot": [ + -15.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 2466.3677, + -925.2753, + 888.9345 + ], + "actual_end_pos": [ + 2466.3677, + -925.2753, + 888.9345 + ], + "actual_end_rot": [ + -15.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 2466.3677, + -925.2753, + 888.9345 + ], + "start_rot": [ + -15.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 2466.3677, + -925.2753, + 888.9345 + ], + "actual_end_pos": [ + 2466.3677, + -925.2753, + 888.9345 + ], + "actual_end_rot": [ + -7.5, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2466.3677, + -925.2753, + 888.9345 + ], + "start_rot": [ + -7.5, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 2416.7955, + -1011.137, + 875.8819 + ], + "actual_end_pos": [ + 2416.7955, + -1011.137, + 875.8819 + ], + "actual_end_rot": [ + -7.5, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2416.7955, + -1011.137, + 875.8819 + ], + "start_rot": [ + -7.5, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 2416.7955, + -1011.137, + 875.8819 + ], + "actual_end_pos": [ + 2416.7955, + -1011.137, + 875.8819 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2416.7955, + -1011.137, + 875.8819 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2416.7955, + -1011.137, + 875.8819 + ], + "actual_end_pos": [ + 2416.7955, + -1011.137, + 875.8819 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260422_172644__pair_004258_B_traj_004259_meta.json b/equivalence_easy/run_20260422_172644__pair_004258_B_traj_004259_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2b9886cc8acfdaa2ce8e269c7733a50cfcc88269 --- /dev/null +++ b/equivalence_easy/run_20260422_172644__pair_004258_B_traj_004259_meta.json @@ -0,0 +1,1476 @@ +{ + "trajectory_id": 4259, + "episode_id": 0, + "state_id": 3163, + "sample_index": 3163, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_B", + "partner_trajectory_id": 4258, + "primary_trajectory_id": 4258, + "paired_trajectory_id": 4259, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 1880.0, + -970.0, + 850.0 + ], + "rotation": [ + 0.0, + 135.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "turn_right", + "move_forward", + "move_right", + "turn_left", + "move_backward", + "turn_right", + "move_forward", + "look_down", + "move_left", + "move_left", + "turn_right", + "turn_right", + "move_backward", + "move_right", + "turn_right", + "turn_right", + "move_left", + "turn_right", + "move_right", + "turn_right", + "turn_right", + "turn_right", + "move_backward", + "move_right", + "move_right", + "move_right", + "move_right", + "move_backward", + "move_forward", + "no_op", + "move_forward", + "turn_left", + "look_down", + "turn_left", + "move_backward", + "look_up", + "move_forward", + "turn_left", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1880.0, + -970.0, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 1950.7107, + -1040.7107, + 850.0 + ], + "actual_end_pos": [ + 1950.7107, + -1040.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1950.7107, + -1040.7107, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 1950.7107, + -1040.7107, + 850.0 + ], + "actual_end_pos": [ + 1950.7107, + -1040.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1950.7107, + -1040.7107, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 1864.1081, + -990.7107, + 850.0 + ], + "actual_end_pos": [ + 1864.1081, + -990.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1864.1081, + -990.7107, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 1814.1081, + -1077.3132, + 850.0 + ], + "actual_end_pos": [ + 1814.1081, + -1077.3132, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1814.1081, + -1077.3132, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 1814.1081, + -1077.3132, + 850.0 + ], + "actual_end_pos": [ + 1814.1081, + -1077.3132, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1814.1081, + -1077.3132, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 1884.8188, + -1148.0239, + 850.0 + ], + "actual_end_pos": [ + 1884.8188, + -1148.0239, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1884.8188, + -1148.0239, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 1884.8188, + -1148.0239, + 850.0 + ], + "actual_end_pos": [ + 1884.8188, + -1148.0239, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1884.8188, + -1148.0239, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 1798.2163, + -1098.0239, + 850.0 + ], + "actual_end_pos": [ + 1798.2163, + -1098.0239, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 1798.2163, + -1098.0239, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 1798.2163, + -1098.0239, + 850.0 + ], + "actual_end_pos": [ + 1798.2163, + -1098.0239, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1798.2163, + -1098.0239, + 850.0 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 1848.2163, + -1011.4214, + 850.0 + ], + "actual_end_pos": [ + 1848.2163, + -1011.4214, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1848.2163, + -1011.4214, + 850.0 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 1898.2163, + -924.8188, + 850.0 + ], + "actual_end_pos": [ + 1898.2163, + -924.8188, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1898.2163, + -924.8188, + 850.0 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 1898.2163, + -924.8188, + 850.0 + ], + "actual_end_pos": [ + 1898.2163, + -924.8188, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1898.2163, + -924.8188, + 850.0 + ], + "start_rot": [ + -7.5, + 165.0, + -0.0 + ], + "expected_end_pos": [ + 1898.2163, + -924.8188, + 850.0 + ], + "actual_end_pos": [ + 1898.2163, + -924.8188, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 180.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1898.2163, + -924.8188, + 850.0 + ], + "start_rot": [ + -7.5, + 180.0, + -0.0 + ], + "expected_end_pos": [ + 1997.3608, + -924.8188, + 863.0526 + ], + "actual_end_pos": [ + 1997.3608, + -924.8188, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 180.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1997.3608, + -924.8188, + 863.0526 + ], + "start_rot": [ + -7.5, + 180.0, + -0.0 + ], + "expected_end_pos": [ + 1997.3608, + -1024.8188, + 863.0526 + ], + "actual_end_pos": [ + 1997.3608, + -1024.8188, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 180.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1997.3608, + -1024.8188, + 863.0526 + ], + "start_rot": [ + -7.5, + 180.0, + -0.0 + ], + "expected_end_pos": [ + 1997.3608, + -1024.8188, + 863.0526 + ], + "actual_end_pos": [ + 1997.3608, + -1024.8188, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1997.3608, + -1024.8188, + 863.0526 + ], + "start_rot": [ + -7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 1997.3608, + -1024.8188, + 863.0526 + ], + "actual_end_pos": [ + 1997.3608, + -1024.8188, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1997.3608, + -1024.8188, + 863.0526 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 1947.3608, + -938.2163, + 863.0526 + ], + "actual_end_pos": [ + 1947.3608, + -938.2163, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1947.3608, + -938.2163, + 863.0526 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 1947.3608, + -938.2163, + 863.0526 + ], + "actual_end_pos": [ + 1947.3608, + -938.2163, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1947.3608, + -938.2163, + 863.0526 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2018.0714, + -1008.927, + 863.0526 + ], + "actual_end_pos": [ + 2018.0714, + -1008.927, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2018.0714, + -1008.927, + 863.0526 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2018.0714, + -1008.927, + 863.0526 + ], + "actual_end_pos": [ + 2018.0714, + -1008.927, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2018.0714, + -1008.927, + 863.0526 + ], + "start_rot": [ + -7.5, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 2018.0714, + -1008.927, + 863.0526 + ], + "actual_end_pos": [ + 2018.0714, + -1008.927, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2018.0714, + -1008.927, + 863.0526 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 2018.0714, + -1008.927, + 863.0526 + ], + "actual_end_pos": [ + 2018.0714, + -1008.927, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2018.0714, + -1008.927, + 863.0526 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2018.0714, + -909.7825, + 876.1052 + ], + "actual_end_pos": [ + 2018.0714, + -909.7825, + 876.1052 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2018.0714, + -909.7825, + 876.1052 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2118.0714, + -909.7825, + 876.1052 + ], + "actual_end_pos": [ + 2118.0714, + -909.7825, + 876.1052 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2118.0714, + -909.7825, + 876.1052 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2218.0714, + -909.7825, + 876.1052 + ], + "actual_end_pos": [ + 2218.0714, + -909.7825, + 876.1052 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2218.0714, + -909.7825, + 876.1052 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2318.0714, + -909.7825, + 876.1052 + ], + "actual_end_pos": [ + 2318.0714, + -909.7825, + 876.1052 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2318.0714, + -909.7825, + 876.1052 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2418.0714, + -909.7825, + 876.1052 + ], + "actual_end_pos": [ + 2418.0714, + -909.7825, + 876.1052 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2418.0714, + -909.7825, + 876.1052 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2418.0714, + -810.638, + 889.1579 + ], + "actual_end_pos": [ + 2418.0714, + -810.638, + 889.1579 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2418.0714, + -810.638, + 889.1579 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2418.0714, + -909.7825, + 876.1052 + ], + "actual_end_pos": [ + 2418.0714, + -909.7825, + 876.1052 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2418.0714, + -909.7825, + 876.1052 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2418.0714, + -909.7825, + 876.1052 + ], + "actual_end_pos": [ + 2418.0714, + -909.7825, + 876.1052 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2418.0714, + -909.7825, + 876.1052 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2418.0714, + -1008.927, + 863.0526 + ], + "actual_end_pos": [ + 2418.0714, + -1008.927, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2418.0714, + -1008.927, + 863.0526 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2418.0714, + -1008.927, + 863.0526 + ], + "actual_end_pos": [ + 2418.0714, + -1008.927, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 2418.0714, + -1008.927, + 863.0526 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 2418.0714, + -1008.927, + 863.0526 + ], + "actual_end_pos": [ + 2418.0714, + -1008.927, + 863.0526 + ], + "actual_end_rot": [ + -15.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2418.0714, + -1008.927, + 863.0526 + ], + "start_rot": [ + -15.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 2418.0714, + -1008.927, + 863.0526 + ], + "actual_end_pos": [ + 2418.0714, + -1008.927, + 863.0526 + ], + "actual_end_rot": [ + -15.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2418.0714, + -1008.927, + 863.0526 + ], + "start_rot": [ + -15.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 2466.3677, + -925.2753, + 888.9345 + ], + "actual_end_pos": [ + 2466.3677, + -925.2753, + 888.9345 + ], + "actual_end_rot": [ + -15.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 2466.3677, + -925.2753, + 888.9345 + ], + "start_rot": [ + -15.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 2466.3677, + -925.2753, + 888.9345 + ], + "actual_end_pos": [ + 2466.3677, + -925.2753, + 888.9345 + ], + "actual_end_rot": [ + -7.5, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2466.3677, + -925.2753, + 888.9345 + ], + "start_rot": [ + -7.5, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 2416.7955, + -1011.137, + 875.8819 + ], + "actual_end_pos": [ + 2416.7955, + -1011.137, + 875.8819 + ], + "actual_end_rot": [ + -7.5, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2416.7955, + -1011.137, + 875.8819 + ], + "start_rot": [ + -7.5, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 2416.7955, + -1011.137, + 875.8819 + ], + "actual_end_pos": [ + 2416.7955, + -1011.137, + 875.8819 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2416.7955, + -1011.137, + 875.8819 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2416.7955, + -1011.137, + 875.8819 + ], + "actual_end_pos": [ + 2416.7955, + -1011.137, + 875.8819 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260422_172644__pair_004309_A_traj_004309_meta.json b/equivalence_easy/run_20260422_172644__pair_004309_A_traj_004309_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a9322776007f42d1caab29143a78e89d701f1d65 --- /dev/null +++ b/equivalence_easy/run_20260422_172644__pair_004309_A_traj_004309_meta.json @@ -0,0 +1,1476 @@ +{ + "trajectory_id": 4309, + "episode_id": 0, + "state_id": 3201, + "sample_index": 3201, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_A", + "partner_trajectory_id": 4310, + "primary_trajectory_id": 4309, + "paired_trajectory_id": 4310, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 1880.0, + 230.0, + 850.0 + ], + "rotation": [ + 0.0, + 45.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_left", + "move_forward", + "look_down", + "turn_left", + "move_left", + "turn_right", + "turn_right", + "move_left", + "move_forward", + "turn_left", + "move_backward", + "move_backward", + "turn_left", + "move_right", + "turn_right", + "no_op", + "move_backward", + "no_op", + "move_right", + "look_down", + "turn_left", + "turn_left", + "move_left", + "move_left", + "move_backward", + "move_right", + "turn_left", + "move_forward", + "move_right", + "move_backward", + "turn_right", + "move_forward", + "no_op", + "no_op", + "move_forward", + "look_up", + "move_right", + "move_right", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1880.0, + 230.0, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1809.2893, + 159.2893, + 850.0 + ], + "actual_end_pos": [ + 1809.2893, + 159.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1809.2893, + 159.2893, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1880.0, + 88.5786, + 850.0 + ], + "actual_end_pos": [ + 1880.0, + 88.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1880.0, + 88.5786, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1950.7107, + 159.2893, + 850.0 + ], + "actual_end_pos": [ + 1950.7107, + 159.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 1950.7107, + 159.2893, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1950.7107, + 159.2893, + 850.0 + ], + "actual_end_pos": [ + 1950.7107, + 159.2893, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1950.7107, + 159.2893, + 850.0 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1950.7107, + 159.2893, + 850.0 + ], + "actual_end_pos": [ + 1950.7107, + 159.2893, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1950.7107, + 159.2893, + 850.0 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 2000.7107, + 72.6868, + 850.0 + ], + "actual_end_pos": [ + 2000.7107, + 72.6868, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2000.7107, + 72.6868, + 850.0 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 2000.7107, + 72.6868, + 850.0 + ], + "actual_end_pos": [ + 2000.7107, + 72.6868, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2000.7107, + 72.6868, + 850.0 + ], + "start_rot": [ + -7.5, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 2000.7107, + 72.6868, + 850.0 + ], + "actual_end_pos": [ + 2000.7107, + 72.6868, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2000.7107, + 72.6868, + 850.0 + ], + "start_rot": [ + -7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2087.3132, + 22.6868, + 850.0 + ], + "actual_end_pos": [ + 2087.3132, + 22.6868, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2087.3132, + 22.6868, + 850.0 + ], + "start_rot": [ + -7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2136.8855, + 108.5484, + 836.9474 + ], + "actual_end_pos": [ + 2136.8855, + 108.5484, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2136.8855, + 108.5484, + 836.9474 + ], + "start_rot": [ + -7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2136.8855, + 108.5484, + 836.9474 + ], + "actual_end_pos": [ + 2136.8855, + 108.5484, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2136.8855, + 108.5484, + 836.9474 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2066.7797, + 38.4427, + 850.0 + ], + "actual_end_pos": [ + 2066.7797, + 38.4427, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2066.7797, + 38.4427, + 850.0 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1996.674, + -31.6631, + 863.0526 + ], + "actual_end_pos": [ + 1996.674, + -31.6631, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1996.674, + -31.6631, + 863.0526 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1996.674, + -31.6631, + 863.0526 + ], + "actual_end_pos": [ + 1996.674, + -31.6631, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1996.674, + -31.6631, + 863.0526 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 1946.674, + 54.9395, + 863.0526 + ], + "actual_end_pos": [ + 1946.674, + 54.9395, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1946.674, + 54.9395, + 863.0526 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 1946.674, + 54.9395, + 863.0526 + ], + "actual_end_pos": [ + 1946.674, + 54.9395, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1946.674, + 54.9395, + 863.0526 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1946.674, + 54.9395, + 863.0526 + ], + "actual_end_pos": [ + 1946.674, + 54.9395, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1946.674, + 54.9395, + 863.0526 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1876.5682, + -15.1663, + 876.1052 + ], + "actual_end_pos": [ + 1876.5682, + -15.1663, + 876.1052 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1876.5682, + -15.1663, + 876.1052 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1876.5682, + -15.1663, + 876.1052 + ], + "actual_end_pos": [ + 1876.5682, + -15.1663, + 876.1052 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1876.5682, + -15.1663, + 876.1052 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1805.8576, + 55.5444, + 876.1052 + ], + "actual_end_pos": [ + 1805.8576, + 55.5444, + 876.1052 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 1805.8576, + 55.5444, + 876.1052 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1805.8576, + 55.5444, + 876.1052 + ], + "actual_end_pos": [ + 1805.8576, + 55.5444, + 876.1052 + ], + "actual_end_rot": [ + -15.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1805.8576, + 55.5444, + 876.1052 + ], + "start_rot": [ + -15.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1805.8576, + 55.5444, + 876.1052 + ], + "actual_end_pos": [ + 1805.8576, + 55.5444, + 876.1052 + ], + "actual_end_rot": [ + -15.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1805.8576, + 55.5444, + 876.1052 + ], + "start_rot": [ + -15.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 1805.8576, + 55.5444, + 876.1052 + ], + "actual_end_pos": [ + 1805.8576, + 55.5444, + 876.1052 + ], + "actual_end_rot": [ + -15.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1805.8576, + 55.5444, + 876.1052 + ], + "start_rot": [ + -15.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 1831.7395, + -41.0482, + 876.1052 + ], + "actual_end_pos": [ + 1831.7395, + -41.0482, + 876.1052 + ], + "actual_end_rot": [ + -15.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1831.7395, + -41.0482, + 876.1052 + ], + "start_rot": [ + -15.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 1857.6214, + -137.6407, + 876.1052 + ], + "actual_end_pos": [ + 1857.6214, + -137.6407, + 876.1052 + ], + "actual_end_rot": [ + -15.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1857.6214, + -137.6407, + 876.1052 + ], + "start_rot": [ + -15.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 1764.3201, + -162.6407, + 901.9871 + ], + "actual_end_pos": [ + 1764.3201, + -162.6407, + 901.9871 + ], + "actual_end_rot": [ + -15.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1764.3201, + -162.6407, + 901.9871 + ], + "start_rot": [ + -15.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 1738.4382, + -66.0482, + 901.9871 + ], + "actual_end_pos": [ + 1738.4382, + -66.0482, + 901.9871 + ], + "actual_end_rot": [ + -15.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1738.4382, + -66.0482, + 901.9871 + ], + "start_rot": [ + -15.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 1738.4382, + -66.0482, + 901.9871 + ], + "actual_end_pos": [ + 1738.4382, + -66.0482, + 901.9871 + ], + "actual_end_rot": [ + -15.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1738.4382, + -66.0482, + 901.9871 + ], + "start_rot": [ + -15.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 1835.0308, + -66.0482, + 876.1052 + ], + "actual_end_pos": [ + 1835.0308, + -66.0482, + 876.1052 + ], + "actual_end_rot": [ + -15.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1835.0308, + -66.0482, + 876.1052 + ], + "start_rot": [ + -15.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 1835.0308, + 33.9518, + 876.1052 + ], + "actual_end_pos": [ + 1835.0308, + 33.9518, + 876.1052 + ], + "actual_end_rot": [ + -15.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1835.0308, + 33.9518, + 876.1052 + ], + "start_rot": [ + -15.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 1738.4382, + 33.9518, + 901.9871 + ], + "actual_end_pos": [ + 1738.4382, + 33.9518, + 901.9871 + ], + "actual_end_rot": [ + -15.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1738.4382, + 33.9518, + 901.9871 + ], + "start_rot": [ + -15.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 1738.4382, + 33.9518, + 901.9871 + ], + "actual_end_pos": [ + 1738.4382, + 33.9518, + 901.9871 + ], + "actual_end_rot": [ + -15.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1738.4382, + 33.9518, + 901.9871 + ], + "start_rot": [ + -15.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 1831.7395, + 58.9518, + 876.1052 + ], + "actual_end_pos": [ + 1831.7395, + 58.9518, + 876.1052 + ], + "actual_end_rot": [ + -15.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1831.7395, + 58.9518, + 876.1052 + ], + "start_rot": [ + -15.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 1831.7395, + 58.9518, + 876.1052 + ], + "actual_end_pos": [ + 1831.7395, + 58.9518, + 876.1052 + ], + "actual_end_rot": [ + -15.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1831.7395, + 58.9518, + 876.1052 + ], + "start_rot": [ + -15.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 1831.7395, + 58.9518, + 876.1052 + ], + "actual_end_pos": [ + 1831.7395, + 58.9518, + 876.1052 + ], + "actual_end_rot": [ + -15.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1831.7395, + 58.9518, + 876.1052 + ], + "start_rot": [ + -15.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 1925.0407, + 83.9518, + 850.2233 + ], + "actual_end_pos": [ + 1925.0407, + 83.9518, + 850.2233 + ], + "actual_end_rot": [ + -15.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 1925.0407, + 83.9518, + 850.2233 + ], + "start_rot": [ + -15.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 1925.0407, + 83.9518, + 850.2233 + ], + "actual_end_pos": [ + 1925.0407, + 83.9518, + 850.2233 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1925.0407, + 83.9518, + 850.2233 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 1899.1588, + 180.5444, + 850.2233 + ], + "actual_end_pos": [ + 1899.1588, + 180.5444, + 850.2233 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1899.1588, + 180.5444, + 850.2233 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 1873.2769, + 277.137, + 850.2233 + ], + "actual_end_pos": [ + 1873.2769, + 277.137, + 850.2233 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1873.2769, + 277.137, + 850.2233 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 1873.2769, + 277.137, + 850.2233 + ], + "actual_end_pos": [ + 1873.2769, + 277.137, + 850.2233 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260422_172644__pair_004309_B_traj_004310_meta.json b/equivalence_easy/run_20260422_172644__pair_004309_B_traj_004310_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4d0991207cc2ba09695f745bddc8a4a6dea62e35 --- /dev/null +++ b/equivalence_easy/run_20260422_172644__pair_004309_B_traj_004310_meta.json @@ -0,0 +1,1476 @@ +{ + "trajectory_id": 4310, + "episode_id": 0, + "state_id": 3201, + "sample_index": 3201, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_B", + "partner_trajectory_id": 4309, + "primary_trajectory_id": 4309, + "paired_trajectory_id": 4310, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 1880.0, + 230.0, + 850.0 + ], + "rotation": [ + 0.0, + 45.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_backward", + "move_left", + "look_down", + "turn_left", + "move_left", + "turn_right", + "turn_right", + "move_forward", + "move_left", + "turn_left", + "move_backward", + "move_backward", + "turn_left", + "move_right", + "turn_right", + "no_op", + "move_backward", + "no_op", + "move_right", + "turn_left", + "look_down", + "turn_left", + "move_left", + "move_left", + "move_right", + "move_backward", + "turn_left", + "move_forward", + "move_backward", + "move_right", + "turn_right", + "move_forward", + "no_op", + "no_op", + "move_forward", + "look_up", + "move_right", + "move_right", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1880.0, + 230.0, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1950.7107, + 300.7107, + 850.0 + ], + "actual_end_pos": [ + 1950.7107, + 300.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1950.7107, + 300.7107, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1880.0, + 230.0, + 850.0 + ], + "actual_end_pos": [ + 1880.0, + 230.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1880.0, + 230.0, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1950.7107, + 159.2893, + 850.0 + ], + "actual_end_pos": [ + 1950.7107, + 159.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 1950.7107, + 159.2893, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1950.7107, + 159.2893, + 850.0 + ], + "actual_end_pos": [ + 1950.7107, + 159.2893, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1950.7107, + 159.2893, + 850.0 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1950.7107, + 159.2893, + 850.0 + ], + "actual_end_pos": [ + 1950.7107, + 159.2893, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1950.7107, + 159.2893, + 850.0 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 2000.7107, + 72.6868, + 850.0 + ], + "actual_end_pos": [ + 2000.7107, + 72.6868, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2000.7107, + 72.6868, + 850.0 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 2000.7107, + 72.6868, + 850.0 + ], + "actual_end_pos": [ + 2000.7107, + 72.6868, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2000.7107, + 72.6868, + 850.0 + ], + "start_rot": [ + -7.5, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 2000.7107, + 72.6868, + 850.0 + ], + "actual_end_pos": [ + 2000.7107, + 72.6868, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2000.7107, + 72.6868, + 850.0 + ], + "start_rot": [ + -7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2050.2829, + 158.5484, + 836.9474 + ], + "actual_end_pos": [ + 2050.2829, + 158.5484, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2050.2829, + 158.5484, + 836.9474 + ], + "start_rot": [ + -7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2136.8855, + 108.5484, + 836.9474 + ], + "actual_end_pos": [ + 2136.8855, + 108.5484, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2136.8855, + 108.5484, + 836.9474 + ], + "start_rot": [ + -7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2136.8855, + 108.5484, + 836.9474 + ], + "actual_end_pos": [ + 2136.8855, + 108.5484, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2136.8855, + 108.5484, + 836.9474 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2066.7797, + 38.4427, + 850.0 + ], + "actual_end_pos": [ + 2066.7797, + 38.4427, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2066.7797, + 38.4427, + 850.0 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1996.674, + -31.6631, + 863.0526 + ], + "actual_end_pos": [ + 1996.674, + -31.6631, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1996.674, + -31.6631, + 863.0526 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1996.674, + -31.6631, + 863.0526 + ], + "actual_end_pos": [ + 1996.674, + -31.6631, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1996.674, + -31.6631, + 863.0526 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 1946.674, + 54.9395, + 863.0526 + ], + "actual_end_pos": [ + 1946.674, + 54.9395, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1946.674, + 54.9395, + 863.0526 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 1946.674, + 54.9395, + 863.0526 + ], + "actual_end_pos": [ + 1946.674, + 54.9395, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1946.674, + 54.9395, + 863.0526 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1946.674, + 54.9395, + 863.0526 + ], + "actual_end_pos": [ + 1946.674, + 54.9395, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1946.674, + 54.9395, + 863.0526 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1876.5682, + -15.1663, + 876.1052 + ], + "actual_end_pos": [ + 1876.5682, + -15.1663, + 876.1052 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1876.5682, + -15.1663, + 876.1052 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1876.5682, + -15.1663, + 876.1052 + ], + "actual_end_pos": [ + 1876.5682, + -15.1663, + 876.1052 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1876.5682, + -15.1663, + 876.1052 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1805.8576, + 55.5444, + 876.1052 + ], + "actual_end_pos": [ + 1805.8576, + 55.5444, + 876.1052 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1805.8576, + 55.5444, + 876.1052 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 1805.8576, + 55.5444, + 876.1052 + ], + "actual_end_pos": [ + 1805.8576, + 55.5444, + 876.1052 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 1805.8576, + 55.5444, + 876.1052 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 1805.8576, + 55.5444, + 876.1052 + ], + "actual_end_pos": [ + 1805.8576, + 55.5444, + 876.1052 + ], + "actual_end_rot": [ + -15.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1805.8576, + 55.5444, + 876.1052 + ], + "start_rot": [ + -15.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 1805.8576, + 55.5444, + 876.1052 + ], + "actual_end_pos": [ + 1805.8576, + 55.5444, + 876.1052 + ], + "actual_end_rot": [ + -15.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1805.8576, + 55.5444, + 876.1052 + ], + "start_rot": [ + -15.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 1831.7395, + -41.0482, + 876.1052 + ], + "actual_end_pos": [ + 1831.7395, + -41.0482, + 876.1052 + ], + "actual_end_rot": [ + -15.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1831.7395, + -41.0482, + 876.1052 + ], + "start_rot": [ + -15.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 1857.6214, + -137.6407, + 876.1052 + ], + "actual_end_pos": [ + 1857.6214, + -137.6407, + 876.1052 + ], + "actual_end_rot": [ + -15.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1857.6214, + -137.6407, + 876.1052 + ], + "start_rot": [ + -15.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 1831.7395, + -41.0482, + 876.1052 + ], + "actual_end_pos": [ + 1831.7395, + -41.0482, + 876.1052 + ], + "actual_end_rot": [ + -15.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1831.7395, + -41.0482, + 876.1052 + ], + "start_rot": [ + -15.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 1738.4382, + -66.0482, + 901.9871 + ], + "actual_end_pos": [ + 1738.4382, + -66.0482, + 901.9871 + ], + "actual_end_rot": [ + -15.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1738.4382, + -66.0482, + 901.9871 + ], + "start_rot": [ + -15.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 1738.4382, + -66.0482, + 901.9871 + ], + "actual_end_pos": [ + 1738.4382, + -66.0482, + 901.9871 + ], + "actual_end_rot": [ + -15.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1738.4382, + -66.0482, + 901.9871 + ], + "start_rot": [ + -15.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 1835.0308, + -66.0482, + 876.1052 + ], + "actual_end_pos": [ + 1835.0308, + -66.0482, + 876.1052 + ], + "actual_end_rot": [ + -15.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1835.0308, + -66.0482, + 876.1052 + ], + "start_rot": [ + -15.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 1738.4382, + -66.0482, + 901.9871 + ], + "actual_end_pos": [ + 1738.4382, + -66.0482, + 901.9871 + ], + "actual_end_rot": [ + -15.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1738.4382, + -66.0482, + 901.9871 + ], + "start_rot": [ + -15.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 1738.4382, + 33.9518, + 901.9871 + ], + "actual_end_pos": [ + 1738.4382, + 33.9518, + 901.9871 + ], + "actual_end_rot": [ + -15.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1738.4382, + 33.9518, + 901.9871 + ], + "start_rot": [ + -15.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 1738.4382, + 33.9518, + 901.9871 + ], + "actual_end_pos": [ + 1738.4382, + 33.9518, + 901.9871 + ], + "actual_end_rot": [ + -15.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1738.4382, + 33.9518, + 901.9871 + ], + "start_rot": [ + -15.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 1831.7395, + 58.9518, + 876.1052 + ], + "actual_end_pos": [ + 1831.7395, + 58.9518, + 876.1052 + ], + "actual_end_rot": [ + -15.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1831.7395, + 58.9518, + 876.1052 + ], + "start_rot": [ + -15.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 1831.7395, + 58.9518, + 876.1052 + ], + "actual_end_pos": [ + 1831.7395, + 58.9518, + 876.1052 + ], + "actual_end_rot": [ + -15.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1831.7395, + 58.9518, + 876.1052 + ], + "start_rot": [ + -15.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 1831.7395, + 58.9518, + 876.1052 + ], + "actual_end_pos": [ + 1831.7395, + 58.9518, + 876.1052 + ], + "actual_end_rot": [ + -15.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1831.7395, + 58.9518, + 876.1052 + ], + "start_rot": [ + -15.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 1925.0407, + 83.9518, + 850.2233 + ], + "actual_end_pos": [ + 1925.0407, + 83.9518, + 850.2233 + ], + "actual_end_rot": [ + -15.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 1925.0407, + 83.9518, + 850.2233 + ], + "start_rot": [ + -15.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 1925.0407, + 83.9518, + 850.2233 + ], + "actual_end_pos": [ + 1925.0407, + 83.9518, + 850.2233 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1925.0407, + 83.9518, + 850.2233 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 1899.1588, + 180.5444, + 850.2233 + ], + "actual_end_pos": [ + 1899.1588, + 180.5444, + 850.2233 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1899.1588, + 180.5444, + 850.2233 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 1873.2769, + 277.137, + 850.2233 + ], + "actual_end_pos": [ + 1873.2769, + 277.137, + 850.2233 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1873.2769, + 277.137, + 850.2233 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 1873.2769, + 277.137, + 850.2233 + ], + "actual_end_pos": [ + 1873.2769, + 277.137, + 850.2233 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260422_172644__pair_004351_A_traj_004351_meta.json b/equivalence_easy/run_20260422_172644__pair_004351_A_traj_004351_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..546360991604239ddb39f107c8f1f6e2e4d413dd --- /dev/null +++ b/equivalence_easy/run_20260422_172644__pair_004351_A_traj_004351_meta.json @@ -0,0 +1,1476 @@ +{ + "trajectory_id": 4351, + "episode_id": 0, + "state_id": 3232, + "sample_index": 3232, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_A", + "partner_trajectory_id": 4352, + "primary_trajectory_id": 4351, + "paired_trajectory_id": 4352, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 1880.0, + 2030.0, + 850.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_left", + "move_forward", + "turn_left", + "move_right", + "move_forward", + "move_forward", + "look_up", + "move_left", + "look_down", + "turn_left", + "move_left", + "turn_left", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "turn_left", + "move_forward", + "move_forward", + "move_right", + "turn_right", + "turn_right", + "no_op", + "turn_left", + "move_right", + "move_forward", + "move_right", + "turn_left", + "move_right", + "move_forward", + "turn_left", + "move_backward", + "no_op", + "no_op", + "move_backward", + "move_left", + "move_forward", + "move_forward", + "move_left", + "move_backward" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1880.0, + 2030.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 1880.0, + 2030.0, + 850.0 + ], + "actual_end_pos": [ + 1880.0, + 2030.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1880.0, + 2030.0, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 1976.5926, + 2004.1181, + 850.0 + ], + "actual_end_pos": [ + 1976.5926, + 2004.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1976.5926, + 2004.1181, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 1976.5926, + 2004.1181, + 850.0 + ], + "actual_end_pos": [ + 1976.5926, + 2004.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1976.5926, + 2004.1181, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 2026.5926, + 2090.7206, + 850.0 + ], + "actual_end_pos": [ + 2026.5926, + 2090.7206, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2026.5926, + 2090.7206, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 2113.1951, + 2040.7206, + 850.0 + ], + "actual_end_pos": [ + 2113.1951, + 2040.7206, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2113.1951, + 2040.7206, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 2199.7977, + 1990.7206, + 850.0 + ], + "actual_end_pos": [ + 2199.7977, + 1990.7206, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 2199.7977, + 1990.7206, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 2199.7977, + 1990.7206, + 850.0 + ], + "actual_end_pos": [ + 2199.7977, + 1990.7206, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2199.7977, + 1990.7206, + 850.0 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 2149.7977, + 1904.1181, + 850.0 + ], + "actual_end_pos": [ + 2149.7977, + 1904.1181, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 2149.7977, + 1904.1181, + 850.0 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 2149.7977, + 1904.1181, + 850.0 + ], + "actual_end_pos": [ + 2149.7977, + 1904.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2149.7977, + 1904.1181, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 2149.7977, + 1904.1181, + 850.0 + ], + "actual_end_pos": [ + 2149.7977, + 1904.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2149.7977, + 1904.1181, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2079.087, + 1833.4074, + 850.0 + ], + "actual_end_pos": [ + 2079.087, + 1833.4074, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2079.087, + 1833.4074, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2079.087, + 1833.4074, + 850.0 + ], + "actual_end_pos": [ + 2079.087, + 1833.4074, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2079.087, + 1833.4074, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + -0.0 + ], + "expected_end_pos": [ + 2079.087, + 1833.4074, + 850.0 + ], + "actual_end_pos": [ + 2079.087, + 1833.4074, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2079.087, + 1833.4074, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 2079.087, + 1833.4074, + 850.0 + ], + "actual_end_pos": [ + 2079.087, + 1833.4074, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2079.087, + 1833.4074, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + -0.0 + ], + "expected_end_pos": [ + 2079.087, + 1933.4074, + 850.0 + ], + "actual_end_pos": [ + 2079.087, + 1933.4074, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2079.087, + 1933.4074, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + -0.0 + ], + "expected_end_pos": [ + 2079.087, + 2033.4074, + 850.0 + ], + "actual_end_pos": [ + 2079.087, + 2033.4074, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2079.087, + 2033.4074, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + -0.0 + ], + "expected_end_pos": [ + 2079.087, + 2033.4074, + 850.0 + ], + "actual_end_pos": [ + 2079.087, + 2033.4074, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2079.087, + 2033.4074, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + -0.0 + ], + "expected_end_pos": [ + 2053.2051, + 1936.8148, + 850.0 + ], + "actual_end_pos": [ + 2053.2051, + 1936.8148, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2053.2051, + 1936.8148, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + -0.0 + ], + "expected_end_pos": [ + 2027.3232, + 1840.2223, + 850.0 + ], + "actual_end_pos": [ + 2027.3232, + 1840.2223, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2027.3232, + 1840.2223, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + -0.0 + ], + "expected_end_pos": [ + 2123.9158, + 1814.3403, + 850.0 + ], + "actual_end_pos": [ + 2123.9158, + 1814.3403, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2123.9158, + 1814.3403, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + -0.0 + ], + "expected_end_pos": [ + 2123.9158, + 1814.3403, + 850.0 + ], + "actual_end_pos": [ + 2123.9158, + 1814.3403, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2123.9158, + 1814.3403, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + -0.0 + ], + "expected_end_pos": [ + 2123.9158, + 1814.3403, + 850.0 + ], + "actual_end_pos": [ + 2123.9158, + 1814.3403, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2123.9158, + 1814.3403, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 2123.9158, + 1814.3403, + 850.0 + ], + "actual_end_pos": [ + 2123.9158, + 1814.3403, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2123.9158, + 1814.3403, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 2123.9158, + 1814.3403, + 850.0 + ], + "actual_end_pos": [ + 2123.9158, + 1814.3403, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2123.9158, + 1814.3403, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2223.9158, + 1814.3403, + 850.0 + ], + "actual_end_pos": [ + 2223.9158, + 1814.3403, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2223.9158, + 1814.3403, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2223.9158, + 1714.3403, + 850.0 + ], + "actual_end_pos": [ + 2223.9158, + 1714.3403, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2223.9158, + 1714.3403, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2323.9158, + 1714.3404, + 850.0 + ], + "actual_end_pos": [ + 2323.9158, + 1714.3404, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2323.9158, + 1714.3404, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2323.9158, + 1714.3404, + 850.0 + ], + "actual_end_pos": [ + 2323.9158, + 1714.3404, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2323.9158, + 1714.3404, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 2420.5083, + 1688.4584, + 850.0 + ], + "actual_end_pos": [ + 2420.5083, + 1688.4584, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2420.5083, + 1688.4584, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 2394.6264, + 1591.8659, + 850.0 + ], + "actual_end_pos": [ + 2394.6264, + 1591.8659, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2394.6264, + 1591.8659, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 2394.6264, + 1591.8659, + 850.0 + ], + "actual_end_pos": [ + 2394.6264, + 1591.8659, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2394.6264, + 1591.8659, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 2444.6264, + 1678.4684, + 850.0 + ], + "actual_end_pos": [ + 2444.6264, + 1678.4684, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2444.6264, + 1678.4684, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 2444.6264, + 1678.4684, + 850.0 + ], + "actual_end_pos": [ + 2444.6264, + 1678.4684, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2444.6264, + 1678.4684, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 2444.6264, + 1678.4684, + 850.0 + ], + "actual_end_pos": [ + 2444.6264, + 1678.4684, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2444.6264, + 1678.4684, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 2494.6264, + 1765.0709, + 850.0 + ], + "actual_end_pos": [ + 2494.6264, + 1765.0709, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2494.6264, + 1765.0709, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 2408.0239, + 1815.0709, + 850.0 + ], + "actual_end_pos": [ + 2408.0239, + 1815.0709, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2408.0239, + 1815.0709, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 2358.0239, + 1728.4684, + 850.0 + ], + "actual_end_pos": [ + 2358.0239, + 1728.4684, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2358.0239, + 1728.4684, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 2308.0239, + 1641.8659, + 850.0 + ], + "actual_end_pos": [ + 2308.0239, + 1641.8659, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2308.0239, + 1641.8659, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 2221.4214, + 1691.8659, + 850.0 + ], + "actual_end_pos": [ + 2221.4214, + 1691.8659, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2221.4214, + 1691.8659, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 2271.4214, + 1778.4684, + 850.0 + ], + "actual_end_pos": [ + 2271.4214, + 1778.4684, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260422_172644__pair_004351_B_traj_004352_meta.json b/equivalence_easy/run_20260422_172644__pair_004351_B_traj_004352_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0571bd440ed1651fca5f267d89a7a08837af53f7 --- /dev/null +++ b/equivalence_easy/run_20260422_172644__pair_004351_B_traj_004352_meta.json @@ -0,0 +1,1476 @@ +{ + "trajectory_id": 4352, + "episode_id": 0, + "state_id": 3232, + "sample_index": 3232, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_B", + "partner_trajectory_id": 4351, + "primary_trajectory_id": 4351, + "paired_trajectory_id": 4352, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 1880.0, + 2030.0, + 850.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_left", + "move_forward", + "turn_left", + "move_right", + "move_forward", + "move_forward", + "look_up", + "move_left", + "turn_left", + "look_down", + "move_left", + "turn_left", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "turn_left", + "move_forward", + "move_right", + "move_forward", + "turn_right", + "turn_right", + "no_op", + "turn_left", + "move_right", + "move_forward", + "move_right", + "turn_left", + "move_right", + "move_forward", + "turn_left", + "move_backward", + "no_op", + "no_op", + "move_backward", + "move_backward", + "move_forward", + "move_left", + "move_left", + "move_forward" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1880.0, + 2030.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 1880.0, + 2030.0, + 850.0 + ], + "actual_end_pos": [ + 1880.0, + 2030.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1880.0, + 2030.0, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 1976.5926, + 2004.1181, + 850.0 + ], + "actual_end_pos": [ + 1976.5926, + 2004.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1976.5926, + 2004.1181, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 1976.5926, + 2004.1181, + 850.0 + ], + "actual_end_pos": [ + 1976.5926, + 2004.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1976.5926, + 2004.1181, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 2026.5926, + 2090.7206, + 850.0 + ], + "actual_end_pos": [ + 2026.5926, + 2090.7206, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2026.5926, + 2090.7206, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 2113.1951, + 2040.7206, + 850.0 + ], + "actual_end_pos": [ + 2113.1951, + 2040.7206, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2113.1951, + 2040.7206, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 2199.7977, + 1990.7206, + 850.0 + ], + "actual_end_pos": [ + 2199.7977, + 1990.7206, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 2199.7977, + 1990.7206, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 2199.7977, + 1990.7206, + 850.0 + ], + "actual_end_pos": [ + 2199.7977, + 1990.7206, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2199.7977, + 1990.7206, + 850.0 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 2149.7977, + 1904.1181, + 850.0 + ], + "actual_end_pos": [ + 2149.7977, + 1904.1181, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2149.7977, + 1904.1181, + 850.0 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 2149.7977, + 1904.1181, + 850.0 + ], + "actual_end_pos": [ + 2149.7977, + 1904.1181, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 2149.7977, + 1904.1181, + 850.0 + ], + "start_rot": [ + 7.5, + -45.0, + -0.0 + ], + "expected_end_pos": [ + 2149.7977, + 1904.1181, + 850.0 + ], + "actual_end_pos": [ + 2149.7977, + 1904.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2149.7977, + 1904.1181, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + -0.0 + ], + "expected_end_pos": [ + 2079.087, + 1833.4074, + 850.0 + ], + "actual_end_pos": [ + 2079.087, + 1833.4074, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2079.087, + 1833.4074, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + -0.0 + ], + "expected_end_pos": [ + 2079.087, + 1833.4074, + 850.0 + ], + "actual_end_pos": [ + 2079.087, + 1833.4074, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2079.087, + 1833.4074, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + -0.0 + ], + "expected_end_pos": [ + 2079.087, + 1833.4074, + 850.0 + ], + "actual_end_pos": [ + 2079.087, + 1833.4074, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2079.087, + 1833.4074, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + -0.0 + ], + "expected_end_pos": [ + 2079.087, + 1833.4074, + 850.0 + ], + "actual_end_pos": [ + 2079.087, + 1833.4074, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2079.087, + 1833.4074, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2079.087, + 1933.4074, + 850.0 + ], + "actual_end_pos": [ + 2079.087, + 1933.4074, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2079.087, + 1933.4074, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2079.087, + 2033.4074, + 850.0 + ], + "actual_end_pos": [ + 2079.087, + 2033.4074, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2079.087, + 2033.4074, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2079.087, + 2033.4074, + 850.0 + ], + "actual_end_pos": [ + 2079.087, + 2033.4074, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2079.087, + 2033.4074, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + -0.0 + ], + "expected_end_pos": [ + 2053.2051, + 1936.8148, + 850.0 + ], + "actual_end_pos": [ + 2053.2051, + 1936.8148, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2053.2051, + 1936.8148, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + -0.0 + ], + "expected_end_pos": [ + 2149.7977, + 1910.9329, + 850.0 + ], + "actual_end_pos": [ + 2149.7977, + 1910.9329, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2149.7977, + 1910.9329, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + -0.0 + ], + "expected_end_pos": [ + 2123.9158, + 1814.3403, + 850.0 + ], + "actual_end_pos": [ + 2123.9158, + 1814.3403, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2123.9158, + 1814.3403, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + -0.0 + ], + "expected_end_pos": [ + 2123.9158, + 1814.3403, + 850.0 + ], + "actual_end_pos": [ + 2123.9158, + 1814.3403, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2123.9158, + 1814.3403, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2123.9158, + 1814.3403, + 850.0 + ], + "actual_end_pos": [ + 2123.9158, + 1814.3403, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2123.9158, + 1814.3403, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 2123.9158, + 1814.3403, + 850.0 + ], + "actual_end_pos": [ + 2123.9158, + 1814.3403, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2123.9158, + 1814.3403, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 2123.9158, + 1814.3403, + 850.0 + ], + "actual_end_pos": [ + 2123.9158, + 1814.3403, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2123.9158, + 1814.3403, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2223.9158, + 1814.3403, + 850.0 + ], + "actual_end_pos": [ + 2223.9158, + 1814.3403, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2223.9158, + 1814.3403, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2223.9158, + 1714.3403, + 850.0 + ], + "actual_end_pos": [ + 2223.9158, + 1714.3403, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2223.9158, + 1714.3403, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2323.9158, + 1714.3404, + 850.0 + ], + "actual_end_pos": [ + 2323.9158, + 1714.3404, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2323.9158, + 1714.3404, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2323.9158, + 1714.3404, + 850.0 + ], + "actual_end_pos": [ + 2323.9158, + 1714.3404, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2323.9158, + 1714.3404, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 2420.5083, + 1688.4584, + 850.0 + ], + "actual_end_pos": [ + 2420.5083, + 1688.4584, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2420.5083, + 1688.4584, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 2394.6264, + 1591.8659, + 850.0 + ], + "actual_end_pos": [ + 2394.6264, + 1591.8659, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2394.6264, + 1591.8659, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 2394.6264, + 1591.8659, + 850.0 + ], + "actual_end_pos": [ + 2394.6264, + 1591.8659, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2394.6264, + 1591.8659, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 2444.6264, + 1678.4684, + 850.0 + ], + "actual_end_pos": [ + 2444.6264, + 1678.4684, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2444.6264, + 1678.4684, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 2444.6264, + 1678.4684, + 850.0 + ], + "actual_end_pos": [ + 2444.6264, + 1678.4684, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2444.6264, + 1678.4684, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 2444.6264, + 1678.4684, + 850.0 + ], + "actual_end_pos": [ + 2444.6264, + 1678.4684, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2444.6264, + 1678.4684, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 2494.6264, + 1765.0709, + 850.0 + ], + "actual_end_pos": [ + 2494.6264, + 1765.0709, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2494.6264, + 1765.0709, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 2544.6264, + 1851.6735, + 850.0 + ], + "actual_end_pos": [ + 2544.6264, + 1851.6735, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2544.6264, + 1851.6735, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 2494.6264, + 1765.0709, + 850.0 + ], + "actual_end_pos": [ + 2494.6264, + 1765.0709, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2494.6264, + 1765.0709, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 2408.0239, + 1815.0709, + 850.0 + ], + "actual_end_pos": [ + 2408.0239, + 1815.0709, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2408.0239, + 1815.0709, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 2321.4214, + 1865.0709, + 850.0 + ], + "actual_end_pos": [ + 2321.4214, + 1865.0709, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2321.4214, + 1865.0709, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 2271.4214, + 1778.4684, + 850.0 + ], + "actual_end_pos": [ + 2271.4214, + 1778.4684, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260422_172644__pair_004451_A_traj_004451_meta.json b/equivalence_easy/run_20260422_172644__pair_004451_A_traj_004451_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..29a655282abffea0ea35491fe90b3262b1b27a1f --- /dev/null +++ b/equivalence_easy/run_20260422_172644__pair_004451_A_traj_004451_meta.json @@ -0,0 +1,1476 @@ +{ + "trajectory_id": 4451, + "episode_id": 0, + "state_id": 3310, + "sample_index": 3310, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_A", + "partner_trajectory_id": 4452, + "primary_trajectory_id": 4451, + "paired_trajectory_id": 4452, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 1880.0, + 4830.0, + 850.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_left", + "move_forward", + "move_left", + "move_left", + "move_backward", + "move_left", + "move_left", + "look_up", + "move_forward", + "turn_left", + "move_forward", + "move_left", + "no_op", + "move_right", + "move_forward", + "move_left", + "turn_right", + "move_forward", + "turn_left", + "move_backward", + "move_left", + "turn_right", + "turn_right", + "look_up", + "move_left", + "look_up", + "move_left", + "move_backward", + "move_left", + "turn_left", + "no_op", + "turn_right", + "move_forward", + "move_left", + "move_backward", + "look_down", + "move_forward", + "move_forward", + "move_forward", + "move_left" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1880.0, + 4830.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1880.0, + 4830.0, + 850.0 + ], + "actual_end_pos": [ + 1880.0, + 4830.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1880.0, + 4830.0, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 1854.1181, + 4733.4074, + 850.0 + ], + "actual_end_pos": [ + 1854.1181, + 4733.4074, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1854.1181, + 4733.4074, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 1757.5255, + 4759.2893, + 850.0 + ], + "actual_end_pos": [ + 1757.5255, + 4759.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1757.5255, + 4759.2893, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 1660.9329, + 4785.1712, + 850.0 + ], + "actual_end_pos": [ + 1660.9329, + 4785.1712, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1660.9329, + 4785.1712, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 1686.8148, + 4881.7638, + 850.0 + ], + "actual_end_pos": [ + 1686.8148, + 4881.7638, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1686.8148, + 4881.7638, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 1590.2223, + 4907.6457, + 850.0 + ], + "actual_end_pos": [ + 1590.2223, + 4907.6457, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1590.2223, + 4907.6457, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 1493.6297, + 4933.5276, + 850.0 + ], + "actual_end_pos": [ + 1493.6297, + 4933.5276, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 1493.6297, + 4933.5276, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 1493.6297, + 4933.5276, + 850.0 + ], + "actual_end_pos": [ + 1493.6297, + 4933.5276, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1493.6297, + 4933.5276, + 850.0 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 1467.9692, + 4837.7614, + 863.0526 + ], + "actual_end_pos": [ + 1467.9692, + 4837.7614, + 863.0526 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1467.9692, + 4837.7614, + 863.0526 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 1467.9692, + 4837.7614, + 863.0526 + ], + "actual_end_pos": [ + 1467.9692, + 4837.7614, + 863.0526 + ], + "actual_end_rot": [ + 7.5, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1467.9692, + 4837.7614, + 863.0526 + ], + "start_rot": [ + 7.5, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 1418.3969, + 4751.8997, + 876.1052 + ], + "actual_end_pos": [ + 1418.3969, + 4751.8997, + 876.1052 + ], + "actual_end_rot": [ + 7.5, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1418.3969, + 4751.8997, + 876.1052 + ], + "start_rot": [ + 7.5, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 1331.7944, + 4801.8997, + 876.1052 + ], + "actual_end_pos": [ + 1331.7944, + 4801.8997, + 876.1052 + ], + "actual_end_rot": [ + 7.5, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1331.7944, + 4801.8997, + 876.1052 + ], + "start_rot": [ + 7.5, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 1331.7944, + 4801.8997, + 876.1052 + ], + "actual_end_pos": [ + 1331.7944, + 4801.8997, + 876.1052 + ], + "actual_end_rot": [ + 7.5, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1331.7944, + 4801.8997, + 876.1052 + ], + "start_rot": [ + 7.5, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 1418.3969, + 4751.8997, + 876.1052 + ], + "actual_end_pos": [ + 1418.3969, + 4751.8997, + 876.1052 + ], + "actual_end_rot": [ + 7.5, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1418.3969, + 4751.8997, + 876.1052 + ], + "start_rot": [ + 7.5, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 1368.8247, + 4666.0381, + 889.1579 + ], + "actual_end_pos": [ + 1368.8247, + 4666.0381, + 889.1579 + ], + "actual_end_rot": [ + 7.5, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1368.8247, + 4666.0381, + 889.1579 + ], + "start_rot": [ + 7.5, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 1282.2222, + 4716.0381, + 889.1579 + ], + "actual_end_pos": [ + 1282.2222, + 4716.0381, + 889.1579 + ], + "actual_end_rot": [ + 7.5, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1282.2222, + 4716.0381, + 889.1579 + ], + "start_rot": [ + 7.5, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 1282.2222, + 4716.0381, + 889.1579 + ], + "actual_end_pos": [ + 1282.2222, + 4716.0381, + 889.1579 + ], + "actual_end_rot": [ + 7.5, + -105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1282.2222, + 4716.0381, + 889.1579 + ], + "start_rot": [ + 7.5, + -105.0, + -0.0 + ], + "expected_end_pos": [ + 1256.5617, + 4620.2719, + 902.2105 + ], + "actual_end_pos": [ + 1256.5617, + 4620.2719, + 902.2105 + ], + "actual_end_rot": [ + 7.5, + -105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1256.5617, + 4620.2719, + 902.2105 + ], + "start_rot": [ + 7.5, + -105.0, + -0.0 + ], + "expected_end_pos": [ + 1256.5617, + 4620.2719, + 902.2105 + ], + "actual_end_pos": [ + 1256.5617, + 4620.2719, + 902.2105 + ], + "actual_end_rot": [ + 7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1256.5617, + 4620.2719, + 902.2105 + ], + "start_rot": [ + 7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 1306.1339, + 4706.1335, + 889.1579 + ], + "actual_end_pos": [ + 1306.1339, + 4706.1335, + 889.1579 + ], + "actual_end_rot": [ + 7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1306.1339, + 4706.1335, + 889.1579 + ], + "start_rot": [ + 7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 1219.5314, + 4756.1335, + 889.1579 + ], + "actual_end_pos": [ + 1219.5314, + 4756.1335, + 889.1579 + ], + "actual_end_rot": [ + 7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1219.5314, + 4756.1335, + 889.1579 + ], + "start_rot": [ + 7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 1219.5314, + 4756.1335, + 889.1579 + ], + "actual_end_pos": [ + 1219.5314, + 4756.1335, + 889.1579 + ], + "actual_end_rot": [ + 7.5, + -105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1219.5314, + 4756.1335, + 889.1579 + ], + "start_rot": [ + 7.5, + -105.0, + -0.0 + ], + "expected_end_pos": [ + 1219.5314, + 4756.1335, + 889.1579 + ], + "actual_end_pos": [ + 1219.5314, + 4756.1335, + 889.1579 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 1219.5314, + 4756.1335, + 889.1579 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1219.5314, + 4756.1335, + 889.1579 + ], + "actual_end_pos": [ + 1219.5314, + 4756.1335, + 889.1579 + ], + "actual_end_rot": [ + 15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1219.5314, + 4756.1335, + 889.1579 + ], + "start_rot": [ + 15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1119.5314, + 4756.1335, + 889.1579 + ], + "actual_end_pos": [ + 1119.5314, + 4756.1335, + 889.1579 + ], + "actual_end_rot": [ + 15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 1119.5314, + 4756.1335, + 889.1579 + ], + "start_rot": [ + 15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1119.5314, + 4756.1335, + 889.1579 + ], + "actual_end_pos": [ + 1119.5314, + 4756.1335, + 889.1579 + ], + "actual_end_rot": [ + 22.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1119.5314, + 4756.1335, + 889.1579 + ], + "start_rot": [ + 22.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1019.5314, + 4756.1335, + 889.1579 + ], + "actual_end_pos": [ + 1019.5314, + 4756.1335, + 889.1579 + ], + "actual_end_rot": [ + 22.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1019.5314, + 4756.1335, + 889.1579 + ], + "start_rot": [ + 22.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1019.5314, + 4848.5215, + 850.8895 + ], + "actual_end_pos": [ + 1019.5314, + 4848.5215, + 850.8895 + ], + "actual_end_rot": [ + 22.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1019.5314, + 4848.5215, + 850.8895 + ], + "start_rot": [ + 22.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 919.5314, + 4848.5215, + 850.8895 + ], + "actual_end_pos": [ + 919.5314, + 4848.5215, + 850.8895 + ], + "actual_end_rot": [ + 22.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 919.5314, + 4848.5215, + 850.8895 + ], + "start_rot": [ + 22.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 919.5314, + 4848.5215, + 850.8895 + ], + "actual_end_pos": [ + 919.5314, + 4848.5215, + 850.8895 + ], + "actual_end_rot": [ + 22.5, + -105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 919.5314, + 4848.5215, + 850.8895 + ], + "start_rot": [ + 22.5, + -105.0, + -0.0 + ], + "expected_end_pos": [ + 919.5314, + 4848.5215, + 850.8895 + ], + "actual_end_pos": [ + 919.5314, + 4848.5215, + 850.8895 + ], + "actual_end_rot": [ + 22.5, + -105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 919.5314, + 4848.5215, + 850.8895 + ], + "start_rot": [ + 22.5, + -105.0, + -0.0 + ], + "expected_end_pos": [ + 919.5314, + 4848.5215, + 850.8895 + ], + "actual_end_pos": [ + 919.5314, + 4848.5215, + 850.8895 + ], + "actual_end_rot": [ + 22.5, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 919.5314, + 4848.5215, + 850.8895 + ], + "start_rot": [ + 22.5, + -90.0, + -0.0 + ], + "expected_end_pos": [ + 919.5314, + 4756.1335, + 889.1579 + ], + "actual_end_pos": [ + 919.5314, + 4756.1335, + 889.1579 + ], + "actual_end_rot": [ + 22.5, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 919.5314, + 4756.1335, + 889.1579 + ], + "start_rot": [ + 22.5, + -90.0, + -0.0 + ], + "expected_end_pos": [ + 819.5314, + 4756.1335, + 889.1579 + ], + "actual_end_pos": [ + 819.5314, + 4756.1335, + 889.1579 + ], + "actual_end_rot": [ + 22.5, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 819.5314, + 4756.1335, + 889.1579 + ], + "start_rot": [ + 22.5, + -90.0, + -0.0 + ], + "expected_end_pos": [ + 819.5314, + 4848.5215, + 850.8895 + ], + "actual_end_pos": [ + 819.5314, + 4848.5215, + 850.8895 + ], + "actual_end_rot": [ + 22.5, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 819.5314, + 4848.5215, + 850.8895 + ], + "start_rot": [ + 22.5, + -90.0, + -0.0 + ], + "expected_end_pos": [ + 819.5314, + 4848.5215, + 850.8895 + ], + "actual_end_pos": [ + 819.5314, + 4848.5215, + 850.8895 + ], + "actual_end_rot": [ + 15.0, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 819.5314, + 4848.5215, + 850.8895 + ], + "start_rot": [ + 15.0, + -90.0, + -0.0 + ], + "expected_end_pos": [ + 819.5314, + 4751.9289, + 876.7714 + ], + "actual_end_pos": [ + 819.5314, + 4751.9289, + 876.7714 + ], + "actual_end_rot": [ + 15.0, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 819.5314, + 4751.9289, + 876.7714 + ], + "start_rot": [ + 15.0, + -90.0, + -0.0 + ], + "expected_end_pos": [ + 819.5314, + 4655.3363, + 902.6533 + ], + "actual_end_pos": [ + 819.5314, + 4655.3363, + 902.6533 + ], + "actual_end_rot": [ + 15.0, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 819.5314, + 4655.3363, + 902.6533 + ], + "start_rot": [ + 15.0, + -90.0, + -0.0 + ], + "expected_end_pos": [ + 819.5314, + 4558.7437, + 928.5352 + ], + "actual_end_pos": [ + 819.5314, + 4558.7437, + 928.5352 + ], + "actual_end_rot": [ + 15.0, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 819.5314, + 4558.7437, + 928.5352 + ], + "start_rot": [ + 15.0, + -90.0, + -0.0 + ], + "expected_end_pos": [ + 719.5314, + 4558.7437, + 928.5352 + ], + "actual_end_pos": [ + 719.5314, + 4558.7437, + 928.5352 + ], + "actual_end_rot": [ + 15.0, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260422_172644__pair_004451_B_traj_004452_meta.json b/equivalence_easy/run_20260422_172644__pair_004451_B_traj_004452_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7bc8d1e74bd25724942a5d9897b5b23c8b410aee --- /dev/null +++ b/equivalence_easy/run_20260422_172644__pair_004451_B_traj_004452_meta.json @@ -0,0 +1,1476 @@ +{ + "trajectory_id": 4452, + "episode_id": 0, + "state_id": 3310, + "sample_index": 3310, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_B", + "partner_trajectory_id": 4451, + "primary_trajectory_id": 4451, + "paired_trajectory_id": 4452, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 1880.0, + 4830.0, + 850.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_left", + "move_left", + "move_left", + "move_forward", + "move_left", + "move_backward", + "move_left", + "look_up", + "move_forward", + "turn_left", + "move_forward", + "move_left", + "no_op", + "move_right", + "move_left", + "move_forward", + "turn_right", + "move_forward", + "turn_left", + "move_left", + "move_backward", + "turn_right", + "look_up", + "turn_right", + "move_left", + "look_up", + "move_backward", + "move_left", + "move_left", + "turn_left", + "no_op", + "turn_right", + "move_left", + "move_forward", + "move_backward", + "look_down", + "move_forward", + "move_left", + "move_forward", + "move_forward" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1880.0, + 4830.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1880.0, + 4830.0, + 850.0 + ], + "actual_end_pos": [ + 1880.0, + 4830.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1880.0, + 4830.0, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 1783.4074, + 4855.8819, + 850.0 + ], + "actual_end_pos": [ + 1783.4074, + 4855.8819, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1783.4074, + 4855.8819, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 1686.8148, + 4881.7638, + 850.0 + ], + "actual_end_pos": [ + 1686.8148, + 4881.7638, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1686.8148, + 4881.7638, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 1660.9329, + 4785.1712, + 850.0 + ], + "actual_end_pos": [ + 1660.9329, + 4785.1712, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1660.9329, + 4785.1712, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 1564.3403, + 4811.0531, + 850.0 + ], + "actual_end_pos": [ + 1564.3403, + 4811.0531, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1564.3403, + 4811.0531, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 1590.2223, + 4907.6457, + 850.0 + ], + "actual_end_pos": [ + 1590.2223, + 4907.6457, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1590.2223, + 4907.6457, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 1493.6297, + 4933.5276, + 850.0 + ], + "actual_end_pos": [ + 1493.6297, + 4933.5276, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 1493.6297, + 4933.5276, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 1493.6297, + 4933.5276, + 850.0 + ], + "actual_end_pos": [ + 1493.6297, + 4933.5276, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1493.6297, + 4933.5276, + 850.0 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 1467.9692, + 4837.7614, + 863.0526 + ], + "actual_end_pos": [ + 1467.9692, + 4837.7614, + 863.0526 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1467.9692, + 4837.7614, + 863.0526 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 1467.9692, + 4837.7614, + 863.0526 + ], + "actual_end_pos": [ + 1467.9692, + 4837.7614, + 863.0526 + ], + "actual_end_rot": [ + 7.5, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1467.9692, + 4837.7614, + 863.0526 + ], + "start_rot": [ + 7.5, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 1418.3969, + 4751.8997, + 876.1052 + ], + "actual_end_pos": [ + 1418.3969, + 4751.8997, + 876.1052 + ], + "actual_end_rot": [ + 7.5, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1418.3969, + 4751.8997, + 876.1052 + ], + "start_rot": [ + 7.5, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 1331.7944, + 4801.8997, + 876.1052 + ], + "actual_end_pos": [ + 1331.7944, + 4801.8997, + 876.1052 + ], + "actual_end_rot": [ + 7.5, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1331.7944, + 4801.8997, + 876.1052 + ], + "start_rot": [ + 7.5, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 1331.7944, + 4801.8997, + 876.1052 + ], + "actual_end_pos": [ + 1331.7944, + 4801.8997, + 876.1052 + ], + "actual_end_rot": [ + 7.5, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1331.7944, + 4801.8997, + 876.1052 + ], + "start_rot": [ + 7.5, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 1418.3969, + 4751.8997, + 876.1052 + ], + "actual_end_pos": [ + 1418.3969, + 4751.8997, + 876.1052 + ], + "actual_end_rot": [ + 7.5, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1418.3969, + 4751.8997, + 876.1052 + ], + "start_rot": [ + 7.5, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 1331.7944, + 4801.8997, + 876.1052 + ], + "actual_end_pos": [ + 1331.7944, + 4801.8997, + 876.1052 + ], + "actual_end_rot": [ + 7.5, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1331.7944, + 4801.8997, + 876.1052 + ], + "start_rot": [ + 7.5, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 1282.2222, + 4716.0381, + 889.1579 + ], + "actual_end_pos": [ + 1282.2222, + 4716.0381, + 889.1579 + ], + "actual_end_rot": [ + 7.5, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1282.2222, + 4716.0381, + 889.1579 + ], + "start_rot": [ + 7.5, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 1282.2222, + 4716.0381, + 889.1579 + ], + "actual_end_pos": [ + 1282.2222, + 4716.0381, + 889.1579 + ], + "actual_end_rot": [ + 7.5, + -105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1282.2222, + 4716.0381, + 889.1579 + ], + "start_rot": [ + 7.5, + -105.0, + -0.0 + ], + "expected_end_pos": [ + 1256.5617, + 4620.2719, + 902.2105 + ], + "actual_end_pos": [ + 1256.5617, + 4620.2719, + 902.2105 + ], + "actual_end_rot": [ + 7.5, + -105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1256.5617, + 4620.2719, + 902.2105 + ], + "start_rot": [ + 7.5, + -105.0, + -0.0 + ], + "expected_end_pos": [ + 1256.5617, + 4620.2719, + 902.2105 + ], + "actual_end_pos": [ + 1256.5617, + 4620.2719, + 902.2105 + ], + "actual_end_rot": [ + 7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1256.5617, + 4620.2719, + 902.2105 + ], + "start_rot": [ + 7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 1169.9591, + 4670.2719, + 902.2105 + ], + "actual_end_pos": [ + 1169.9591, + 4670.2719, + 902.2105 + ], + "actual_end_rot": [ + 7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1169.9591, + 4670.2719, + 902.2105 + ], + "start_rot": [ + 7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 1219.5314, + 4756.1335, + 889.1579 + ], + "actual_end_pos": [ + 1219.5314, + 4756.1335, + 889.1579 + ], + "actual_end_rot": [ + 7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1219.5314, + 4756.1335, + 889.1579 + ], + "start_rot": [ + 7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 1219.5314, + 4756.1335, + 889.1579 + ], + "actual_end_pos": [ + 1219.5314, + 4756.1335, + 889.1579 + ], + "actual_end_rot": [ + 7.5, + -105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 1219.5314, + 4756.1335, + 889.1579 + ], + "start_rot": [ + 7.5, + -105.0, + -0.0 + ], + "expected_end_pos": [ + 1219.5314, + 4756.1335, + 889.1579 + ], + "actual_end_pos": [ + 1219.5314, + 4756.1335, + 889.1579 + ], + "actual_end_rot": [ + 15.0, + -105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1219.5314, + 4756.1335, + 889.1579 + ], + "start_rot": [ + 15.0, + -105.0, + -0.0 + ], + "expected_end_pos": [ + 1219.5314, + 4756.1335, + 889.1579 + ], + "actual_end_pos": [ + 1219.5314, + 4756.1335, + 889.1579 + ], + "actual_end_rot": [ + 15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1219.5314, + 4756.1335, + 889.1579 + ], + "start_rot": [ + 15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1119.5314, + 4756.1335, + 889.1579 + ], + "actual_end_pos": [ + 1119.5314, + 4756.1335, + 889.1579 + ], + "actual_end_rot": [ + 15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 1119.5314, + 4756.1335, + 889.1579 + ], + "start_rot": [ + 15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1119.5314, + 4756.1335, + 889.1579 + ], + "actual_end_pos": [ + 1119.5314, + 4756.1335, + 889.1579 + ], + "actual_end_rot": [ + 22.5, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1119.5314, + 4756.1335, + 889.1579 + ], + "start_rot": [ + 22.5, + -90.0, + -0.0 + ], + "expected_end_pos": [ + 1119.5314, + 4848.5215, + 850.8895 + ], + "actual_end_pos": [ + 1119.5314, + 4848.5215, + 850.8895 + ], + "actual_end_rot": [ + 22.5, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1119.5314, + 4848.5215, + 850.8895 + ], + "start_rot": [ + 22.5, + -90.0, + -0.0 + ], + "expected_end_pos": [ + 1019.5314, + 4848.5215, + 850.8895 + ], + "actual_end_pos": [ + 1019.5314, + 4848.5215, + 850.8895 + ], + "actual_end_rot": [ + 22.5, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1019.5314, + 4848.5215, + 850.8895 + ], + "start_rot": [ + 22.5, + -90.0, + -0.0 + ], + "expected_end_pos": [ + 919.5314, + 4848.5215, + 850.8895 + ], + "actual_end_pos": [ + 919.5314, + 4848.5215, + 850.8895 + ], + "actual_end_rot": [ + 22.5, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 919.5314, + 4848.5215, + 850.8895 + ], + "start_rot": [ + 22.5, + -90.0, + -0.0 + ], + "expected_end_pos": [ + 919.5314, + 4848.5215, + 850.8895 + ], + "actual_end_pos": [ + 919.5314, + 4848.5215, + 850.8895 + ], + "actual_end_rot": [ + 22.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 919.5314, + 4848.5215, + 850.8895 + ], + "start_rot": [ + 22.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 919.5314, + 4848.5215, + 850.8895 + ], + "actual_end_pos": [ + 919.5314, + 4848.5215, + 850.8895 + ], + "actual_end_rot": [ + 22.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 919.5314, + 4848.5215, + 850.8895 + ], + "start_rot": [ + 22.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 919.5314, + 4848.5215, + 850.8895 + ], + "actual_end_pos": [ + 919.5314, + 4848.5215, + 850.8895 + ], + "actual_end_rot": [ + 22.5, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 919.5314, + 4848.5215, + 850.8895 + ], + "start_rot": [ + 22.5, + -90.0, + -0.0 + ], + "expected_end_pos": [ + 819.5314, + 4848.5215, + 850.8895 + ], + "actual_end_pos": [ + 819.5314, + 4848.5215, + 850.8895 + ], + "actual_end_rot": [ + 22.5, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 819.5314, + 4848.5215, + 850.8895 + ], + "start_rot": [ + 22.5, + -90.0, + -0.0 + ], + "expected_end_pos": [ + 819.5314, + 4756.1335, + 889.1579 + ], + "actual_end_pos": [ + 819.5314, + 4756.1335, + 889.1579 + ], + "actual_end_rot": [ + 22.5, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 819.5314, + 4756.1335, + 889.1579 + ], + "start_rot": [ + 22.5, + -90.0, + -0.0 + ], + "expected_end_pos": [ + 819.5314, + 4848.5215, + 850.8895 + ], + "actual_end_pos": [ + 819.5314, + 4848.5215, + 850.8895 + ], + "actual_end_rot": [ + 22.5, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 819.5314, + 4848.5215, + 850.8895 + ], + "start_rot": [ + 22.5, + -90.0, + -0.0 + ], + "expected_end_pos": [ + 819.5314, + 4848.5215, + 850.8895 + ], + "actual_end_pos": [ + 819.5314, + 4848.5215, + 850.8895 + ], + "actual_end_rot": [ + 15.0, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 819.5314, + 4848.5215, + 850.8895 + ], + "start_rot": [ + 15.0, + -90.0, + -0.0 + ], + "expected_end_pos": [ + 819.5314, + 4751.9289, + 876.7714 + ], + "actual_end_pos": [ + 819.5314, + 4751.9289, + 876.7714 + ], + "actual_end_rot": [ + 15.0, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 819.5314, + 4751.9289, + 876.7714 + ], + "start_rot": [ + 15.0, + -90.0, + -0.0 + ], + "expected_end_pos": [ + 719.5314, + 4751.9289, + 876.7714 + ], + "actual_end_pos": [ + 719.5314, + 4751.9289, + 876.7714 + ], + "actual_end_rot": [ + 15.0, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 719.5314, + 4751.9289, + 876.7714 + ], + "start_rot": [ + 15.0, + -90.0, + -0.0 + ], + "expected_end_pos": [ + 719.5314, + 4655.3363, + 902.6533 + ], + "actual_end_pos": [ + 719.5314, + 4655.3363, + 902.6533 + ], + "actual_end_rot": [ + 15.0, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 719.5314, + 4655.3363, + 902.6533 + ], + "start_rot": [ + 15.0, + -90.0, + -0.0 + ], + "expected_end_pos": [ + 719.5314, + 4558.7437, + 928.5352 + ], + "actual_end_pos": [ + 719.5314, + 4558.7437, + 928.5352 + ], + "actual_end_rot": [ + 15.0, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260422_172644__pair_004507_A_traj_004507_meta.json b/equivalence_easy/run_20260422_172644__pair_004507_A_traj_004507_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a8eb7d8d32627c0165ce326181c1f09604a5d4d1 --- /dev/null +++ b/equivalence_easy/run_20260422_172644__pair_004507_A_traj_004507_meta.json @@ -0,0 +1,1476 @@ +{ + "trajectory_id": 4507, + "episode_id": 0, + "state_id": 3350, + "sample_index": 3350, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_A", + "partner_trajectory_id": 4508, + "primary_trajectory_id": 4507, + "paired_trajectory_id": 4508, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 2080.0, + -770.0, + 850.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "no_op", + "move_forward", + "turn_left", + "move_left", + "move_forward", + "move_forward", + "move_forward", + "turn_left", + "no_op", + "turn_right", + "move_left", + "turn_right", + "turn_right", + "move_right", + "look_down", + "move_backward", + "turn_right", + "move_right", + "move_forward", + "move_forward", + "move_forward", + "move_right", + "turn_left", + "look_up", + "turn_left", + "move_backward", + "move_backward", + "move_left", + "move_forward", + "look_up", + "no_op", + "move_forward", + "move_right", + "move_backward", + "move_forward", + "turn_left", + "look_down", + "move_left", + "move_forward" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2080.0, + -770.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2180.0, + -770.0, + 850.0 + ], + "actual_end_pos": [ + 2180.0, + -770.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2180.0, + -770.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2180.0, + -770.0, + 850.0 + ], + "actual_end_pos": [ + 2180.0, + -770.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2180.0, + -770.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2180.0, + -870.0, + 850.0 + ], + "actual_end_pos": [ + 2180.0, + -870.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2180.0, + -870.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2180.0, + -870.0, + 850.0 + ], + "actual_end_pos": [ + 2180.0, + -870.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2180.0, + -870.0, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 2083.4074, + -844.1181, + 850.0 + ], + "actual_end_pos": [ + 2083.4074, + -844.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2083.4074, + -844.1181, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 2057.5255, + -940.7107, + 850.0 + ], + "actual_end_pos": [ + 2057.5255, + -940.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2057.5255, + -940.7107, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 2031.6436, + -1037.3033, + 850.0 + ], + "actual_end_pos": [ + 2031.6436, + -1037.3033, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2031.6436, + -1037.3033, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 2005.7617, + -1133.8958, + 850.0 + ], + "actual_end_pos": [ + 2005.7617, + -1133.8958, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2005.7617, + -1133.8958, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 2005.7617, + -1133.8958, + 850.0 + ], + "actual_end_pos": [ + 2005.7617, + -1133.8958, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2005.7617, + -1133.8958, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 2005.7617, + -1133.8958, + 850.0 + ], + "actual_end_pos": [ + 2005.7617, + -1133.8958, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2005.7617, + -1133.8958, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 2005.7617, + -1133.8958, + 850.0 + ], + "actual_end_pos": [ + 2005.7617, + -1133.8958, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2005.7617, + -1133.8958, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 1909.1691, + -1108.0139, + 850.0 + ], + "actual_end_pos": [ + 1909.1691, + -1108.0139, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1909.1691, + -1108.0139, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 1909.1691, + -1108.0139, + 850.0 + ], + "actual_end_pos": [ + 1909.1691, + -1108.0139, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1909.1691, + -1108.0139, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1909.1691, + -1108.0139, + 850.0 + ], + "actual_end_pos": [ + 1909.1691, + -1108.0139, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1909.1691, + -1108.0139, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 2005.7617, + -1082.132, + 850.0 + ], + "actual_end_pos": [ + 2005.7617, + -1082.132, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 2005.7617, + -1082.132, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 2005.7617, + -1082.132, + 850.0 + ], + "actual_end_pos": [ + 2005.7617, + -1082.132, + 850.0 + ], + "actual_end_rot": [ + -7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2005.7617, + -1082.132, + 850.0 + ], + "start_rot": [ + -7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 1980.1012, + -986.3658, + 863.0526 + ], + "actual_end_pos": [ + 1980.1012, + -986.3658, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1980.1012, + -986.3658, + 863.0526 + ], + "start_rot": [ + -7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 1980.1012, + -986.3658, + 863.0526 + ], + "actual_end_pos": [ + 1980.1012, + -986.3658, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1980.1012, + -986.3658, + 863.0526 + ], + "start_rot": [ + -7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 2066.7038, + -936.3658, + 863.0526 + ], + "actual_end_pos": [ + 2066.7038, + -936.3658, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2066.7038, + -936.3658, + 863.0526 + ], + "start_rot": [ + -7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 2116.276, + -1022.2275, + 850.0 + ], + "actual_end_pos": [ + 2116.276, + -1022.2275, + 850.0 + ], + "actual_end_rot": [ + -7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2116.276, + -1022.2275, + 850.0 + ], + "start_rot": [ + -7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 2165.8483, + -1108.0891, + 836.9474 + ], + "actual_end_pos": [ + 2165.8483, + -1108.0891, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2165.8483, + -1108.0891, + 836.9474 + ], + "start_rot": [ + -7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 2215.4205, + -1193.9507, + 823.8948 + ], + "actual_end_pos": [ + 2215.4205, + -1193.9507, + 823.8948 + ], + "actual_end_rot": [ + -7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2215.4205, + -1193.9507, + 823.8948 + ], + "start_rot": [ + -7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 2302.023, + -1143.9507, + 823.8948 + ], + "actual_end_pos": [ + 2302.023, + -1143.9507, + 823.8948 + ], + "actual_end_rot": [ + -7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2302.023, + -1143.9507, + 823.8948 + ], + "start_rot": [ + -7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 2302.023, + -1143.9507, + 823.8948 + ], + "actual_end_pos": [ + 2302.023, + -1143.9507, + 823.8948 + ], + "actual_end_rot": [ + -7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 2302.023, + -1143.9507, + 823.8948 + ], + "start_rot": [ + -7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 2302.023, + -1143.9507, + 823.8948 + ], + "actual_end_pos": [ + 2302.023, + -1143.9507, + 823.8948 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2302.023, + -1143.9507, + 823.8948 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 2302.023, + -1143.9507, + 823.8948 + ], + "actual_end_pos": [ + 2302.023, + -1143.9507, + 823.8948 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2302.023, + -1143.9507, + 823.8948 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2302.023, + -1043.9507, + 823.8948 + ], + "actual_end_pos": [ + 2302.023, + -1043.9507, + 823.8948 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2302.023, + -1043.9507, + 823.8948 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2302.023, + -943.9507, + 823.8948 + ], + "actual_end_pos": [ + 2302.023, + -943.9507, + 823.8948 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2302.023, + -943.9507, + 823.8948 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2202.023, + -943.9507, + 823.8948 + ], + "actual_end_pos": [ + 2202.023, + -943.9507, + 823.8948 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2202.023, + -943.9507, + 823.8948 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2202.023, + -1043.9507, + 823.8948 + ], + "actual_end_pos": [ + 2202.023, + -1043.9507, + 823.8948 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 2202.023, + -1043.9507, + 823.8948 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2202.023, + -1043.9507, + 823.8948 + ], + "actual_end_pos": [ + 2202.023, + -1043.9507, + 823.8948 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2202.023, + -1043.9507, + 823.8948 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2202.023, + -1043.9507, + 823.8948 + ], + "actual_end_pos": [ + 2202.023, + -1043.9507, + 823.8948 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2202.023, + -1043.9507, + 823.8948 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2202.023, + -1143.0952, + 836.9474 + ], + "actual_end_pos": [ + 2202.023, + -1143.0952, + 836.9474 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2202.023, + -1143.0952, + 836.9474 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2302.023, + -1143.0952, + 836.9474 + ], + "actual_end_pos": [ + 2302.023, + -1143.0952, + 836.9474 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2302.023, + -1143.0952, + 836.9474 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2302.023, + -1043.9507, + 823.8948 + ], + "actual_end_pos": [ + 2302.023, + -1043.9507, + 823.8948 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2302.023, + -1043.9507, + 823.8948 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2302.023, + -1143.0952, + 836.9474 + ], + "actual_end_pos": [ + 2302.023, + -1143.0952, + 836.9474 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2302.023, + -1143.0952, + 836.9474 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2302.023, + -1143.0952, + 836.9474 + ], + "actual_end_pos": [ + 2302.023, + -1143.0952, + 836.9474 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 2302.023, + -1143.0952, + 836.9474 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 2302.023, + -1143.0952, + 836.9474 + ], + "actual_end_pos": [ + 2302.023, + -1143.0952, + 836.9474 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2302.023, + -1143.0952, + 836.9474 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 2205.4305, + -1117.2133, + 836.9474 + ], + "actual_end_pos": [ + 2205.4305, + -1117.2133, + 836.9474 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2205.4305, + -1117.2133, + 836.9474 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 2179.5486, + -1213.8059, + 836.9474 + ], + "actual_end_pos": [ + 2179.5486, + -1213.8059, + 836.9474 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260422_172644__pair_004507_B_traj_004508_meta.json b/equivalence_easy/run_20260422_172644__pair_004507_B_traj_004508_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0a50cadd9757328bc678efb5b2a2f1922ca9fb84 --- /dev/null +++ b/equivalence_easy/run_20260422_172644__pair_004507_B_traj_004508_meta.json @@ -0,0 +1,1476 @@ +{ + "trajectory_id": 4508, + "episode_id": 0, + "state_id": 3350, + "sample_index": 3350, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_B", + "partner_trajectory_id": 4507, + "primary_trajectory_id": 4507, + "paired_trajectory_id": 4508, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 2080.0, + -770.0, + 850.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "no_op", + "move_forward", + "turn_left", + "move_forward", + "move_forward", + "move_left", + "move_forward", + "turn_left", + "no_op", + "turn_right", + "move_left", + "turn_right", + "turn_right", + "move_right", + "look_down", + "move_backward", + "turn_right", + "move_forward", + "move_forward", + "move_right", + "move_forward", + "move_right", + "turn_left", + "turn_left", + "look_up", + "move_left", + "move_forward", + "move_backward", + "move_backward", + "look_up", + "no_op", + "move_forward", + "move_backward", + "move_right", + "move_forward", + "look_down", + "turn_left", + "move_left", + "move_forward" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2080.0, + -770.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2180.0, + -770.0, + 850.0 + ], + "actual_end_pos": [ + 2180.0, + -770.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2180.0, + -770.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2180.0, + -770.0, + 850.0 + ], + "actual_end_pos": [ + 2180.0, + -770.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2180.0, + -770.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2180.0, + -870.0, + 850.0 + ], + "actual_end_pos": [ + 2180.0, + -870.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2180.0, + -870.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2180.0, + -870.0, + 850.0 + ], + "actual_end_pos": [ + 2180.0, + -870.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2180.0, + -870.0, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 2154.1181, + -966.5926, + 850.0 + ], + "actual_end_pos": [ + 2154.1181, + -966.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2154.1181, + -966.5926, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 2128.2362, + -1063.1852, + 850.0 + ], + "actual_end_pos": [ + 2128.2362, + -1063.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2128.2362, + -1063.1852, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 2031.6436, + -1037.3033, + 850.0 + ], + "actual_end_pos": [ + 2031.6436, + -1037.3033, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2031.6436, + -1037.3033, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 2005.7617, + -1133.8958, + 850.0 + ], + "actual_end_pos": [ + 2005.7617, + -1133.8958, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2005.7617, + -1133.8958, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 2005.7617, + -1133.8958, + 850.0 + ], + "actual_end_pos": [ + 2005.7617, + -1133.8958, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2005.7617, + -1133.8958, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 2005.7617, + -1133.8958, + 850.0 + ], + "actual_end_pos": [ + 2005.7617, + -1133.8958, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2005.7617, + -1133.8958, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 2005.7617, + -1133.8958, + 850.0 + ], + "actual_end_pos": [ + 2005.7617, + -1133.8958, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2005.7617, + -1133.8958, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 1909.1691, + -1108.0139, + 850.0 + ], + "actual_end_pos": [ + 1909.1691, + -1108.0139, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1909.1691, + -1108.0139, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 1909.1691, + -1108.0139, + 850.0 + ], + "actual_end_pos": [ + 1909.1691, + -1108.0139, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1909.1691, + -1108.0139, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 1909.1691, + -1108.0139, + 850.0 + ], + "actual_end_pos": [ + 1909.1691, + -1108.0139, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1909.1691, + -1108.0139, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 2005.7617, + -1082.132, + 850.0 + ], + "actual_end_pos": [ + 2005.7617, + -1082.132, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 2005.7617, + -1082.132, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 2005.7617, + -1082.132, + 850.0 + ], + "actual_end_pos": [ + 2005.7617, + -1082.132, + 850.0 + ], + "actual_end_rot": [ + -7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2005.7617, + -1082.132, + 850.0 + ], + "start_rot": [ + -7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 1980.1012, + -986.3658, + 863.0526 + ], + "actual_end_pos": [ + 1980.1012, + -986.3658, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1980.1012, + -986.3658, + 863.0526 + ], + "start_rot": [ + -7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 1980.1012, + -986.3658, + 863.0526 + ], + "actual_end_pos": [ + 1980.1012, + -986.3658, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1980.1012, + -986.3658, + 863.0526 + ], + "start_rot": [ + -7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 2029.6735, + -1072.2275, + 850.0 + ], + "actual_end_pos": [ + 2029.6735, + -1072.2275, + 850.0 + ], + "actual_end_rot": [ + -7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2029.6735, + -1072.2275, + 850.0 + ], + "start_rot": [ + -7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 2079.2457, + -1158.0891, + 836.9474 + ], + "actual_end_pos": [ + 2079.2457, + -1158.0891, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2079.2457, + -1158.0891, + 836.9474 + ], + "start_rot": [ + -7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 2165.8483, + -1108.0891, + 836.9474 + ], + "actual_end_pos": [ + 2165.8483, + -1108.0891, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2165.8483, + -1108.0891, + 836.9474 + ], + "start_rot": [ + -7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 2215.4205, + -1193.9507, + 823.8948 + ], + "actual_end_pos": [ + 2215.4205, + -1193.9507, + 823.8948 + ], + "actual_end_rot": [ + -7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2215.4205, + -1193.9507, + 823.8948 + ], + "start_rot": [ + -7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 2302.023, + -1143.9507, + 823.8948 + ], + "actual_end_pos": [ + 2302.023, + -1143.9507, + 823.8948 + ], + "actual_end_rot": [ + -7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2302.023, + -1143.9507, + 823.8948 + ], + "start_rot": [ + -7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 2302.023, + -1143.9507, + 823.8948 + ], + "actual_end_pos": [ + 2302.023, + -1143.9507, + 823.8948 + ], + "actual_end_rot": [ + -7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2302.023, + -1143.9507, + 823.8948 + ], + "start_rot": [ + -7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 2302.023, + -1143.9507, + 823.8948 + ], + "actual_end_pos": [ + 2302.023, + -1143.9507, + 823.8948 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 2302.023, + -1143.9507, + 823.8948 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2302.023, + -1143.9507, + 823.8948 + ], + "actual_end_pos": [ + 2302.023, + -1143.9507, + 823.8948 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2302.023, + -1143.9507, + 823.8948 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2202.023, + -1143.9507, + 823.8948 + ], + "actual_end_pos": [ + 2202.023, + -1143.9507, + 823.8948 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2202.023, + -1143.9507, + 823.8948 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2202.023, + -1243.9507, + 823.8948 + ], + "actual_end_pos": [ + 2202.023, + -1243.9507, + 823.8948 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2202.023, + -1243.9507, + 823.8948 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2202.023, + -1143.9507, + 823.8948 + ], + "actual_end_pos": [ + 2202.023, + -1143.9507, + 823.8948 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2202.023, + -1143.9507, + 823.8948 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2202.023, + -1043.9507, + 823.8948 + ], + "actual_end_pos": [ + 2202.023, + -1043.9507, + 823.8948 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 2202.023, + -1043.9507, + 823.8948 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2202.023, + -1043.9507, + 823.8948 + ], + "actual_end_pos": [ + 2202.023, + -1043.9507, + 823.8948 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2202.023, + -1043.9507, + 823.8948 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2202.023, + -1043.9507, + 823.8948 + ], + "actual_end_pos": [ + 2202.023, + -1043.9507, + 823.8948 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2202.023, + -1043.9507, + 823.8948 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2202.023, + -1143.0952, + 836.9474 + ], + "actual_end_pos": [ + 2202.023, + -1143.0952, + 836.9474 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2202.023, + -1143.0952, + 836.9474 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2202.023, + -1043.9507, + 823.8948 + ], + "actual_end_pos": [ + 2202.023, + -1043.9507, + 823.8948 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2202.023, + -1043.9507, + 823.8948 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2302.023, + -1043.9507, + 823.8948 + ], + "actual_end_pos": [ + 2302.023, + -1043.9507, + 823.8948 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2302.023, + -1043.9507, + 823.8948 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2302.023, + -1143.0952, + 836.9474 + ], + "actual_end_pos": [ + 2302.023, + -1143.0952, + 836.9474 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 2302.023, + -1143.0952, + 836.9474 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2302.023, + -1143.0952, + 836.9474 + ], + "actual_end_pos": [ + 2302.023, + -1143.0952, + 836.9474 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2302.023, + -1143.0952, + 836.9474 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2302.023, + -1143.0952, + 836.9474 + ], + "actual_end_pos": [ + 2302.023, + -1143.0952, + 836.9474 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2302.023, + -1143.0952, + 836.9474 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 2205.4305, + -1117.2133, + 836.9474 + ], + "actual_end_pos": [ + 2205.4305, + -1117.2133, + 836.9474 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2205.4305, + -1117.2133, + 836.9474 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 2179.5486, + -1213.8059, + 836.9474 + ], + "actual_end_pos": [ + 2179.5486, + -1213.8059, + 836.9474 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260422_172644__pair_004825_A_traj_004825_meta.json b/equivalence_easy/run_20260422_172644__pair_004825_A_traj_004825_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..813dbde516a13ca5440bb83cbb12b8b5bc5bf369 --- /dev/null +++ b/equivalence_easy/run_20260422_172644__pair_004825_A_traj_004825_meta.json @@ -0,0 +1,1476 @@ +{ + "trajectory_id": 4825, + "episode_id": 0, + "state_id": 3590, + "sample_index": 3590, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_A", + "partner_trajectory_id": 4826, + "primary_trajectory_id": 4825, + "paired_trajectory_id": 4826, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 2280.0, + 1630.0, + 850.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_right", + "look_up", + "turn_right", + "move_right", + "look_down", + "move_forward", + "move_right", + "no_op", + "move_left", + "move_right", + "turn_right", + "move_backward", + "move_right", + "turn_left", + "no_op", + "move_forward", + "move_forward", + "look_down", + "turn_right", + "turn_right", + "move_backward", + "turn_right", + "move_forward", + "look_down", + "move_forward", + "move_forward", + "look_up", + "turn_right", + "move_left", + "turn_right", + "no_op", + "move_right", + "move_right", + "move_forward", + "move_right", + "turn_right", + "move_left", + "look_down", + "look_down", + "move_backward" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2280.0, + 1630.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2280.0, + 1630.0, + 850.0 + ], + "actual_end_pos": [ + 2280.0, + 1630.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 2280.0, + 1630.0, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 2280.0, + 1630.0, + 850.0 + ], + "actual_end_pos": [ + 2280.0, + 1630.0, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2280.0, + 1630.0, + 850.0 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 2280.0, + 1630.0, + 850.0 + ], + "actual_end_pos": [ + 2280.0, + 1630.0, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2280.0, + 1630.0, + 850.0 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 2366.6025, + 1680.0, + 850.0 + ], + "actual_end_pos": [ + 2366.6025, + 1680.0, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 2366.6025, + 1680.0, + 850.0 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 2366.6025, + 1680.0, + 850.0 + ], + "actual_end_pos": [ + 2366.6025, + 1680.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2366.6025, + 1680.0, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 2416.6025, + 1593.3975, + 850.0 + ], + "actual_end_pos": [ + 2416.6025, + 1593.3975, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2416.6025, + 1593.3975, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 2503.2051, + 1643.3975, + 850.0 + ], + "actual_end_pos": [ + 2503.2051, + 1643.3975, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2503.2051, + 1643.3975, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 2503.2051, + 1643.3975, + 850.0 + ], + "actual_end_pos": [ + 2503.2051, + 1643.3975, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2503.2051, + 1643.3975, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 2416.6025, + 1593.3975, + 850.0 + ], + "actual_end_pos": [ + 2416.6025, + 1593.3975, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2416.6025, + 1593.3975, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 2503.2051, + 1643.3975, + 850.0 + ], + "actual_end_pos": [ + 2503.2051, + 1643.3975, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2503.2051, + 1643.3975, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 2503.2051, + 1643.3975, + 850.0 + ], + "actual_end_pos": [ + 2503.2051, + 1643.3975, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2503.2051, + 1643.3975, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2432.4944, + 1714.1081, + 850.0 + ], + "actual_end_pos": [ + 2432.4944, + 1714.1081, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2432.4944, + 1714.1081, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2503.2051, + 1784.8188, + 850.0 + ], + "actual_end_pos": [ + 2503.2051, + 1784.8188, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2503.2051, + 1784.8188, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2503.2051, + 1784.8188, + 850.0 + ], + "actual_end_pos": [ + 2503.2051, + 1784.8188, + 850.0 + ], + "actual_end_rot": [ + -0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2503.2051, + 1784.8188, + 850.0 + ], + "start_rot": [ + -0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 2503.2051, + 1784.8188, + 850.0 + ], + "actual_end_pos": [ + 2503.2051, + 1784.8188, + 850.0 + ], + "actual_end_rot": [ + -0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2503.2051, + 1784.8188, + 850.0 + ], + "start_rot": [ + -0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 2553.2051, + 1698.2163, + 850.0 + ], + "actual_end_pos": [ + 2553.2051, + 1698.2163, + 850.0 + ], + "actual_end_rot": [ + -0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2553.2051, + 1698.2163, + 850.0 + ], + "start_rot": [ + -0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 2603.2051, + 1611.6137, + 850.0 + ], + "actual_end_pos": [ + 2603.2051, + 1611.6137, + 850.0 + ], + "actual_end_rot": [ + -0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 2603.2051, + 1611.6137, + 850.0 + ], + "start_rot": [ + -0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 2603.2051, + 1611.6137, + 850.0 + ], + "actual_end_pos": [ + 2603.2051, + 1611.6137, + 850.0 + ], + "actual_end_rot": [ + -7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2603.2051, + 1611.6137, + 850.0 + ], + "start_rot": [ + -7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 2603.2051, + 1611.6137, + 850.0 + ], + "actual_end_pos": [ + 2603.2051, + 1611.6137, + 850.0 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2603.2051, + 1611.6137, + 850.0 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2603.2051, + 1611.6137, + 850.0 + ], + "actual_end_pos": [ + 2603.2051, + 1611.6137, + 850.0 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2603.2051, + 1611.6137, + 850.0 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 2517.3434, + 1661.186, + 863.0526 + ], + "actual_end_pos": [ + 2517.3434, + 1661.186, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2517.3434, + 1661.186, + 863.0526 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 2517.3434, + 1661.186, + 863.0526 + ], + "actual_end_pos": [ + 2517.3434, + 1661.186, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2517.3434, + 1661.186, + 863.0526 + ], + "start_rot": [ + -7.5, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 2613.1097, + 1635.5255, + 850.0 + ], + "actual_end_pos": [ + 2613.1097, + 1635.5255, + 850.0 + ], + "actual_end_rot": [ + -7.5, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 2613.1097, + 1635.5255, + 850.0 + ], + "start_rot": [ + -7.5, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 2613.1097, + 1635.5255, + 850.0 + ], + "actual_end_pos": [ + 2613.1097, + 1635.5255, + 850.0 + ], + "actual_end_rot": [ + -15.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2613.1097, + 1635.5255, + 850.0 + ], + "start_rot": [ + -15.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 2706.4109, + 1610.5255, + 824.1181 + ], + "actual_end_pos": [ + 2706.4109, + 1610.5255, + 824.1181 + ], + "actual_end_rot": [ + -15.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2706.4109, + 1610.5255, + 824.1181 + ], + "start_rot": [ + -15.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 2799.7122, + 1585.5255, + 798.2362 + ], + "actual_end_pos": [ + 2799.7122, + 1585.5255, + 798.2362 + ], + "actual_end_rot": [ + -15.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 2799.7122, + 1585.5255, + 798.2362 + ], + "start_rot": [ + -15.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 2799.7122, + 1585.5255, + 798.2362 + ], + "actual_end_pos": [ + 2799.7122, + 1585.5255, + 798.2362 + ], + "actual_end_rot": [ + -7.5, + -15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2799.7122, + 1585.5255, + 798.2362 + ], + "start_rot": [ + -7.5, + -15.0, + -0.0 + ], + "expected_end_pos": [ + 2799.7122, + 1585.5255, + 798.2362 + ], + "actual_end_pos": [ + 2799.7122, + 1585.5255, + 798.2362 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2799.7122, + 1585.5255, + 798.2362 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 2799.7122, + 1485.5255, + 798.2362 + ], + "actual_end_pos": [ + 2799.7122, + 1485.5255, + 798.2362 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2799.7122, + 1485.5255, + 798.2362 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 2799.7122, + 1485.5255, + 798.2362 + ], + "actual_end_pos": [ + 2799.7122, + 1485.5255, + 798.2362 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2799.7122, + 1485.5255, + 798.2362 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 2799.7122, + 1485.5255, + 798.2362 + ], + "actual_end_pos": [ + 2799.7122, + 1485.5255, + 798.2362 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2799.7122, + 1485.5255, + 798.2362 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 2773.8303, + 1582.1181, + 798.2362 + ], + "actual_end_pos": [ + 2773.8303, + 1582.1181, + 798.2362 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2773.8303, + 1582.1181, + 798.2362 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 2747.9484, + 1678.7107, + 798.2362 + ], + "actual_end_pos": [ + 2747.9484, + 1678.7107, + 798.2362 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2747.9484, + 1678.7107, + 798.2362 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 2843.7146, + 1704.3711, + 785.1836 + ], + "actual_end_pos": [ + 2843.7146, + 1704.3711, + 785.1836 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2843.7146, + 1704.3711, + 785.1836 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 2817.8327, + 1800.9637, + 785.1836 + ], + "actual_end_pos": [ + 2817.8327, + 1800.9637, + 785.1836 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2817.8327, + 1800.9637, + 785.1836 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 2817.8327, + 1800.9637, + 785.1836 + ], + "actual_end_pos": [ + 2817.8327, + 1800.9637, + 785.1836 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2817.8327, + 1800.9637, + 785.1836 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 2867.8327, + 1714.3612, + 785.1836 + ], + "actual_end_pos": [ + 2867.8327, + 1714.3612, + 785.1836 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 2867.8327, + 1714.3612, + 785.1836 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 2867.8327, + 1714.3612, + 785.1836 + ], + "actual_end_pos": [ + 2867.8327, + 1714.3612, + 785.1836 + ], + "actual_end_rot": [ + -15.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 2867.8327, + 1714.3612, + 785.1836 + ], + "start_rot": [ + -15.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 2867.8327, + 1714.3612, + 785.1836 + ], + "actual_end_pos": [ + 2867.8327, + 1714.3612, + 785.1836 + ], + "actual_end_rot": [ + -22.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2867.8327, + 1714.3612, + 785.1836 + ], + "start_rot": [ + -22.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 2787.8224, + 1668.1672, + 823.4519 + ], + "actual_end_pos": [ + 2787.8224, + 1668.1672, + 823.4519 + ], + "actual_end_rot": [ + -22.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260422_172644__pair_004825_B_traj_004826_meta.json b/equivalence_easy/run_20260422_172644__pair_004825_B_traj_004826_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b5ca40ea31e994f2a273f46ab10d329d4aa565e3 --- /dev/null +++ b/equivalence_easy/run_20260422_172644__pair_004825_B_traj_004826_meta.json @@ -0,0 +1,1476 @@ +{ + "trajectory_id": 4826, + "episode_id": 0, + "state_id": 3590, + "sample_index": 3590, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_B", + "partner_trajectory_id": 4825, + "primary_trajectory_id": 4825, + "paired_trajectory_id": 4826, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 2280.0, + 1630.0, + 850.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_right", + "turn_right", + "look_up", + "move_right", + "look_down", + "move_forward", + "move_right", + "no_op", + "move_left", + "move_right", + "turn_right", + "move_right", + "move_backward", + "turn_left", + "no_op", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "look_down", + "move_backward", + "turn_right", + "move_forward", + "look_down", + "move_forward", + "move_forward", + "turn_right", + "look_up", + "move_left", + "turn_right", + "no_op", + "move_right", + "move_forward", + "move_right", + "move_right", + "turn_right", + "move_left", + "look_down", + "look_down", + "move_backward" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2280.0, + 1630.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2280.0, + 1630.0, + 850.0 + ], + "actual_end_pos": [ + 2280.0, + 1630.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2280.0, + 1630.0, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 2280.0, + 1630.0, + 850.0 + ], + "actual_end_pos": [ + 2280.0, + 1630.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 2280.0, + 1630.0, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 2280.0, + 1630.0, + 850.0 + ], + "actual_end_pos": [ + 2280.0, + 1630.0, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2280.0, + 1630.0, + 850.0 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 2366.6025, + 1680.0, + 850.0 + ], + "actual_end_pos": [ + 2366.6025, + 1680.0, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 2366.6025, + 1680.0, + 850.0 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 2366.6025, + 1680.0, + 850.0 + ], + "actual_end_pos": [ + 2366.6025, + 1680.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2366.6025, + 1680.0, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 2416.6025, + 1593.3975, + 850.0 + ], + "actual_end_pos": [ + 2416.6025, + 1593.3975, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2416.6025, + 1593.3975, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 2503.2051, + 1643.3975, + 850.0 + ], + "actual_end_pos": [ + 2503.2051, + 1643.3975, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2503.2051, + 1643.3975, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 2503.2051, + 1643.3975, + 850.0 + ], + "actual_end_pos": [ + 2503.2051, + 1643.3975, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2503.2051, + 1643.3975, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 2416.6025, + 1593.3975, + 850.0 + ], + "actual_end_pos": [ + 2416.6025, + 1593.3975, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2416.6025, + 1593.3975, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 2503.2051, + 1643.3975, + 850.0 + ], + "actual_end_pos": [ + 2503.2051, + 1643.3975, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2503.2051, + 1643.3975, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 2503.2051, + 1643.3975, + 850.0 + ], + "actual_end_pos": [ + 2503.2051, + 1643.3975, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2503.2051, + 1643.3975, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2573.9158, + 1714.1081, + 850.0 + ], + "actual_end_pos": [ + 2573.9158, + 1714.1081, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2573.9158, + 1714.1081, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2503.2051, + 1784.8188, + 850.0 + ], + "actual_end_pos": [ + 2503.2051, + 1784.8188, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2503.2051, + 1784.8188, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2503.2051, + 1784.8188, + 850.0 + ], + "actual_end_pos": [ + 2503.2051, + 1784.8188, + 850.0 + ], + "actual_end_rot": [ + -0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2503.2051, + 1784.8188, + 850.0 + ], + "start_rot": [ + -0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 2503.2051, + 1784.8188, + 850.0 + ], + "actual_end_pos": [ + 2503.2051, + 1784.8188, + 850.0 + ], + "actual_end_rot": [ + -0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2503.2051, + 1784.8188, + 850.0 + ], + "start_rot": [ + -0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 2553.2051, + 1698.2163, + 850.0 + ], + "actual_end_pos": [ + 2553.2051, + 1698.2163, + 850.0 + ], + "actual_end_rot": [ + -0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2553.2051, + 1698.2163, + 850.0 + ], + "start_rot": [ + -0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 2603.2051, + 1611.6137, + 850.0 + ], + "actual_end_pos": [ + 2603.2051, + 1611.6137, + 850.0 + ], + "actual_end_rot": [ + -0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2603.2051, + 1611.6137, + 850.0 + ], + "start_rot": [ + -0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 2603.2051, + 1611.6137, + 850.0 + ], + "actual_end_pos": [ + 2603.2051, + 1611.6137, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2603.2051, + 1611.6137, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2603.2051, + 1611.6137, + 850.0 + ], + "actual_end_pos": [ + 2603.2051, + 1611.6137, + 850.0 + ], + "actual_end_rot": [ + -0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 2603.2051, + 1611.6137, + 850.0 + ], + "start_rot": [ + -0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 2603.2051, + 1611.6137, + 850.0 + ], + "actual_end_pos": [ + 2603.2051, + 1611.6137, + 850.0 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2603.2051, + 1611.6137, + 850.0 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 2517.3434, + 1661.186, + 863.0526 + ], + "actual_end_pos": [ + 2517.3434, + 1661.186, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2517.3434, + 1661.186, + 863.0526 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 2517.3434, + 1661.186, + 863.0526 + ], + "actual_end_pos": [ + 2517.3434, + 1661.186, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + -15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2517.3434, + 1661.186, + 863.0526 + ], + "start_rot": [ + -7.5, + -15.0, + -0.0 + ], + "expected_end_pos": [ + 2613.1097, + 1635.5255, + 850.0 + ], + "actual_end_pos": [ + 2613.1097, + 1635.5255, + 850.0 + ], + "actual_end_rot": [ + -7.5, + -15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 2613.1097, + 1635.5255, + 850.0 + ], + "start_rot": [ + -7.5, + -15.0, + -0.0 + ], + "expected_end_pos": [ + 2613.1097, + 1635.5255, + 850.0 + ], + "actual_end_pos": [ + 2613.1097, + 1635.5255, + 850.0 + ], + "actual_end_rot": [ + -15.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2613.1097, + 1635.5255, + 850.0 + ], + "start_rot": [ + -15.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 2706.4109, + 1610.5255, + 824.1181 + ], + "actual_end_pos": [ + 2706.4109, + 1610.5255, + 824.1181 + ], + "actual_end_rot": [ + -15.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2706.4109, + 1610.5255, + 824.1181 + ], + "start_rot": [ + -15.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 2799.7122, + 1585.5255, + 798.2362 + ], + "actual_end_pos": [ + 2799.7122, + 1585.5255, + 798.2362 + ], + "actual_end_rot": [ + -15.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2799.7122, + 1585.5255, + 798.2362 + ], + "start_rot": [ + -15.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 2799.7122, + 1585.5255, + 798.2362 + ], + "actual_end_pos": [ + 2799.7122, + 1585.5255, + 798.2362 + ], + "actual_end_rot": [ + -15.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 2799.7122, + 1585.5255, + 798.2362 + ], + "start_rot": [ + -15.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 2799.7122, + 1585.5255, + 798.2362 + ], + "actual_end_pos": [ + 2799.7122, + 1585.5255, + 798.2362 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2799.7122, + 1585.5255, + 798.2362 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 2799.7122, + 1485.5255, + 798.2362 + ], + "actual_end_pos": [ + 2799.7122, + 1485.5255, + 798.2362 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2799.7122, + 1485.5255, + 798.2362 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 2799.7122, + 1485.5255, + 798.2362 + ], + "actual_end_pos": [ + 2799.7122, + 1485.5255, + 798.2362 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2799.7122, + 1485.5255, + 798.2362 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 2799.7122, + 1485.5255, + 798.2362 + ], + "actual_end_pos": [ + 2799.7122, + 1485.5255, + 798.2362 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2799.7122, + 1485.5255, + 798.2362 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 2773.8303, + 1582.1181, + 798.2362 + ], + "actual_end_pos": [ + 2773.8303, + 1582.1181, + 798.2362 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2773.8303, + 1582.1181, + 798.2362 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 2869.5965, + 1607.7786, + 785.1836 + ], + "actual_end_pos": [ + 2869.5965, + 1607.7786, + 785.1836 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2869.5965, + 1607.7786, + 785.1836 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 2843.7146, + 1704.3711, + 785.1836 + ], + "actual_end_pos": [ + 2843.7146, + 1704.3711, + 785.1836 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2843.7146, + 1704.3711, + 785.1836 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 2817.8327, + 1800.9637, + 785.1836 + ], + "actual_end_pos": [ + 2817.8327, + 1800.9637, + 785.1836 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2817.8327, + 1800.9637, + 785.1836 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 2817.8327, + 1800.9637, + 785.1836 + ], + "actual_end_pos": [ + 2817.8327, + 1800.9637, + 785.1836 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2817.8327, + 1800.9637, + 785.1836 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 2867.8327, + 1714.3612, + 785.1836 + ], + "actual_end_pos": [ + 2867.8327, + 1714.3612, + 785.1836 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 2867.8327, + 1714.3612, + 785.1836 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 2867.8327, + 1714.3612, + 785.1836 + ], + "actual_end_pos": [ + 2867.8327, + 1714.3612, + 785.1836 + ], + "actual_end_rot": [ + -15.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 2867.8327, + 1714.3612, + 785.1836 + ], + "start_rot": [ + -15.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 2867.8327, + 1714.3612, + 785.1836 + ], + "actual_end_pos": [ + 2867.8327, + 1714.3612, + 785.1836 + ], + "actual_end_rot": [ + -22.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2867.8327, + 1714.3612, + 785.1836 + ], + "start_rot": [ + -22.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 2787.8224, + 1668.1672, + 823.4519 + ], + "actual_end_pos": [ + 2787.8224, + 1668.1672, + 823.4519 + ], + "actual_end_rot": [ + -22.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260422_172644__pair_004944_A_traj_004944_meta.json b/equivalence_easy/run_20260422_172644__pair_004944_A_traj_004944_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..faec9143ea16d1ed44cfc3aa577cef58e2e6956d --- /dev/null +++ b/equivalence_easy/run_20260422_172644__pair_004944_A_traj_004944_meta.json @@ -0,0 +1,1476 @@ +{ + "trajectory_id": 4944, + "episode_id": 0, + "state_id": 3682, + "sample_index": 3682, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_A", + "partner_trajectory_id": 4945, + "primary_trajectory_id": 4944, + "paired_trajectory_id": 4945, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 2280.0, + 4830.0, + 850.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "move_backward", + "move_right", + "move_forward", + "turn_right", + "move_forward", + "move_right", + "turn_left", + "move_left", + "turn_left", + "move_right", + "turn_left", + "no_op", + "turn_left", + "move_left", + "move_left", + "turn_right", + "look_down", + "move_backward", + "move_right", + "look_up", + "move_left", + "move_left", + "move_forward", + "move_left", + "turn_right", + "move_right", + "move_forward", + "move_forward", + "look_down", + "look_down", + "no_op", + "turn_right", + "move_left", + "no_op", + "move_backward", + "move_backward", + "move_right", + "look_down", + "move_left" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2280.0, + 4830.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2180.0, + 4830.0, + 850.0 + ], + "actual_end_pos": [ + 2180.0, + 4830.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2180.0, + 4830.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2180.0, + 4730.0, + 850.0 + ], + "actual_end_pos": [ + 2180.0, + 4730.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2180.0, + 4730.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2080.0, + 4730.0, + 850.0 + ], + "actual_end_pos": [ + 2080.0, + 4730.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2080.0, + 4730.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2080.0, + 4830.0, + 850.0 + ], + "actual_end_pos": [ + 2080.0, + 4830.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2080.0, + 4830.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2080.0, + 4830.0, + 850.0 + ], + "actual_end_pos": [ + 2080.0, + 4830.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2080.0, + 4830.0, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 2054.1181, + 4926.5926, + 850.0 + ], + "actual_end_pos": [ + 2054.1181, + 4926.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2054.1181, + 4926.5926, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 1957.5255, + 4900.7107, + 850.0 + ], + "actual_end_pos": [ + 1957.5255, + 4900.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1957.5255, + 4900.7107, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 1957.5255, + 4900.7107, + 850.0 + ], + "actual_end_pos": [ + 1957.5255, + 4900.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1957.5255, + 4900.7107, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2057.5255, + 4900.7107, + 850.0 + ], + "actual_end_pos": [ + 2057.5255, + 4900.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2057.5255, + 4900.7107, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2057.5255, + 4900.7107, + 850.0 + ], + "actual_end_pos": [ + 2057.5255, + 4900.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2057.5255, + 4900.7107, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 1960.9329, + 4926.5926, + 850.0 + ], + "actual_end_pos": [ + 1960.9329, + 4926.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1960.9329, + 4926.5926, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 1960.9329, + 4926.5926, + 850.0 + ], + "actual_end_pos": [ + 1960.9329, + 4926.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1960.9329, + 4926.5926, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 1960.9329, + 4926.5926, + 850.0 + ], + "actual_end_pos": [ + 1960.9329, + 4926.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1960.9329, + 4926.5926, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 1960.9329, + 4926.5926, + 850.0 + ], + "actual_end_pos": [ + 1960.9329, + 4926.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1960.9329, + 4926.5926, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2031.6436, + 4855.8819, + 850.0 + ], + "actual_end_pos": [ + 2031.6436, + 4855.8819, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2031.6436, + 4855.8819, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2102.3543, + 4785.1712, + 850.0 + ], + "actual_end_pos": [ + 2102.3543, + 4785.1712, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2102.3543, + 4785.1712, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2102.3543, + 4785.1712, + 850.0 + ], + "actual_end_pos": [ + 2102.3543, + 4785.1712, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 2102.3543, + 4785.1712, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2102.3543, + 4785.1712, + 850.0 + ], + "actual_end_pos": [ + 2102.3543, + 4785.1712, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2102.3543, + 4785.1712, + 850.0 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 2052.782, + 4699.3096, + 863.0526 + ], + "actual_end_pos": [ + 2052.782, + 4699.3096, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2052.782, + 4699.3096, + 863.0526 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 1966.1795, + 4749.3096, + 863.0526 + ], + "actual_end_pos": [ + 1966.1795, + 4749.3096, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 1966.1795, + 4749.3096, + 863.0526 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 1966.1795, + 4749.3096, + 863.0526 + ], + "actual_end_pos": [ + 1966.1795, + 4749.3096, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1966.1795, + 4749.3096, + 863.0526 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2052.782, + 4699.3096, + 863.0526 + ], + "actual_end_pos": [ + 2052.782, + 4699.3096, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2052.782, + 4699.3096, + 863.0526 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2139.3846, + 4649.3096, + 863.0526 + ], + "actual_end_pos": [ + 2139.3846, + 4649.3096, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2139.3846, + 4649.3096, + 863.0526 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2189.3846, + 4735.9121, + 863.0526 + ], + "actual_end_pos": [ + 2189.3846, + 4735.9121, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2189.3846, + 4735.9121, + 863.0526 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2275.9871, + 4685.9121, + 863.0526 + ], + "actual_end_pos": [ + 2275.9871, + 4685.9121, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2275.9871, + 4685.9121, + 863.0526 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2275.9871, + 4685.9121, + 863.0526 + ], + "actual_end_pos": [ + 2275.9871, + 4685.9121, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2275.9871, + 4685.9121, + 863.0526 + ], + "start_rot": [ + 0.0, + 75.0, + -0.0 + ], + "expected_end_pos": [ + 2179.3945, + 4711.794, + 863.0526 + ], + "actual_end_pos": [ + 2179.3945, + 4711.794, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2179.3945, + 4711.794, + 863.0526 + ], + "start_rot": [ + 0.0, + 75.0, + -0.0 + ], + "expected_end_pos": [ + 2205.2764, + 4808.3866, + 863.0526 + ], + "actual_end_pos": [ + 2205.2764, + 4808.3866, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2205.2764, + 4808.3866, + 863.0526 + ], + "start_rot": [ + 0.0, + 75.0, + -0.0 + ], + "expected_end_pos": [ + 2231.1584, + 4904.9792, + 863.0526 + ], + "actual_end_pos": [ + 2231.1584, + 4904.9792, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 2231.1584, + 4904.9792, + 863.0526 + ], + "start_rot": [ + 0.0, + 75.0, + -0.0 + ], + "expected_end_pos": [ + 2231.1584, + 4904.9792, + 863.0526 + ], + "actual_end_pos": [ + 2231.1584, + 4904.9792, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 2231.1584, + 4904.9792, + 863.0526 + ], + "start_rot": [ + -7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 2231.1584, + 4904.9792, + 863.0526 + ], + "actual_end_pos": [ + 2231.1584, + 4904.9792, + 863.0526 + ], + "actual_end_rot": [ + -15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2231.1584, + 4904.9792, + 863.0526 + ], + "start_rot": [ + -15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 2231.1584, + 4904.9792, + 863.0526 + ], + "actual_end_pos": [ + 2231.1584, + 4904.9792, + 863.0526 + ], + "actual_end_rot": [ + -15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2231.1584, + 4904.9792, + 863.0526 + ], + "start_rot": [ + -15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 2231.1584, + 4904.9792, + 863.0526 + ], + "actual_end_pos": [ + 2231.1584, + 4904.9792, + 863.0526 + ], + "actual_end_rot": [ + -15.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2231.1584, + 4904.9792, + 863.0526 + ], + "start_rot": [ + -15.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2331.1584, + 4904.9792, + 863.0526 + ], + "actual_end_pos": [ + 2331.1584, + 4904.9792, + 863.0526 + ], + "actual_end_rot": [ + -15.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2331.1584, + 4904.9792, + 863.0526 + ], + "start_rot": [ + -15.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2331.1584, + 4904.9792, + 863.0526 + ], + "actual_end_pos": [ + 2331.1584, + 4904.9792, + 863.0526 + ], + "actual_end_rot": [ + -15.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2331.1584, + 4904.9792, + 863.0526 + ], + "start_rot": [ + -15.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2331.1584, + 4808.3866, + 888.9345 + ], + "actual_end_pos": [ + 2331.1584, + 4808.3866, + 888.9345 + ], + "actual_end_rot": [ + -15.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2331.1584, + 4808.3866, + 888.9345 + ], + "start_rot": [ + -15.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2331.1584, + 4711.794, + 914.8164 + ], + "actual_end_pos": [ + 2331.1584, + 4711.794, + 914.8164 + ], + "actual_end_rot": [ + -15.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2331.1584, + 4711.794, + 914.8164 + ], + "start_rot": [ + -15.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2231.1584, + 4711.794, + 914.8164 + ], + "actual_end_pos": [ + 2231.1584, + 4711.794, + 914.8164 + ], + "actual_end_rot": [ + -15.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 2231.1584, + 4711.794, + 914.8164 + ], + "start_rot": [ + -15.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2231.1584, + 4711.794, + 914.8164 + ], + "actual_end_pos": [ + 2231.1584, + 4711.794, + 914.8164 + ], + "actual_end_rot": [ + -22.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2231.1584, + 4711.794, + 914.8164 + ], + "start_rot": [ + -22.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2331.1584, + 4711.794, + 914.8164 + ], + "actual_end_pos": [ + 2331.1584, + 4711.794, + 914.8164 + ], + "actual_end_rot": [ + -22.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260422_172644__pair_004944_B_traj_004945_meta.json b/equivalence_easy/run_20260422_172644__pair_004944_B_traj_004945_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1df8b7c425e03c6ca342cd57cc3955843ae3644e --- /dev/null +++ b/equivalence_easy/run_20260422_172644__pair_004944_B_traj_004945_meta.json @@ -0,0 +1,1476 @@ +{ + "trajectory_id": 4945, + "episode_id": 0, + "state_id": 3682, + "sample_index": 3682, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_B", + "partner_trajectory_id": 4944, + "primary_trajectory_id": 4944, + "paired_trajectory_id": 4945, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 2280.0, + 4830.0, + 850.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_right", + "move_right", + "move_forward", + "turn_right", + "move_forward", + "move_right", + "turn_left", + "move_left", + "turn_left", + "move_right", + "turn_left", + "no_op", + "turn_left", + "move_left", + "move_left", + "look_down", + "turn_right", + "move_backward", + "move_right", + "look_up", + "move_forward", + "move_left", + "move_left", + "move_left", + "turn_right", + "move_forward", + "move_forward", + "move_right", + "look_down", + "look_down", + "no_op", + "turn_right", + "move_left", + "no_op", + "move_right", + "move_backward", + "move_backward", + "look_down", + "move_left" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2280.0, + 4830.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2280.0, + 4730.0, + 850.0 + ], + "actual_end_pos": [ + 2280.0, + 4730.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2280.0, + 4730.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2180.0, + 4730.0, + 850.0 + ], + "actual_end_pos": [ + 2180.0, + 4730.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2180.0, + 4730.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2080.0, + 4730.0, + 850.0 + ], + "actual_end_pos": [ + 2080.0, + 4730.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2080.0, + 4730.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2080.0, + 4830.0, + 850.0 + ], + "actual_end_pos": [ + 2080.0, + 4830.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2080.0, + 4830.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2080.0, + 4830.0, + 850.0 + ], + "actual_end_pos": [ + 2080.0, + 4830.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2080.0, + 4830.0, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 2054.1181, + 4926.5926, + 850.0 + ], + "actual_end_pos": [ + 2054.1181, + 4926.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2054.1181, + 4926.5926, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 1957.5255, + 4900.7107, + 850.0 + ], + "actual_end_pos": [ + 1957.5255, + 4900.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1957.5255, + 4900.7107, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 1957.5255, + 4900.7107, + 850.0 + ], + "actual_end_pos": [ + 1957.5255, + 4900.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1957.5255, + 4900.7107, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2057.5255, + 4900.7107, + 850.0 + ], + "actual_end_pos": [ + 2057.5255, + 4900.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2057.5255, + 4900.7107, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2057.5255, + 4900.7107, + 850.0 + ], + "actual_end_pos": [ + 2057.5255, + 4900.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2057.5255, + 4900.7107, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 1960.9329, + 4926.5926, + 850.0 + ], + "actual_end_pos": [ + 1960.9329, + 4926.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1960.9329, + 4926.5926, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 1960.9329, + 4926.5926, + 850.0 + ], + "actual_end_pos": [ + 1960.9329, + 4926.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1960.9329, + 4926.5926, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 1960.9329, + 4926.5926, + 850.0 + ], + "actual_end_pos": [ + 1960.9329, + 4926.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1960.9329, + 4926.5926, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 1960.9329, + 4926.5926, + 850.0 + ], + "actual_end_pos": [ + 1960.9329, + 4926.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1960.9329, + 4926.5926, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2031.6436, + 4855.8819, + 850.0 + ], + "actual_end_pos": [ + 2031.6436, + 4855.8819, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2031.6436, + 4855.8819, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2102.3543, + 4785.1712, + 850.0 + ], + "actual_end_pos": [ + 2102.3543, + 4785.1712, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 2102.3543, + 4785.1712, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2102.3543, + 4785.1712, + 850.0 + ], + "actual_end_pos": [ + 2102.3543, + 4785.1712, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2102.3543, + 4785.1712, + 850.0 + ], + "start_rot": [ + -7.5, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 2102.3543, + 4785.1712, + 850.0 + ], + "actual_end_pos": [ + 2102.3543, + 4785.1712, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2102.3543, + 4785.1712, + 850.0 + ], + "start_rot": [ + -7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2052.782, + 4699.3096, + 863.0526 + ], + "actual_end_pos": [ + 2052.782, + 4699.3096, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2052.782, + 4699.3096, + 863.0526 + ], + "start_rot": [ + -7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 1966.1795, + 4749.3096, + 863.0526 + ], + "actual_end_pos": [ + 1966.1795, + 4749.3096, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 1966.1795, + 4749.3096, + 863.0526 + ], + "start_rot": [ + -7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 1966.1795, + 4749.3096, + 863.0526 + ], + "actual_end_pos": [ + 1966.1795, + 4749.3096, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1966.1795, + 4749.3096, + 863.0526 + ], + "start_rot": [ + 0.0, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 2016.1795, + 4835.9121, + 863.0526 + ], + "actual_end_pos": [ + 2016.1795, + 4835.9121, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2016.1795, + 4835.9121, + 863.0526 + ], + "start_rot": [ + 0.0, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 2102.782, + 4785.9121, + 863.0526 + ], + "actual_end_pos": [ + 2102.782, + 4785.9121, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2102.782, + 4785.9121, + 863.0526 + ], + "start_rot": [ + 0.0, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 2189.3846, + 4735.9121, + 863.0526 + ], + "actual_end_pos": [ + 2189.3846, + 4735.9121, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2189.3846, + 4735.9121, + 863.0526 + ], + "start_rot": [ + 0.0, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 2275.9871, + 4685.9121, + 863.0526 + ], + "actual_end_pos": [ + 2275.9871, + 4685.9121, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2275.9871, + 4685.9121, + 863.0526 + ], + "start_rot": [ + 0.0, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 2275.9871, + 4685.9121, + 863.0526 + ], + "actual_end_pos": [ + 2275.9871, + 4685.9121, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2275.9871, + 4685.9121, + 863.0526 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 2301.869, + 4782.5047, + 863.0526 + ], + "actual_end_pos": [ + 2301.869, + 4782.5047, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2301.869, + 4782.5047, + 863.0526 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 2327.7509, + 4879.0973, + 863.0526 + ], + "actual_end_pos": [ + 2327.7509, + 4879.0973, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2327.7509, + 4879.0973, + 863.0526 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 2231.1584, + 4904.9792, + 863.0526 + ], + "actual_end_pos": [ + 2231.1584, + 4904.9792, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 2231.1584, + 4904.9792, + 863.0526 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 2231.1584, + 4904.9792, + 863.0526 + ], + "actual_end_pos": [ + 2231.1584, + 4904.9792, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 2231.1584, + 4904.9792, + 863.0526 + ], + "start_rot": [ + -7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 2231.1584, + 4904.9792, + 863.0526 + ], + "actual_end_pos": [ + 2231.1584, + 4904.9792, + 863.0526 + ], + "actual_end_rot": [ + -15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2231.1584, + 4904.9792, + 863.0526 + ], + "start_rot": [ + -15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 2231.1584, + 4904.9792, + 863.0526 + ], + "actual_end_pos": [ + 2231.1584, + 4904.9792, + 863.0526 + ], + "actual_end_rot": [ + -15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2231.1584, + 4904.9792, + 863.0526 + ], + "start_rot": [ + -15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 2231.1584, + 4904.9792, + 863.0526 + ], + "actual_end_pos": [ + 2231.1584, + 4904.9792, + 863.0526 + ], + "actual_end_rot": [ + -15.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2231.1584, + 4904.9792, + 863.0526 + ], + "start_rot": [ + -15.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2331.1584, + 4904.9792, + 863.0526 + ], + "actual_end_pos": [ + 2331.1584, + 4904.9792, + 863.0526 + ], + "actual_end_rot": [ + -15.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2331.1584, + 4904.9792, + 863.0526 + ], + "start_rot": [ + -15.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2331.1584, + 4904.9792, + 863.0526 + ], + "actual_end_pos": [ + 2331.1584, + 4904.9792, + 863.0526 + ], + "actual_end_rot": [ + -15.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2331.1584, + 4904.9792, + 863.0526 + ], + "start_rot": [ + -15.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2231.1584, + 4904.9792, + 863.0526 + ], + "actual_end_pos": [ + 2231.1584, + 4904.9792, + 863.0526 + ], + "actual_end_rot": [ + -15.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2231.1584, + 4904.9792, + 863.0526 + ], + "start_rot": [ + -15.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2231.1584, + 4808.3866, + 888.9345 + ], + "actual_end_pos": [ + 2231.1584, + 4808.3866, + 888.9345 + ], + "actual_end_rot": [ + -15.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2231.1584, + 4808.3866, + 888.9345 + ], + "start_rot": [ + -15.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2231.1584, + 4711.794, + 914.8164 + ], + "actual_end_pos": [ + 2231.1584, + 4711.794, + 914.8164 + ], + "actual_end_rot": [ + -15.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 2231.1584, + 4711.794, + 914.8164 + ], + "start_rot": [ + -15.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2231.1584, + 4711.794, + 914.8164 + ], + "actual_end_pos": [ + 2231.1584, + 4711.794, + 914.8164 + ], + "actual_end_rot": [ + -22.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2231.1584, + 4711.794, + 914.8164 + ], + "start_rot": [ + -22.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2331.1584, + 4711.794, + 914.8164 + ], + "actual_end_pos": [ + 2331.1584, + 4711.794, + 914.8164 + ], + "actual_end_rot": [ + -22.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260422_172644__pair_005078_A_traj_005078_meta.json b/equivalence_easy/run_20260422_172644__pair_005078_A_traj_005078_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cde28a9c2fa0d27ff14b17d5cf7b90f95f41995a --- /dev/null +++ b/equivalence_easy/run_20260422_172644__pair_005078_A_traj_005078_meta.json @@ -0,0 +1,1476 @@ +{ + "trajectory_id": 5078, + "episode_id": 0, + "state_id": 3777, + "sample_index": 3777, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_A", + "partner_trajectory_id": 5079, + "primary_trajectory_id": 5078, + "paired_trajectory_id": 5079, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 2480.0, + 2030.0, + 850.0 + ], + "rotation": [ + 0.0, + 45.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_right", + "move_forward", + "look_down", + "move_backward", + "turn_left", + "move_right", + "move_right", + "turn_right", + "move_forward", + "move_left", + "no_op", + "no_op", + "move_forward", + "look_up", + "move_forward", + "move_right", + "no_op", + "move_right", + "move_backward", + "turn_left", + "move_backward", + "turn_left", + "move_forward", + "move_right", + "turn_left", + "move_forward", + "turn_right", + "look_up", + "turn_right", + "move_left", + "turn_right", + "move_right", + "turn_right", + "move_backward", + "turn_right", + "no_op", + "turn_right", + "move_forward", + "move_forward", + "turn_left" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2480.0, + 2030.0, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2480.0, + 2030.0, + 850.0 + ], + "actual_end_pos": [ + 2480.0, + 2030.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2480.0, + 2030.0, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2530.0, + 2116.6025, + 850.0 + ], + "actual_end_pos": [ + 2530.0, + 2116.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 2530.0, + 2116.6025, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2530.0, + 2116.6025, + 850.0 + ], + "actual_end_pos": [ + 2530.0, + 2116.6025, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2530.0, + 2116.6025, + 850.0 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 2480.4278, + 2030.7409, + 863.0526 + ], + "actual_end_pos": [ + 2480.4278, + 2030.7409, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2480.4278, + 2030.7409, + 863.0526 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 2480.4278, + 2030.7409, + 863.0526 + ], + "actual_end_pos": [ + 2480.4278, + 2030.7409, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2480.4278, + 2030.7409, + 863.0526 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2409.7171, + 2101.4516, + 863.0526 + ], + "actual_end_pos": [ + 2409.7171, + 2101.4516, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2409.7171, + 2101.4516, + 863.0526 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2339.0064, + 2172.1623, + 863.0526 + ], + "actual_end_pos": [ + 2339.0064, + 2172.1623, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2339.0064, + 2172.1623, + 863.0526 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2339.0064, + 2172.1623, + 863.0526 + ], + "actual_end_pos": [ + 2339.0064, + 2172.1623, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2339.0064, + 2172.1623, + 863.0526 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 2388.5786, + 2258.0239, + 850.0 + ], + "actual_end_pos": [ + 2388.5786, + 2258.0239, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2388.5786, + 2258.0239, + 850.0 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 2475.1812, + 2208.0239, + 850.0 + ], + "actual_end_pos": [ + 2475.1812, + 2208.0239, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2475.1812, + 2208.0239, + 850.0 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 2475.1812, + 2208.0239, + 850.0 + ], + "actual_end_pos": [ + 2475.1812, + 2208.0239, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2475.1812, + 2208.0239, + 850.0 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 2475.1812, + 2208.0239, + 850.0 + ], + "actual_end_pos": [ + 2475.1812, + 2208.0239, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2475.1812, + 2208.0239, + 850.0 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 2524.7534, + 2293.8855, + 836.9474 + ], + "actual_end_pos": [ + 2524.7534, + 2293.8855, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 2524.7534, + 2293.8855, + 836.9474 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 2524.7534, + 2293.8855, + 836.9474 + ], + "actual_end_pos": [ + 2524.7534, + 2293.8855, + 836.9474 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2524.7534, + 2293.8855, + 836.9474 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2574.7534, + 2380.4881, + 836.9474 + ], + "actual_end_pos": [ + 2574.7534, + 2380.4881, + 836.9474 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2574.7534, + 2380.4881, + 836.9474 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2488.1509, + 2430.4881, + 836.9474 + ], + "actual_end_pos": [ + 2488.1509, + 2430.4881, + 836.9474 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2488.1509, + 2430.4881, + 836.9474 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2488.1509, + 2430.4881, + 836.9474 + ], + "actual_end_pos": [ + 2488.1509, + 2430.4881, + 836.9474 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2488.1509, + 2430.4881, + 836.9474 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2401.5483, + 2480.4881, + 836.9474 + ], + "actual_end_pos": [ + 2401.5483, + 2480.4881, + 836.9474 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2401.5483, + 2480.4881, + 836.9474 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2351.5483, + 2393.8855, + 836.9474 + ], + "actual_end_pos": [ + 2351.5483, + 2393.8855, + 836.9474 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2351.5483, + 2393.8855, + 836.9474 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2351.5483, + 2393.8855, + 836.9474 + ], + "actual_end_pos": [ + 2351.5483, + 2393.8855, + 836.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2351.5483, + 2393.8855, + 836.9474 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 2280.8377, + 2323.1749, + 836.9474 + ], + "actual_end_pos": [ + 2280.8377, + 2323.1749, + 836.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2280.8377, + 2323.1749, + 836.9474 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 2280.8377, + 2323.1749, + 836.9474 + ], + "actual_end_pos": [ + 2280.8377, + 2323.1749, + 836.9474 + ], + "actual_end_rot": [ + 0.0, + 30.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2280.8377, + 2323.1749, + 836.9474 + ], + "start_rot": [ + 0.0, + 30.0, + -0.0 + ], + "expected_end_pos": [ + 2367.4402, + 2373.1749, + 836.9474 + ], + "actual_end_pos": [ + 2367.4402, + 2373.1749, + 836.9474 + ], + "actual_end_rot": [ + 0.0, + 30.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2367.4402, + 2373.1749, + 836.9474 + ], + "start_rot": [ + 0.0, + 30.0, + -0.0 + ], + "expected_end_pos": [ + 2317.4402, + 2459.7774, + 836.9474 + ], + "actual_end_pos": [ + 2317.4402, + 2459.7774, + 836.9474 + ], + "actual_end_rot": [ + 0.0, + 30.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2317.4402, + 2459.7774, + 836.9474 + ], + "start_rot": [ + 0.0, + 30.0, + -0.0 + ], + "expected_end_pos": [ + 2317.4402, + 2459.7774, + 836.9474 + ], + "actual_end_pos": [ + 2317.4402, + 2459.7774, + 836.9474 + ], + "actual_end_rot": [ + 0.0, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2317.4402, + 2459.7774, + 836.9474 + ], + "start_rot": [ + 0.0, + 15.0, + -0.0 + ], + "expected_end_pos": [ + 2414.0328, + 2485.6593, + 836.9474 + ], + "actual_end_pos": [ + 2414.0328, + 2485.6593, + 836.9474 + ], + "actual_end_rot": [ + 0.0, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2414.0328, + 2485.6593, + 836.9474 + ], + "start_rot": [ + 0.0, + 15.0, + -0.0 + ], + "expected_end_pos": [ + 2414.0328, + 2485.6593, + 836.9474 + ], + "actual_end_pos": [ + 2414.0328, + 2485.6593, + 836.9474 + ], + "actual_end_rot": [ + 0.0, + 30.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 2414.0328, + 2485.6593, + 836.9474 + ], + "start_rot": [ + 0.0, + 30.0, + -0.0 + ], + "expected_end_pos": [ + 2414.0328, + 2485.6593, + 836.9474 + ], + "actual_end_pos": [ + 2414.0328, + 2485.6593, + 836.9474 + ], + "actual_end_rot": [ + 7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2414.0328, + 2485.6593, + 836.9474 + ], + "start_rot": [ + 7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 2414.0328, + 2485.6593, + 836.9474 + ], + "actual_end_pos": [ + 2414.0328, + 2485.6593, + 836.9474 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2414.0328, + 2485.6593, + 836.9474 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2484.7435, + 2414.9486, + 836.9474 + ], + "actual_end_pos": [ + 2484.7435, + 2414.9486, + 836.9474 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2484.7435, + 2414.9486, + 836.9474 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2484.7435, + 2414.9486, + 836.9474 + ], + "actual_end_pos": [ + 2484.7435, + 2414.9486, + 836.9474 + ], + "actual_end_rot": [ + 7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2484.7435, + 2414.9486, + 836.9474 + ], + "start_rot": [ + 7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2398.1409, + 2464.9486, + 836.9474 + ], + "actual_end_pos": [ + 2398.1409, + 2464.9486, + 836.9474 + ], + "actual_end_rot": [ + 7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2398.1409, + 2464.9486, + 836.9474 + ], + "start_rot": [ + 7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2398.1409, + 2464.9486, + 836.9474 + ], + "actual_end_pos": [ + 2398.1409, + 2464.9486, + 836.9474 + ], + "actual_end_rot": [ + 7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2398.1409, + 2464.9486, + 836.9474 + ], + "start_rot": [ + 7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 2372.4804, + 2369.1824, + 823.8948 + ], + "actual_end_pos": [ + 2372.4804, + 2369.1824, + 823.8948 + ], + "actual_end_rot": [ + 7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2372.4804, + 2369.1824, + 823.8948 + ], + "start_rot": [ + 7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 2372.4804, + 2369.1824, + 823.8948 + ], + "actual_end_pos": [ + 2372.4804, + 2369.1824, + 823.8948 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2372.4804, + 2369.1824, + 823.8948 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2372.4804, + 2369.1824, + 823.8948 + ], + "actual_end_pos": [ + 2372.4804, + 2369.1824, + 823.8948 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2372.4804, + 2369.1824, + 823.8948 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2372.4804, + 2369.1824, + 823.8948 + ], + "actual_end_pos": [ + 2372.4804, + 2369.1824, + 823.8948 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2372.4804, + 2369.1824, + 823.8948 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 2346.82, + 2464.9486, + 836.9474 + ], + "actual_end_pos": [ + 2346.82, + 2464.9486, + 836.9474 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2346.82, + 2464.9486, + 836.9474 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 2321.1595, + 2560.7149, + 850.0 + ], + "actual_end_pos": [ + 2321.1595, + 2560.7149, + 850.0 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2321.1595, + 2560.7149, + 850.0 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 2321.1595, + 2560.7149, + 850.0 + ], + "actual_end_pos": [ + 2321.1595, + 2560.7149, + 850.0 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260422_172644__pair_005078_B_traj_005079_meta.json b/equivalence_easy/run_20260422_172644__pair_005078_B_traj_005079_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..52c1edba1c20b15f53252fe6dc5f8090d81a5483 --- /dev/null +++ b/equivalence_easy/run_20260422_172644__pair_005078_B_traj_005079_meta.json @@ -0,0 +1,1476 @@ +{ + "trajectory_id": 5079, + "episode_id": 0, + "state_id": 3777, + "sample_index": 3777, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_B", + "partner_trajectory_id": 5078, + "primary_trajectory_id": 5078, + "paired_trajectory_id": 5079, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 2480.0, + 2030.0, + 850.0 + ], + "rotation": [ + 0.0, + 45.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_right", + "move_forward", + "look_down", + "move_backward", + "turn_left", + "move_right", + "move_right", + "turn_right", + "move_left", + "move_forward", + "no_op", + "no_op", + "move_forward", + "look_up", + "move_right", + "move_forward", + "no_op", + "move_backward", + "move_right", + "turn_left", + "move_backward", + "turn_left", + "move_right", + "move_forward", + "turn_left", + "move_forward", + "turn_right", + "look_up", + "turn_right", + "move_left", + "turn_right", + "move_right", + "turn_right", + "move_backward", + "turn_right", + "no_op", + "turn_right", + "move_forward", + "move_forward", + "turn_left" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2480.0, + 2030.0, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2480.0, + 2030.0, + 850.0 + ], + "actual_end_pos": [ + 2480.0, + 2030.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2480.0, + 2030.0, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2530.0, + 2116.6025, + 850.0 + ], + "actual_end_pos": [ + 2530.0, + 2116.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 2530.0, + 2116.6025, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2530.0, + 2116.6025, + 850.0 + ], + "actual_end_pos": [ + 2530.0, + 2116.6025, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2530.0, + 2116.6025, + 850.0 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 2480.4278, + 2030.7409, + 863.0526 + ], + "actual_end_pos": [ + 2480.4278, + 2030.7409, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2480.4278, + 2030.7409, + 863.0526 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 2480.4278, + 2030.7409, + 863.0526 + ], + "actual_end_pos": [ + 2480.4278, + 2030.7409, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2480.4278, + 2030.7409, + 863.0526 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2409.7171, + 2101.4516, + 863.0526 + ], + "actual_end_pos": [ + 2409.7171, + 2101.4516, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2409.7171, + 2101.4516, + 863.0526 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2339.0064, + 2172.1623, + 863.0526 + ], + "actual_end_pos": [ + 2339.0064, + 2172.1623, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2339.0064, + 2172.1623, + 863.0526 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2339.0064, + 2172.1623, + 863.0526 + ], + "actual_end_pos": [ + 2339.0064, + 2172.1623, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2339.0064, + 2172.1623, + 863.0526 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 2425.6089, + 2122.1623, + 863.0526 + ], + "actual_end_pos": [ + 2425.6089, + 2122.1623, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2425.6089, + 2122.1623, + 863.0526 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 2475.1812, + 2208.0239, + 850.0 + ], + "actual_end_pos": [ + 2475.1812, + 2208.0239, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2475.1812, + 2208.0239, + 850.0 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 2475.1812, + 2208.0239, + 850.0 + ], + "actual_end_pos": [ + 2475.1812, + 2208.0239, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2475.1812, + 2208.0239, + 850.0 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 2475.1812, + 2208.0239, + 850.0 + ], + "actual_end_pos": [ + 2475.1812, + 2208.0239, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2475.1812, + 2208.0239, + 850.0 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 2524.7534, + 2293.8855, + 836.9474 + ], + "actual_end_pos": [ + 2524.7534, + 2293.8855, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 2524.7534, + 2293.8855, + 836.9474 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 2524.7534, + 2293.8855, + 836.9474 + ], + "actual_end_pos": [ + 2524.7534, + 2293.8855, + 836.9474 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2524.7534, + 2293.8855, + 836.9474 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2438.1509, + 2343.8855, + 836.9474 + ], + "actual_end_pos": [ + 2438.1509, + 2343.8855, + 836.9474 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2438.1509, + 2343.8855, + 836.9474 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2488.1509, + 2430.4881, + 836.9474 + ], + "actual_end_pos": [ + 2488.1509, + 2430.4881, + 836.9474 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2488.1509, + 2430.4881, + 836.9474 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2488.1509, + 2430.4881, + 836.9474 + ], + "actual_end_pos": [ + 2488.1509, + 2430.4881, + 836.9474 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2488.1509, + 2430.4881, + 836.9474 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2438.1509, + 2343.8855, + 836.9474 + ], + "actual_end_pos": [ + 2438.1509, + 2343.8855, + 836.9474 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2438.1509, + 2343.8855, + 836.9474 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2351.5483, + 2393.8855, + 836.9474 + ], + "actual_end_pos": [ + 2351.5483, + 2393.8855, + 836.9474 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2351.5483, + 2393.8855, + 836.9474 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2351.5483, + 2393.8855, + 836.9474 + ], + "actual_end_pos": [ + 2351.5483, + 2393.8855, + 836.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2351.5483, + 2393.8855, + 836.9474 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 2280.8377, + 2323.1749, + 836.9474 + ], + "actual_end_pos": [ + 2280.8377, + 2323.1749, + 836.9474 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2280.8377, + 2323.1749, + 836.9474 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 2280.8377, + 2323.1749, + 836.9474 + ], + "actual_end_pos": [ + 2280.8377, + 2323.1749, + 836.9474 + ], + "actual_end_rot": [ + 0.0, + 30.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2280.8377, + 2323.1749, + 836.9474 + ], + "start_rot": [ + 0.0, + 30.0, + -0.0 + ], + "expected_end_pos": [ + 2230.8377, + 2409.7774, + 836.9474 + ], + "actual_end_pos": [ + 2230.8377, + 2409.7774, + 836.9474 + ], + "actual_end_rot": [ + 0.0, + 30.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2230.8377, + 2409.7774, + 836.9474 + ], + "start_rot": [ + 0.0, + 30.0, + -0.0 + ], + "expected_end_pos": [ + 2317.4402, + 2459.7774, + 836.9474 + ], + "actual_end_pos": [ + 2317.4402, + 2459.7774, + 836.9474 + ], + "actual_end_rot": [ + 0.0, + 30.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2317.4402, + 2459.7774, + 836.9474 + ], + "start_rot": [ + 0.0, + 30.0, + -0.0 + ], + "expected_end_pos": [ + 2317.4402, + 2459.7774, + 836.9474 + ], + "actual_end_pos": [ + 2317.4402, + 2459.7774, + 836.9474 + ], + "actual_end_rot": [ + 0.0, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2317.4402, + 2459.7774, + 836.9474 + ], + "start_rot": [ + 0.0, + 15.0, + -0.0 + ], + "expected_end_pos": [ + 2414.0328, + 2485.6593, + 836.9474 + ], + "actual_end_pos": [ + 2414.0328, + 2485.6593, + 836.9474 + ], + "actual_end_rot": [ + 0.0, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2414.0328, + 2485.6593, + 836.9474 + ], + "start_rot": [ + 0.0, + 15.0, + -0.0 + ], + "expected_end_pos": [ + 2414.0328, + 2485.6593, + 836.9474 + ], + "actual_end_pos": [ + 2414.0328, + 2485.6593, + 836.9474 + ], + "actual_end_rot": [ + 0.0, + 30.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 2414.0328, + 2485.6593, + 836.9474 + ], + "start_rot": [ + 0.0, + 30.0, + -0.0 + ], + "expected_end_pos": [ + 2414.0328, + 2485.6593, + 836.9474 + ], + "actual_end_pos": [ + 2414.0328, + 2485.6593, + 836.9474 + ], + "actual_end_rot": [ + 7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2414.0328, + 2485.6593, + 836.9474 + ], + "start_rot": [ + 7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 2414.0328, + 2485.6593, + 836.9474 + ], + "actual_end_pos": [ + 2414.0328, + 2485.6593, + 836.9474 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2414.0328, + 2485.6593, + 836.9474 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2484.7435, + 2414.9486, + 836.9474 + ], + "actual_end_pos": [ + 2484.7435, + 2414.9486, + 836.9474 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2484.7435, + 2414.9486, + 836.9474 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2484.7435, + 2414.9486, + 836.9474 + ], + "actual_end_pos": [ + 2484.7435, + 2414.9486, + 836.9474 + ], + "actual_end_rot": [ + 7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2484.7435, + 2414.9486, + 836.9474 + ], + "start_rot": [ + 7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2398.1409, + 2464.9486, + 836.9474 + ], + "actual_end_pos": [ + 2398.1409, + 2464.9486, + 836.9474 + ], + "actual_end_rot": [ + 7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2398.1409, + 2464.9486, + 836.9474 + ], + "start_rot": [ + 7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2398.1409, + 2464.9486, + 836.9474 + ], + "actual_end_pos": [ + 2398.1409, + 2464.9486, + 836.9474 + ], + "actual_end_rot": [ + 7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2398.1409, + 2464.9486, + 836.9474 + ], + "start_rot": [ + 7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 2372.4804, + 2369.1824, + 823.8948 + ], + "actual_end_pos": [ + 2372.4804, + 2369.1824, + 823.8948 + ], + "actual_end_rot": [ + 7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2372.4804, + 2369.1824, + 823.8948 + ], + "start_rot": [ + 7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 2372.4804, + 2369.1824, + 823.8948 + ], + "actual_end_pos": [ + 2372.4804, + 2369.1824, + 823.8948 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2372.4804, + 2369.1824, + 823.8948 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2372.4804, + 2369.1824, + 823.8948 + ], + "actual_end_pos": [ + 2372.4804, + 2369.1824, + 823.8948 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2372.4804, + 2369.1824, + 823.8948 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2372.4804, + 2369.1824, + 823.8948 + ], + "actual_end_pos": [ + 2372.4804, + 2369.1824, + 823.8948 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2372.4804, + 2369.1824, + 823.8948 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 2346.82, + 2464.9486, + 836.9474 + ], + "actual_end_pos": [ + 2346.82, + 2464.9486, + 836.9474 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2346.82, + 2464.9486, + 836.9474 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 2321.1595, + 2560.7149, + 850.0 + ], + "actual_end_pos": [ + 2321.1595, + 2560.7149, + 850.0 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2321.1595, + 2560.7149, + 850.0 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 2321.1595, + 2560.7149, + 850.0 + ], + "actual_end_pos": [ + 2321.1595, + 2560.7149, + 850.0 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260422_172644__pair_005169_A_traj_005169_meta.json b/equivalence_easy/run_20260422_172644__pair_005169_A_traj_005169_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..497f8da74992f3181b599a62ebbe44d70b5e7a10 --- /dev/null +++ b/equivalence_easy/run_20260422_172644__pair_005169_A_traj_005169_meta.json @@ -0,0 +1,1476 @@ +{ + "trajectory_id": 5169, + "episode_id": 0, + "state_id": 3845, + "sample_index": 3845, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_A", + "partner_trajectory_id": 5170, + "primary_trajectory_id": 5169, + "paired_trajectory_id": 5170, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 2480.0, + 4630.0, + 850.0 + ], + "rotation": [ + 0.0, + 225.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "move_left", + "move_left", + "move_left", + "look_up", + "move_right", + "move_right", + "no_op", + "move_forward", + "no_op", + "no_op", + "turn_right", + "move_forward", + "move_right", + "turn_right", + "move_left", + "move_left", + "turn_right", + "look_down", + "move_backward", + "move_backward", + "turn_left", + "look_down", + "move_forward", + "move_forward", + "no_op", + "move_left", + "turn_left", + "move_forward", + "turn_left", + "move_left", + "no_op", + "move_backward", + "turn_right", + "move_left", + "look_up", + "move_forward", + "move_right", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2480.0, + 4630.0, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2409.2893, + 4700.7107, + 850.0 + ], + "actual_end_pos": [ + 2409.2893, + 4700.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2409.2893, + 4700.7107, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2338.5786, + 4771.4214, + 850.0 + ], + "actual_end_pos": [ + 2338.5786, + 4771.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2338.5786, + 4771.4214, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2267.868, + 4842.132, + 850.0 + ], + "actual_end_pos": [ + 2267.868, + 4842.132, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2267.868, + 4842.132, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2197.1573, + 4912.8427, + 850.0 + ], + "actual_end_pos": [ + 2197.1573, + 4912.8427, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 2197.1573, + 4912.8427, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2197.1573, + 4912.8427, + 850.0 + ], + "actual_end_pos": [ + 2197.1573, + 4912.8427, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2197.1573, + 4912.8427, + 850.0 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2267.868, + 4842.132, + 850.0 + ], + "actual_end_pos": [ + 2267.868, + 4842.132, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2267.868, + 4842.132, + 850.0 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2338.5786, + 4771.4214, + 850.0 + ], + "actual_end_pos": [ + 2338.5786, + 4771.4214, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2338.5786, + 4771.4214, + 850.0 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2338.5786, + 4771.4214, + 850.0 + ], + "actual_end_pos": [ + 2338.5786, + 4771.4214, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2338.5786, + 4771.4214, + 850.0 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2268.4729, + 4701.3156, + 863.0526 + ], + "actual_end_pos": [ + 2268.4729, + 4701.3156, + 863.0526 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2268.4729, + 4701.3156, + 863.0526 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2268.4729, + 4701.3156, + 863.0526 + ], + "actual_end_pos": [ + 2268.4729, + 4701.3156, + 863.0526 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2268.4729, + 4701.3156, + 863.0526 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2268.4729, + 4701.3156, + 863.0526 + ], + "actual_end_pos": [ + 2268.4729, + 4701.3156, + 863.0526 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2268.4729, + 4701.3156, + 863.0526 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2268.4729, + 4701.3156, + 863.0526 + ], + "actual_end_pos": [ + 2268.4729, + 4701.3156, + 863.0526 + ], + "actual_end_rot": [ + 7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2268.4729, + 4701.3156, + 863.0526 + ], + "start_rot": [ + 7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 2218.9007, + 4615.454, + 876.1052 + ], + "actual_end_pos": [ + 2218.9007, + 4615.454, + 876.1052 + ], + "actual_end_rot": [ + 7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2218.9007, + 4615.454, + 876.1052 + ], + "start_rot": [ + 7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 2305.5032, + 4565.454, + 876.1052 + ], + "actual_end_pos": [ + 2305.5032, + 4565.454, + 876.1052 + ], + "actual_end_rot": [ + 7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2305.5032, + 4565.454, + 876.1052 + ], + "start_rot": [ + 7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 2305.5032, + 4565.454, + 876.1052 + ], + "actual_end_pos": [ + 2305.5032, + 4565.454, + 876.1052 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2305.5032, + 4565.454, + 876.1052 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 2208.9106, + 4591.3359, + 876.1052 + ], + "actual_end_pos": [ + 2208.9106, + 4591.3359, + 876.1052 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2208.9106, + 4591.3359, + 876.1052 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 2112.318, + 4617.2178, + 876.1052 + ], + "actual_end_pos": [ + 2112.318, + 4617.2178, + 876.1052 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2112.318, + 4617.2178, + 876.1052 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 2112.318, + 4617.2178, + 876.1052 + ], + "actual_end_pos": [ + 2112.318, + 4617.2178, + 876.1052 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 2112.318, + 4617.2178, + 876.1052 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2112.318, + 4617.2178, + 876.1052 + ], + "actual_end_pos": [ + 2112.318, + 4617.2178, + 876.1052 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2112.318, + 4617.2178, + 876.1052 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2112.318, + 4717.2178, + 876.1052 + ], + "actual_end_pos": [ + 2112.318, + 4717.2178, + 876.1052 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2112.318, + 4717.2178, + 876.1052 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2112.318, + 4817.2178, + 876.1052 + ], + "actual_end_pos": [ + 2112.318, + 4817.2178, + 876.1052 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2112.318, + 4817.2178, + 876.1052 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2112.318, + 4817.2178, + 876.1052 + ], + "actual_end_pos": [ + 2112.318, + 4817.2178, + 876.1052 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 2112.318, + 4817.2178, + 876.1052 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 2112.318, + 4817.2178, + 876.1052 + ], + "actual_end_pos": [ + 2112.318, + 4817.2178, + 876.1052 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2112.318, + 4817.2178, + 876.1052 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 2086.6576, + 4721.4516, + 863.0526 + ], + "actual_end_pos": [ + 2086.6576, + 4721.4516, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2086.6576, + 4721.4516, + 863.0526 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 2060.9971, + 4625.6853, + 850.0 + ], + "actual_end_pos": [ + 2060.9971, + 4625.6853, + 850.0 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2060.9971, + 4625.6853, + 850.0 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 2060.9971, + 4625.6853, + 850.0 + ], + "actual_end_pos": [ + 2060.9971, + 4625.6853, + 850.0 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2060.9971, + 4625.6853, + 850.0 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 1964.4045, + 4651.5672, + 850.0 + ], + "actual_end_pos": [ + 1964.4045, + 4651.5672, + 850.0 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1964.4045, + 4651.5672, + 850.0 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 1964.4045, + 4651.5672, + 850.0 + ], + "actual_end_pos": [ + 1964.4045, + 4651.5672, + 850.0 + ], + "actual_end_rot": [ + -7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1964.4045, + 4651.5672, + 850.0 + ], + "start_rot": [ + -7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 1914.8323, + 4565.7056, + 836.9474 + ], + "actual_end_pos": [ + 1914.8323, + 4565.7056, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1914.8323, + 4565.7056, + 836.9474 + ], + "start_rot": [ + -7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 1914.8323, + 4565.7056, + 836.9474 + ], + "actual_end_pos": [ + 1914.8323, + 4565.7056, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1914.8323, + 4565.7056, + 836.9474 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 1844.1216, + 4636.4163, + 836.9474 + ], + "actual_end_pos": [ + 1844.1216, + 4636.4163, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1844.1216, + 4636.4163, + 836.9474 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 1844.1216, + 4636.4163, + 836.9474 + ], + "actual_end_pos": [ + 1844.1216, + 4636.4163, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1844.1216, + 4636.4163, + 836.9474 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 1914.2273, + 4706.522, + 850.0 + ], + "actual_end_pos": [ + 1914.2273, + 4706.522, + 850.0 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1914.2273, + 4706.522, + 850.0 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 1914.2273, + 4706.522, + 850.0 + ], + "actual_end_pos": [ + 1914.2273, + 4706.522, + 850.0 + ], + "actual_end_rot": [ + -7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1914.2273, + 4706.522, + 850.0 + ], + "start_rot": [ + -7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 1827.6248, + 4756.522, + 850.0 + ], + "actual_end_pos": [ + 1827.6248, + 4756.522, + 850.0 + ], + "actual_end_rot": [ + -7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 1827.6248, + 4756.522, + 850.0 + ], + "start_rot": [ + -7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 1827.6248, + 4756.522, + 850.0 + ], + "actual_end_pos": [ + 1827.6248, + 4756.522, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1827.6248, + 4756.522, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 1777.6248, + 4669.9195, + 850.0 + ], + "actual_end_pos": [ + 1777.6248, + 4669.9195, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1777.6248, + 4669.9195, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 1864.2273, + 4619.9195, + 850.0 + ], + "actual_end_pos": [ + 1864.2273, + 4619.9195, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1864.2273, + 4619.9195, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 1864.2273, + 4619.9195, + 850.0 + ], + "actual_end_pos": [ + 1864.2273, + 4619.9195, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1864.2273, + 4619.9195, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 1864.2273, + 4619.9195, + 850.0 + ], + "actual_end_pos": [ + 1864.2273, + 4619.9195, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260422_172644__pair_005169_B_traj_005170_meta.json b/equivalence_easy/run_20260422_172644__pair_005169_B_traj_005170_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dd72dfda6310a7fa46e68d97b4d2494dc10f585e --- /dev/null +++ b/equivalence_easy/run_20260422_172644__pair_005169_B_traj_005170_meta.json @@ -0,0 +1,1476 @@ +{ + "trajectory_id": 5170, + "episode_id": 0, + "state_id": 3845, + "sample_index": 3845, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_B", + "partner_trajectory_id": 5169, + "primary_trajectory_id": 5169, + "paired_trajectory_id": 5170, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 2480.0, + 4630.0, + 850.0 + ], + "rotation": [ + 0.0, + 225.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "move_left", + "move_left", + "move_left", + "look_up", + "move_right", + "move_right", + "no_op", + "move_forward", + "no_op", + "no_op", + "turn_right", + "move_right", + "move_forward", + "turn_right", + "move_left", + "move_left", + "look_down", + "turn_right", + "move_backward", + "move_backward", + "look_down", + "turn_left", + "move_forward", + "move_forward", + "no_op", + "move_left", + "turn_left", + "move_forward", + "turn_left", + "move_left", + "no_op", + "move_backward", + "turn_right", + "move_left", + "look_up", + "move_right", + "move_forward", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2480.0, + 4630.0, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2409.2893, + 4700.7107, + 850.0 + ], + "actual_end_pos": [ + 2409.2893, + 4700.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2409.2893, + 4700.7107, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2338.5786, + 4771.4214, + 850.0 + ], + "actual_end_pos": [ + 2338.5786, + 4771.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2338.5786, + 4771.4214, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2267.868, + 4842.132, + 850.0 + ], + "actual_end_pos": [ + 2267.868, + 4842.132, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2267.868, + 4842.132, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2197.1573, + 4912.8427, + 850.0 + ], + "actual_end_pos": [ + 2197.1573, + 4912.8427, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 2197.1573, + 4912.8427, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2197.1573, + 4912.8427, + 850.0 + ], + "actual_end_pos": [ + 2197.1573, + 4912.8427, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2197.1573, + 4912.8427, + 850.0 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2267.868, + 4842.132, + 850.0 + ], + "actual_end_pos": [ + 2267.868, + 4842.132, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2267.868, + 4842.132, + 850.0 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2338.5786, + 4771.4214, + 850.0 + ], + "actual_end_pos": [ + 2338.5786, + 4771.4214, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2338.5786, + 4771.4214, + 850.0 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2338.5786, + 4771.4214, + 850.0 + ], + "actual_end_pos": [ + 2338.5786, + 4771.4214, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2338.5786, + 4771.4214, + 850.0 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2268.4729, + 4701.3156, + 863.0526 + ], + "actual_end_pos": [ + 2268.4729, + 4701.3156, + 863.0526 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2268.4729, + 4701.3156, + 863.0526 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2268.4729, + 4701.3156, + 863.0526 + ], + "actual_end_pos": [ + 2268.4729, + 4701.3156, + 863.0526 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2268.4729, + 4701.3156, + 863.0526 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2268.4729, + 4701.3156, + 863.0526 + ], + "actual_end_pos": [ + 2268.4729, + 4701.3156, + 863.0526 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2268.4729, + 4701.3156, + 863.0526 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2268.4729, + 4701.3156, + 863.0526 + ], + "actual_end_pos": [ + 2268.4729, + 4701.3156, + 863.0526 + ], + "actual_end_rot": [ + 7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2268.4729, + 4701.3156, + 863.0526 + ], + "start_rot": [ + 7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 2355.0754, + 4651.3156, + 863.0526 + ], + "actual_end_pos": [ + 2355.0754, + 4651.3156, + 863.0526 + ], + "actual_end_rot": [ + 7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2355.0754, + 4651.3156, + 863.0526 + ], + "start_rot": [ + 7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 2305.5032, + 4565.454, + 876.1052 + ], + "actual_end_pos": [ + 2305.5032, + 4565.454, + 876.1052 + ], + "actual_end_rot": [ + 7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2305.5032, + 4565.454, + 876.1052 + ], + "start_rot": [ + 7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 2305.5032, + 4565.454, + 876.1052 + ], + "actual_end_pos": [ + 2305.5032, + 4565.454, + 876.1052 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2305.5032, + 4565.454, + 876.1052 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 2208.9106, + 4591.3359, + 876.1052 + ], + "actual_end_pos": [ + 2208.9106, + 4591.3359, + 876.1052 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2208.9106, + 4591.3359, + 876.1052 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 2112.318, + 4617.2178, + 876.1052 + ], + "actual_end_pos": [ + 2112.318, + 4617.2178, + 876.1052 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 2112.318, + 4617.2178, + 876.1052 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 2112.318, + 4617.2178, + 876.1052 + ], + "actual_end_pos": [ + 2112.318, + 4617.2178, + 876.1052 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2112.318, + 4617.2178, + 876.1052 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 2112.318, + 4617.2178, + 876.1052 + ], + "actual_end_pos": [ + 2112.318, + 4617.2178, + 876.1052 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2112.318, + 4617.2178, + 876.1052 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2112.318, + 4717.2178, + 876.1052 + ], + "actual_end_pos": [ + 2112.318, + 4717.2178, + 876.1052 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2112.318, + 4717.2178, + 876.1052 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2112.318, + 4817.2178, + 876.1052 + ], + "actual_end_pos": [ + 2112.318, + 4817.2178, + 876.1052 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 2112.318, + 4817.2178, + 876.1052 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2112.318, + 4817.2178, + 876.1052 + ], + "actual_end_pos": [ + 2112.318, + 4817.2178, + 876.1052 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2112.318, + 4817.2178, + 876.1052 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2112.318, + 4817.2178, + 876.1052 + ], + "actual_end_pos": [ + 2112.318, + 4817.2178, + 876.1052 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2112.318, + 4817.2178, + 876.1052 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 2086.6576, + 4721.4516, + 863.0526 + ], + "actual_end_pos": [ + 2086.6576, + 4721.4516, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2086.6576, + 4721.4516, + 863.0526 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 2060.9971, + 4625.6853, + 850.0 + ], + "actual_end_pos": [ + 2060.9971, + 4625.6853, + 850.0 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2060.9971, + 4625.6853, + 850.0 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 2060.9971, + 4625.6853, + 850.0 + ], + "actual_end_pos": [ + 2060.9971, + 4625.6853, + 850.0 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2060.9971, + 4625.6853, + 850.0 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 1964.4045, + 4651.5672, + 850.0 + ], + "actual_end_pos": [ + 1964.4045, + 4651.5672, + 850.0 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1964.4045, + 4651.5672, + 850.0 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 1964.4045, + 4651.5672, + 850.0 + ], + "actual_end_pos": [ + 1964.4045, + 4651.5672, + 850.0 + ], + "actual_end_rot": [ + -7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1964.4045, + 4651.5672, + 850.0 + ], + "start_rot": [ + -7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 1914.8323, + 4565.7056, + 836.9474 + ], + "actual_end_pos": [ + 1914.8323, + 4565.7056, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1914.8323, + 4565.7056, + 836.9474 + ], + "start_rot": [ + -7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 1914.8323, + 4565.7056, + 836.9474 + ], + "actual_end_pos": [ + 1914.8323, + 4565.7056, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1914.8323, + 4565.7056, + 836.9474 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 1844.1216, + 4636.4163, + 836.9474 + ], + "actual_end_pos": [ + 1844.1216, + 4636.4163, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1844.1216, + 4636.4163, + 836.9474 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 1844.1216, + 4636.4163, + 836.9474 + ], + "actual_end_pos": [ + 1844.1216, + 4636.4163, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1844.1216, + 4636.4163, + 836.9474 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 1914.2273, + 4706.522, + 850.0 + ], + "actual_end_pos": [ + 1914.2273, + 4706.522, + 850.0 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1914.2273, + 4706.522, + 850.0 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 1914.2273, + 4706.522, + 850.0 + ], + "actual_end_pos": [ + 1914.2273, + 4706.522, + 850.0 + ], + "actual_end_rot": [ + -7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1914.2273, + 4706.522, + 850.0 + ], + "start_rot": [ + -7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 1827.6248, + 4756.522, + 850.0 + ], + "actual_end_pos": [ + 1827.6248, + 4756.522, + 850.0 + ], + "actual_end_rot": [ + -7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 1827.6248, + 4756.522, + 850.0 + ], + "start_rot": [ + -7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 1827.6248, + 4756.522, + 850.0 + ], + "actual_end_pos": [ + 1827.6248, + 4756.522, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1827.6248, + 4756.522, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 1914.2273, + 4706.522, + 850.0 + ], + "actual_end_pos": [ + 1914.2273, + 4706.522, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1914.2273, + 4706.522, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 1864.2273, + 4619.9195, + 850.0 + ], + "actual_end_pos": [ + 1864.2273, + 4619.9195, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1864.2273, + 4619.9195, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 1864.2273, + 4619.9195, + 850.0 + ], + "actual_end_pos": [ + 1864.2273, + 4619.9195, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1864.2273, + 4619.9195, + 850.0 + ], + "start_rot": [ + 0.0, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 1864.2273, + 4619.9195, + 850.0 + ], + "actual_end_pos": [ + 1864.2273, + 4619.9195, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260422_172644__pair_005292_A_traj_005292_meta.json b/equivalence_easy/run_20260422_172644__pair_005292_A_traj_005292_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0278e7a244cc2ae64ec5189d5e4b548fe29c18fe --- /dev/null +++ b/equivalence_easy/run_20260422_172644__pair_005292_A_traj_005292_meta.json @@ -0,0 +1,1476 @@ +{ + "trajectory_id": 5292, + "episode_id": 0, + "state_id": 3936, + "sample_index": 3936, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_A", + "partner_trajectory_id": 5293, + "primary_trajectory_id": 5292, + "paired_trajectory_id": 5293, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 2680.0, + 1630.0, + 850.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_forward", + "move_right", + "move_right", + "move_backward", + "look_down", + "turn_right", + "turn_right", + "move_left", + "move_backward", + "move_backward", + "move_right", + "move_backward", + "turn_right", + "move_forward", + "turn_right", + "look_up", + "no_op", + "turn_left", + "turn_left", + "no_op", + "no_op", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "move_right", + "move_backward", + "move_backward", + "move_backward", + "turn_left", + "move_forward", + "turn_left", + "move_left", + "move_backward", + "no_op", + "turn_left", + "move_backward", + "move_backward", + "move_left" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2680.0, + 1630.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 2780.0, + 1630.0, + 850.0 + ], + "actual_end_pos": [ + 2780.0, + 1630.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2780.0, + 1630.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 2880.0, + 1630.0, + 850.0 + ], + "actual_end_pos": [ + 2880.0, + 1630.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2880.0, + 1630.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 2880.0, + 1730.0, + 850.0 + ], + "actual_end_pos": [ + 2880.0, + 1730.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2880.0, + 1730.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 2880.0, + 1830.0, + 850.0 + ], + "actual_end_pos": [ + 2880.0, + 1830.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2880.0, + 1830.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 2780.0, + 1830.0, + 850.0 + ], + "actual_end_pos": [ + 2780.0, + 1830.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 2780.0, + 1830.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 2780.0, + 1830.0, + 850.0 + ], + "actual_end_pos": [ + 2780.0, + 1830.0, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2780.0, + 1830.0, + 850.0 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 2780.0, + 1830.0, + 850.0 + ], + "actual_end_pos": [ + 2780.0, + 1830.0, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2780.0, + 1830.0, + 850.0 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 2780.0, + 1830.0, + 850.0 + ], + "actual_end_pos": [ + 2780.0, + 1830.0, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2780.0, + 1830.0, + 850.0 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 2830.0, + 1743.3975, + 850.0 + ], + "actual_end_pos": [ + 2830.0, + 1743.3975, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2830.0, + 1743.3975, + 850.0 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 2744.1384, + 1693.8252, + 863.0526 + ], + "actual_end_pos": [ + 2744.1384, + 1693.8252, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2744.1384, + 1693.8252, + 863.0526 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 2658.2767, + 1644.253, + 876.1052 + ], + "actual_end_pos": [ + 2658.2767, + 1644.253, + 876.1052 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2658.2767, + 1644.253, + 876.1052 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 2608.2767, + 1730.8555, + 876.1052 + ], + "actual_end_pos": [ + 2608.2767, + 1730.8555, + 876.1052 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2608.2767, + 1730.8555, + 876.1052 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 2522.4151, + 1681.2833, + 889.1579 + ], + "actual_end_pos": [ + 2522.4151, + 1681.2833, + 889.1579 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2522.4151, + 1681.2833, + 889.1579 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 2522.4151, + 1681.2833, + 889.1579 + ], + "actual_end_pos": [ + 2522.4151, + 1681.2833, + 889.1579 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2522.4151, + 1681.2833, + 889.1579 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2592.5208, + 1751.389, + 876.1052 + ], + "actual_end_pos": [ + 2592.5208, + 1751.389, + 876.1052 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2592.5208, + 1751.389, + 876.1052 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2592.5208, + 1751.389, + 876.1052 + ], + "actual_end_pos": [ + 2592.5208, + 1751.389, + 876.1052 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 2592.5208, + 1751.389, + 876.1052 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 2592.5208, + 1751.389, + 876.1052 + ], + "actual_end_pos": [ + 2592.5208, + 1751.389, + 876.1052 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2592.5208, + 1751.389, + 876.1052 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2592.5208, + 1751.389, + 876.1052 + ], + "actual_end_pos": [ + 2592.5208, + 1751.389, + 876.1052 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2592.5208, + 1751.389, + 876.1052 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2592.5208, + 1751.389, + 876.1052 + ], + "actual_end_pos": [ + 2592.5208, + 1751.389, + 876.1052 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2592.5208, + 1751.389, + 876.1052 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 2592.5208, + 1751.389, + 876.1052 + ], + "actual_end_pos": [ + 2592.5208, + 1751.389, + 876.1052 + ], + "actual_end_rot": [ + 0.0, + 30.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2592.5208, + 1751.389, + 876.1052 + ], + "start_rot": [ + 0.0, + 30.0, + -0.0 + ], + "expected_end_pos": [ + 2592.5208, + 1751.389, + 876.1052 + ], + "actual_end_pos": [ + 2592.5208, + 1751.389, + 876.1052 + ], + "actual_end_rot": [ + 0.0, + 30.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2592.5208, + 1751.389, + 876.1052 + ], + "start_rot": [ + 0.0, + 30.0, + -0.0 + ], + "expected_end_pos": [ + 2592.5208, + 1751.389, + 876.1052 + ], + "actual_end_pos": [ + 2592.5208, + 1751.389, + 876.1052 + ], + "actual_end_rot": [ + 0.0, + 30.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2592.5208, + 1751.389, + 876.1052 + ], + "start_rot": [ + 0.0, + 30.0, + -0.0 + ], + "expected_end_pos": [ + 2592.5208, + 1751.389, + 876.1052 + ], + "actual_end_pos": [ + 2592.5208, + 1751.389, + 876.1052 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2592.5208, + 1751.389, + 876.1052 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2592.5208, + 1751.389, + 876.1052 + ], + "actual_end_pos": [ + 2592.5208, + 1751.389, + 876.1052 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2592.5208, + 1751.389, + 876.1052 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2642.5208, + 1837.9915, + 876.1052 + ], + "actual_end_pos": [ + 2642.5208, + 1837.9915, + 876.1052 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2642.5208, + 1837.9915, + 876.1052 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2692.5208, + 1924.5941, + 876.1052 + ], + "actual_end_pos": [ + 2692.5208, + 1924.5941, + 876.1052 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2692.5208, + 1924.5941, + 876.1052 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2605.9183, + 1974.5941, + 876.1052 + ], + "actual_end_pos": [ + 2605.9183, + 1974.5941, + 876.1052 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2605.9183, + 1974.5941, + 876.1052 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2555.9183, + 1887.9916, + 876.1052 + ], + "actual_end_pos": [ + 2555.9183, + 1887.9916, + 876.1052 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2555.9183, + 1887.9916, + 876.1052 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2505.9183, + 1801.389, + 876.1052 + ], + "actual_end_pos": [ + 2505.9183, + 1801.389, + 876.1052 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2505.9183, + 1801.389, + 876.1052 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2455.9183, + 1714.7865, + 876.1052 + ], + "actual_end_pos": [ + 2455.9183, + 1714.7865, + 876.1052 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2455.9183, + 1714.7865, + 876.1052 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2455.9183, + 1714.7865, + 876.1052 + ], + "actual_end_pos": [ + 2455.9183, + 1714.7865, + 876.1052 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2455.9183, + 1714.7865, + 876.1052 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2526.6289, + 1785.4971, + 876.1052 + ], + "actual_end_pos": [ + 2526.6289, + 1785.4971, + 876.1052 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2526.6289, + 1785.4971, + 876.1052 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2526.6289, + 1785.4971, + 876.1052 + ], + "actual_end_pos": [ + 2526.6289, + 1785.4971, + 876.1052 + ], + "actual_end_rot": [ + 0.0, + 30.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2526.6289, + 1785.4971, + 876.1052 + ], + "start_rot": [ + 0.0, + 30.0, + -0.0 + ], + "expected_end_pos": [ + 2576.6289, + 1698.8946, + 876.1052 + ], + "actual_end_pos": [ + 2576.6289, + 1698.8946, + 876.1052 + ], + "actual_end_rot": [ + 0.0, + 30.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2576.6289, + 1698.8946, + 876.1052 + ], + "start_rot": [ + 0.0, + 30.0, + -0.0 + ], + "expected_end_pos": [ + 2490.0264, + 1648.8946, + 876.1052 + ], + "actual_end_pos": [ + 2490.0264, + 1648.8946, + 876.1052 + ], + "actual_end_rot": [ + 0.0, + 30.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2490.0264, + 1648.8946, + 876.1052 + ], + "start_rot": [ + 0.0, + 30.0, + -0.0 + ], + "expected_end_pos": [ + 2490.0264, + 1648.8946, + 876.1052 + ], + "actual_end_pos": [ + 2490.0264, + 1648.8946, + 876.1052 + ], + "actual_end_rot": [ + 0.0, + 30.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2490.0264, + 1648.8946, + 876.1052 + ], + "start_rot": [ + 0.0, + 30.0, + -0.0 + ], + "expected_end_pos": [ + 2490.0264, + 1648.8946, + 876.1052 + ], + "actual_end_pos": [ + 2490.0264, + 1648.8946, + 876.1052 + ], + "actual_end_rot": [ + 0.0, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2490.0264, + 1648.8946, + 876.1052 + ], + "start_rot": [ + 0.0, + 15.0, + -0.0 + ], + "expected_end_pos": [ + 2393.4338, + 1623.0127, + 876.1052 + ], + "actual_end_pos": [ + 2393.4338, + 1623.0127, + 876.1052 + ], + "actual_end_rot": [ + 0.0, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2393.4338, + 1623.0127, + 876.1052 + ], + "start_rot": [ + 0.0, + 15.0, + -0.0 + ], + "expected_end_pos": [ + 2296.8412, + 1597.1308, + 876.1052 + ], + "actual_end_pos": [ + 2296.8412, + 1597.1308, + 876.1052 + ], + "actual_end_rot": [ + 0.0, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2296.8412, + 1597.1308, + 876.1052 + ], + "start_rot": [ + 0.0, + 15.0, + -0.0 + ], + "expected_end_pos": [ + 2322.7231, + 1500.5382, + 876.1052 + ], + "actual_end_pos": [ + 2322.7231, + 1500.5382, + 876.1052 + ], + "actual_end_rot": [ + 0.0, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260422_172644__pair_005292_B_traj_005293_meta.json b/equivalence_easy/run_20260422_172644__pair_005292_B_traj_005293_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..41b86644e9acde9a7b95f8fc200f2989c3d442aa --- /dev/null +++ b/equivalence_easy/run_20260422_172644__pair_005292_B_traj_005293_meta.json @@ -0,0 +1,1476 @@ +{ + "trajectory_id": 5293, + "episode_id": 0, + "state_id": 3936, + "sample_index": 3936, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_B", + "partner_trajectory_id": 5292, + "primary_trajectory_id": 5292, + "paired_trajectory_id": 5293, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 2680.0, + 1630.0, + 850.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "move_forward", + "move_right", + "move_forward", + "move_backward", + "look_down", + "turn_right", + "turn_right", + "move_backward", + "move_right", + "move_backward", + "move_backward", + "move_left", + "turn_right", + "move_forward", + "look_up", + "turn_right", + "no_op", + "turn_left", + "turn_left", + "no_op", + "no_op", + "turn_right", + "turn_right", + "move_right", + "move_backward", + "move_forward", + "move_backward", + "move_backward", + "move_forward", + "turn_left", + "move_forward", + "turn_left", + "move_backward", + "move_left", + "no_op", + "turn_left", + "move_left", + "move_backward", + "move_backward" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2680.0, + 1630.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 2680.0, + 1730.0, + 850.0 + ], + "actual_end_pos": [ + 2680.0, + 1730.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2680.0, + 1730.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 2780.0, + 1730.0, + 850.0 + ], + "actual_end_pos": [ + 2780.0, + 1730.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2780.0, + 1730.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 2780.0, + 1830.0, + 850.0 + ], + "actual_end_pos": [ + 2780.0, + 1830.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2780.0, + 1830.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 2880.0, + 1830.0, + 850.0 + ], + "actual_end_pos": [ + 2880.0, + 1830.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2880.0, + 1830.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 2780.0, + 1830.0, + 850.0 + ], + "actual_end_pos": [ + 2780.0, + 1830.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 2780.0, + 1830.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 2780.0, + 1830.0, + 850.0 + ], + "actual_end_pos": [ + 2780.0, + 1830.0, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2780.0, + 1830.0, + 850.0 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 2780.0, + 1830.0, + 850.0 + ], + "actual_end_pos": [ + 2780.0, + 1830.0, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2780.0, + 1830.0, + 850.0 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 2780.0, + 1830.0, + 850.0 + ], + "actual_end_pos": [ + 2780.0, + 1830.0, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2780.0, + 1830.0, + 850.0 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 2694.1384, + 1780.4278, + 863.0526 + ], + "actual_end_pos": [ + 2694.1384, + 1780.4278, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2694.1384, + 1780.4278, + 863.0526 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 2644.1384, + 1867.0303, + 863.0526 + ], + "actual_end_pos": [ + 2644.1384, + 1867.0303, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2644.1384, + 1867.0303, + 863.0526 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 2558.2767, + 1817.4581, + 876.1052 + ], + "actual_end_pos": [ + 2558.2767, + 1817.4581, + 876.1052 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2558.2767, + 1817.4581, + 876.1052 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 2472.4151, + 1767.8858, + 889.1579 + ], + "actual_end_pos": [ + 2472.4151, + 1767.8858, + 889.1579 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2472.4151, + 1767.8858, + 889.1579 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 2522.4151, + 1681.2833, + 889.1579 + ], + "actual_end_pos": [ + 2522.4151, + 1681.2833, + 889.1579 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2522.4151, + 1681.2833, + 889.1579 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 2522.4151, + 1681.2833, + 889.1579 + ], + "actual_end_pos": [ + 2522.4151, + 1681.2833, + 889.1579 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2522.4151, + 1681.2833, + 889.1579 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2592.5208, + 1751.389, + 876.1052 + ], + "actual_end_pos": [ + 2592.5208, + 1751.389, + 876.1052 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 2592.5208, + 1751.389, + 876.1052 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2592.5208, + 1751.389, + 876.1052 + ], + "actual_end_pos": [ + 2592.5208, + 1751.389, + 876.1052 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2592.5208, + 1751.389, + 876.1052 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2592.5208, + 1751.389, + 876.1052 + ], + "actual_end_pos": [ + 2592.5208, + 1751.389, + 876.1052 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2592.5208, + 1751.389, + 876.1052 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2592.5208, + 1751.389, + 876.1052 + ], + "actual_end_pos": [ + 2592.5208, + 1751.389, + 876.1052 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2592.5208, + 1751.389, + 876.1052 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2592.5208, + 1751.389, + 876.1052 + ], + "actual_end_pos": [ + 2592.5208, + 1751.389, + 876.1052 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2592.5208, + 1751.389, + 876.1052 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2592.5208, + 1751.389, + 876.1052 + ], + "actual_end_pos": [ + 2592.5208, + 1751.389, + 876.1052 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2592.5208, + 1751.389, + 876.1052 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 2592.5208, + 1751.389, + 876.1052 + ], + "actual_end_pos": [ + 2592.5208, + 1751.389, + 876.1052 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2592.5208, + 1751.389, + 876.1052 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 2592.5208, + 1751.389, + 876.1052 + ], + "actual_end_pos": [ + 2592.5208, + 1751.389, + 876.1052 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2592.5208, + 1751.389, + 876.1052 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 2592.5208, + 1751.389, + 876.1052 + ], + "actual_end_pos": [ + 2592.5208, + 1751.389, + 876.1052 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2592.5208, + 1751.389, + 876.1052 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2592.5208, + 1751.389, + 876.1052 + ], + "actual_end_pos": [ + 2592.5208, + 1751.389, + 876.1052 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2592.5208, + 1751.389, + 876.1052 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2505.9183, + 1801.389, + 876.1052 + ], + "actual_end_pos": [ + 2505.9183, + 1801.389, + 876.1052 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2505.9183, + 1801.389, + 876.1052 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2455.9183, + 1714.7865, + 876.1052 + ], + "actual_end_pos": [ + 2455.9183, + 1714.7865, + 876.1052 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2455.9183, + 1714.7865, + 876.1052 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2505.9183, + 1801.389, + 876.1052 + ], + "actual_end_pos": [ + 2505.9183, + 1801.389, + 876.1052 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2505.9183, + 1801.389, + 876.1052 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2455.9183, + 1714.7865, + 876.1052 + ], + "actual_end_pos": [ + 2455.9183, + 1714.7865, + 876.1052 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2455.9183, + 1714.7865, + 876.1052 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2405.9183, + 1628.1839, + 876.1052 + ], + "actual_end_pos": [ + 2405.9183, + 1628.1839, + 876.1052 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2405.9183, + 1628.1839, + 876.1052 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2455.9183, + 1714.7865, + 876.1052 + ], + "actual_end_pos": [ + 2455.9183, + 1714.7865, + 876.1052 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2455.9183, + 1714.7865, + 876.1052 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2455.9183, + 1714.7865, + 876.1052 + ], + "actual_end_pos": [ + 2455.9183, + 1714.7865, + 876.1052 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2455.9183, + 1714.7865, + 876.1052 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2526.6289, + 1785.4971, + 876.1052 + ], + "actual_end_pos": [ + 2526.6289, + 1785.4971, + 876.1052 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2526.6289, + 1785.4971, + 876.1052 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 2526.6289, + 1785.4971, + 876.1052 + ], + "actual_end_pos": [ + 2526.6289, + 1785.4971, + 876.1052 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2526.6289, + 1785.4971, + 876.1052 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 2440.0264, + 1735.4971, + 876.1052 + ], + "actual_end_pos": [ + 2440.0264, + 1735.4971, + 876.1052 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2440.0264, + 1735.4971, + 876.1052 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 2490.0264, + 1648.8946, + 876.1052 + ], + "actual_end_pos": [ + 2490.0264, + 1648.8946, + 876.1052 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2490.0264, + 1648.8946, + 876.1052 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 2490.0264, + 1648.8946, + 876.1052 + ], + "actual_end_pos": [ + 2490.0264, + 1648.8946, + 876.1052 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2490.0264, + 1648.8946, + 876.1052 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 2490.0264, + 1648.8946, + 876.1052 + ], + "actual_end_pos": [ + 2490.0264, + 1648.8946, + 876.1052 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2490.0264, + 1648.8946, + 876.1052 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 2515.9083, + 1552.302, + 876.1052 + ], + "actual_end_pos": [ + 2515.9083, + 1552.302, + 876.1052 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2515.9083, + 1552.302, + 876.1052 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 2419.3157, + 1526.4201, + 876.1052 + ], + "actual_end_pos": [ + 2419.3157, + 1526.4201, + 876.1052 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2419.3157, + 1526.4201, + 876.1052 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 2322.7231, + 1500.5382, + 876.1052 + ], + "actual_end_pos": [ + 2322.7231, + 1500.5382, + 876.1052 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260422_172644__pair_005324_A_traj_005324_meta.json b/equivalence_easy/run_20260422_172644__pair_005324_A_traj_005324_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3c11220e07b48fa97397dd8f3e981ef9c5542197 --- /dev/null +++ b/equivalence_easy/run_20260422_172644__pair_005324_A_traj_005324_meta.json @@ -0,0 +1,1476 @@ +{ + "trajectory_id": 5324, + "episode_id": 0, + "state_id": 3960, + "sample_index": 3960, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_A", + "partner_trajectory_id": 5325, + "primary_trajectory_id": 5324, + "paired_trajectory_id": 5325, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 2680.0, + 2630.0, + 850.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "look_up", + "turn_right", + "move_forward", + "turn_left", + "move_right", + "move_forward", + "look_down", + "move_left", + "move_left", + "turn_left", + "look_up", + "move_right", + "move_backward", + "turn_left", + "look_down", + "move_left", + "turn_left", + "look_up", + "move_right", + "turn_left", + "move_left", + "turn_left", + "turn_left", + "move_right", + "turn_right", + "look_up", + "move_right", + "turn_left", + "turn_left", + "move_forward", + "move_forward", + "turn_left", + "move_left", + "turn_left", + "move_left", + "look_down", + "look_down", + "turn_left", + "move_forward", + "move_right" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 2680.0, + 2630.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 2680.0, + 2630.0, + 850.0 + ], + "actual_end_pos": [ + 2680.0, + 2630.0, + 850.0 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2680.0, + 2630.0, + 850.0 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 2680.0, + 2630.0, + 850.0 + ], + "actual_end_pos": [ + 2680.0, + 2630.0, + 850.0 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2680.0, + 2630.0, + 850.0 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + 2775.7662, + 2655.6605, + 863.0526 + ], + "actual_end_pos": [ + 2775.7662, + 2655.6605, + 863.0526 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2775.7662, + 2655.6605, + 863.0526 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + 2775.7662, + 2655.6605, + 863.0526 + ], + "actual_end_pos": [ + 2775.7662, + 2655.6605, + 863.0526 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2775.7662, + 2655.6605, + 863.0526 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 2775.7662, + 2755.6605, + 863.0526 + ], + "actual_end_pos": [ + 2775.7662, + 2755.6605, + 863.0526 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2775.7662, + 2755.6605, + 863.0526 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 2874.9107, + 2755.6605, + 876.1052 + ], + "actual_end_pos": [ + 2874.9107, + 2755.6605, + 876.1052 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 2874.9107, + 2755.6605, + 876.1052 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 2874.9107, + 2755.6605, + 876.1052 + ], + "actual_end_pos": [ + 2874.9107, + 2755.6605, + 876.1052 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2874.9107, + 2755.6605, + 876.1052 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 2874.9107, + 2655.6605, + 876.1052 + ], + "actual_end_pos": [ + 2874.9107, + 2655.6605, + 876.1052 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2874.9107, + 2655.6605, + 876.1052 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 2874.9107, + 2555.6605, + 876.1052 + ], + "actual_end_pos": [ + 2874.9107, + 2555.6605, + 876.1052 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2874.9107, + 2555.6605, + 876.1052 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 2874.9107, + 2555.6605, + 876.1052 + ], + "actual_end_pos": [ + 2874.9107, + 2555.6605, + 876.1052 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 2874.9107, + 2555.6605, + 876.1052 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 2874.9107, + 2555.6605, + 876.1052 + ], + "actual_end_pos": [ + 2874.9107, + 2555.6605, + 876.1052 + ], + "actual_end_rot": [ + 7.5, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2874.9107, + 2555.6605, + 876.1052 + ], + "start_rot": [ + 7.5, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 2900.7926, + 2652.2531, + 876.1052 + ], + "actual_end_pos": [ + 2900.7926, + 2652.2531, + 876.1052 + ], + "actual_end_rot": [ + 7.5, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2900.7926, + 2652.2531, + 876.1052 + ], + "start_rot": [ + 7.5, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 2805.0264, + 2677.9135, + 863.0526 + ], + "actual_end_pos": [ + 2805.0264, + 2677.9135, + 863.0526 + ], + "actual_end_rot": [ + 7.5, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2805.0264, + 2677.9135, + 863.0526 + ], + "start_rot": [ + 7.5, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 2805.0264, + 2677.9135, + 863.0526 + ], + "actual_end_pos": [ + 2805.0264, + 2677.9135, + 863.0526 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 2805.0264, + 2677.9135, + 863.0526 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 2805.0264, + 2677.9135, + 863.0526 + ], + "actual_end_pos": [ + 2805.0264, + 2677.9135, + 863.0526 + ], + "actual_end_rot": [ + -0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2805.0264, + 2677.9135, + 863.0526 + ], + "start_rot": [ + -0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 2755.0264, + 2591.311, + 863.0526 + ], + "actual_end_pos": [ + 2755.0264, + 2591.311, + 863.0526 + ], + "actual_end_rot": [ + -0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2755.0264, + 2591.311, + 863.0526 + ], + "start_rot": [ + -0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 2755.0264, + 2591.311, + 863.0526 + ], + "actual_end_pos": [ + 2755.0264, + 2591.311, + 863.0526 + ], + "actual_end_rot": [ + -0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 2755.0264, + 2591.311, + 863.0526 + ], + "start_rot": [ + -0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2755.0264, + 2591.311, + 863.0526 + ], + "actual_end_pos": [ + 2755.0264, + 2591.311, + 863.0526 + ], + "actual_end_rot": [ + 7.5, + -45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2755.0264, + 2591.311, + 863.0526 + ], + "start_rot": [ + 7.5, + -45.0, + -0.0 + ], + "expected_end_pos": [ + 2825.7371, + 2662.0217, + 863.0526 + ], + "actual_end_pos": [ + 2825.7371, + 2662.0217, + 863.0526 + ], + "actual_end_rot": [ + 7.5, + -45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2825.7371, + 2662.0217, + 863.0526 + ], + "start_rot": [ + 7.5, + -45.0, + -0.0 + ], + "expected_end_pos": [ + 2825.7371, + 2662.0217, + 863.0526 + ], + "actual_end_pos": [ + 2825.7371, + 2662.0217, + 863.0526 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2825.7371, + 2662.0217, + 863.0526 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 2739.1345, + 2612.0217, + 863.0526 + ], + "actual_end_pos": [ + 2739.1345, + 2612.0217, + 863.0526 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2739.1345, + 2612.0217, + 863.0526 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 2739.1345, + 2612.0217, + 863.0526 + ], + "actual_end_pos": [ + 2739.1345, + 2612.0217, + 863.0526 + ], + "actual_end_rot": [ + 7.5, + -75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2739.1345, + 2612.0217, + 863.0526 + ], + "start_rot": [ + 7.5, + -75.0, + -0.0 + ], + "expected_end_pos": [ + 2739.1345, + 2612.0217, + 863.0526 + ], + "actual_end_pos": [ + 2739.1345, + 2612.0217, + 863.0526 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2739.1345, + 2612.0217, + 863.0526 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2839.1345, + 2612.0217, + 863.0526 + ], + "actual_end_pos": [ + 2839.1345, + 2612.0217, + 863.0526 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2839.1345, + 2612.0217, + 863.0526 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2839.1345, + 2612.0217, + 863.0526 + ], + "actual_end_pos": [ + 2839.1345, + 2612.0217, + 863.0526 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 2839.1345, + 2612.0217, + 863.0526 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 2839.1345, + 2612.0217, + 863.0526 + ], + "actual_end_pos": [ + 2839.1345, + 2612.0217, + 863.0526 + ], + "actual_end_rot": [ + 15.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2839.1345, + 2612.0217, + 863.0526 + ], + "start_rot": [ + 15.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 2935.7271, + 2637.9036, + 863.0526 + ], + "actual_end_pos": [ + 2935.7271, + 2637.9036, + 863.0526 + ], + "actual_end_rot": [ + 15.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2935.7271, + 2637.9036, + 863.0526 + ], + "start_rot": [ + 15.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 2935.7271, + 2637.9036, + 863.0526 + ], + "actual_end_pos": [ + 2935.7271, + 2637.9036, + 863.0526 + ], + "actual_end_rot": [ + 15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2935.7271, + 2637.9036, + 863.0526 + ], + "start_rot": [ + 15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2935.7271, + 2637.9036, + 863.0526 + ], + "actual_end_pos": [ + 2935.7271, + 2637.9036, + 863.0526 + ], + "actual_end_rot": [ + 15.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2935.7271, + 2637.9036, + 863.0526 + ], + "start_rot": [ + 15.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 2910.7271, + 2544.6023, + 888.9345 + ], + "actual_end_pos": [ + 2910.7271, + 2544.6023, + 888.9345 + ], + "actual_end_rot": [ + 15.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2910.7271, + 2544.6023, + 888.9345 + ], + "start_rot": [ + 15.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 2885.7271, + 2451.301, + 914.8164 + ], + "actual_end_pos": [ + 2885.7271, + 2451.301, + 914.8164 + ], + "actual_end_rot": [ + 15.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2885.7271, + 2451.301, + 914.8164 + ], + "start_rot": [ + 15.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 2885.7271, + 2451.301, + 914.8164 + ], + "actual_end_pos": [ + 2885.7271, + 2451.301, + 914.8164 + ], + "actual_end_rot": [ + 15.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2885.7271, + 2451.301, + 914.8164 + ], + "start_rot": [ + 15.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 2799.1246, + 2501.301, + 914.8164 + ], + "actual_end_pos": [ + 2799.1246, + 2501.301, + 914.8164 + ], + "actual_end_rot": [ + 15.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2799.1246, + 2501.301, + 914.8164 + ], + "start_rot": [ + 15.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 2799.1246, + 2501.301, + 914.8164 + ], + "actual_end_pos": [ + 2799.1246, + 2501.301, + 914.8164 + ], + "actual_end_rot": [ + 15.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2799.1246, + 2501.301, + 914.8164 + ], + "start_rot": [ + 15.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2728.4139, + 2572.0117, + 914.8164 + ], + "actual_end_pos": [ + 2728.4139, + 2572.0117, + 914.8164 + ], + "actual_end_rot": [ + 15.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 2728.4139, + 2572.0117, + 914.8164 + ], + "start_rot": [ + 15.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2728.4139, + 2572.0117, + 914.8164 + ], + "actual_end_pos": [ + 2728.4139, + 2572.0117, + 914.8164 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 2728.4139, + 2572.0117, + 914.8164 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2728.4139, + 2572.0117, + 914.8164 + ], + "actual_end_pos": [ + 2728.4139, + 2572.0117, + 914.8164 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2728.4139, + 2572.0117, + 914.8164 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2728.4139, + 2572.0117, + 914.8164 + ], + "actual_end_pos": [ + 2728.4139, + 2572.0117, + 914.8164 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2728.4139, + 2572.0117, + 914.8164 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 2641.8114, + 2522.0117, + 914.8164 + ], + "actual_end_pos": [ + 2641.8114, + 2522.0117, + 914.8164 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2641.8114, + 2522.0117, + 914.8164 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 2691.8114, + 2435.4092, + 914.8164 + ], + "actual_end_pos": [ + 2691.8114, + 2435.4092, + 914.8164 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260422_172644__pair_005324_B_traj_005325_meta.json b/equivalence_easy/run_20260422_172644__pair_005324_B_traj_005325_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f606aceaa02ebff798cbb1bfe3f962c46c261ac7 --- /dev/null +++ b/equivalence_easy/run_20260422_172644__pair_005324_B_traj_005325_meta.json @@ -0,0 +1,1476 @@ +{ + "trajectory_id": 5325, + "episode_id": 0, + "state_id": 3960, + "sample_index": 3960, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_B", + "partner_trajectory_id": 5324, + "primary_trajectory_id": 5324, + "paired_trajectory_id": 5325, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 2680.0, + 2630.0, + 850.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_right", + "look_up", + "move_forward", + "turn_left", + "move_right", + "move_forward", + "look_down", + "move_left", + "move_left", + "turn_left", + "look_up", + "move_right", + "move_backward", + "turn_left", + "look_down", + "move_left", + "turn_left", + "look_up", + "move_right", + "turn_left", + "move_left", + "turn_left", + "turn_left", + "move_right", + "turn_right", + "look_up", + "move_right", + "turn_left", + "turn_left", + "move_forward", + "move_forward", + "turn_left", + "move_left", + "turn_left", + "move_left", + "look_down", + "turn_left", + "look_down", + "move_right", + "move_forward" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2680.0, + 2630.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 2680.0, + 2630.0, + 850.0 + ], + "actual_end_pos": [ + 2680.0, + 2630.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 2680.0, + 2630.0, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 2680.0, + 2630.0, + 850.0 + ], + "actual_end_pos": [ + 2680.0, + 2630.0, + 850.0 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2680.0, + 2630.0, + 850.0 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + 2775.7662, + 2655.6605, + 863.0526 + ], + "actual_end_pos": [ + 2775.7662, + 2655.6605, + 863.0526 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2775.7662, + 2655.6605, + 863.0526 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + 2775.7662, + 2655.6605, + 863.0526 + ], + "actual_end_pos": [ + 2775.7662, + 2655.6605, + 863.0526 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2775.7662, + 2655.6605, + 863.0526 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 2775.7662, + 2755.6605, + 863.0526 + ], + "actual_end_pos": [ + 2775.7662, + 2755.6605, + 863.0526 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2775.7662, + 2755.6605, + 863.0526 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 2874.9107, + 2755.6605, + 876.1052 + ], + "actual_end_pos": [ + 2874.9107, + 2755.6605, + 876.1052 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 2874.9107, + 2755.6605, + 876.1052 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 2874.9107, + 2755.6605, + 876.1052 + ], + "actual_end_pos": [ + 2874.9107, + 2755.6605, + 876.1052 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2874.9107, + 2755.6605, + 876.1052 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 2874.9107, + 2655.6605, + 876.1052 + ], + "actual_end_pos": [ + 2874.9107, + 2655.6605, + 876.1052 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2874.9107, + 2655.6605, + 876.1052 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 2874.9107, + 2555.6605, + 876.1052 + ], + "actual_end_pos": [ + 2874.9107, + 2555.6605, + 876.1052 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2874.9107, + 2555.6605, + 876.1052 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 2874.9107, + 2555.6605, + 876.1052 + ], + "actual_end_pos": [ + 2874.9107, + 2555.6605, + 876.1052 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 2874.9107, + 2555.6605, + 876.1052 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 2874.9107, + 2555.6605, + 876.1052 + ], + "actual_end_pos": [ + 2874.9107, + 2555.6605, + 876.1052 + ], + "actual_end_rot": [ + 7.5, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2874.9107, + 2555.6605, + 876.1052 + ], + "start_rot": [ + 7.5, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 2900.7926, + 2652.2531, + 876.1052 + ], + "actual_end_pos": [ + 2900.7926, + 2652.2531, + 876.1052 + ], + "actual_end_rot": [ + 7.5, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2900.7926, + 2652.2531, + 876.1052 + ], + "start_rot": [ + 7.5, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 2805.0264, + 2677.9135, + 863.0526 + ], + "actual_end_pos": [ + 2805.0264, + 2677.9135, + 863.0526 + ], + "actual_end_rot": [ + 7.5, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2805.0264, + 2677.9135, + 863.0526 + ], + "start_rot": [ + 7.5, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 2805.0264, + 2677.9135, + 863.0526 + ], + "actual_end_pos": [ + 2805.0264, + 2677.9135, + 863.0526 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 2805.0264, + 2677.9135, + 863.0526 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 2805.0264, + 2677.9135, + 863.0526 + ], + "actual_end_pos": [ + 2805.0264, + 2677.9135, + 863.0526 + ], + "actual_end_rot": [ + -0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2805.0264, + 2677.9135, + 863.0526 + ], + "start_rot": [ + -0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 2755.0264, + 2591.311, + 863.0526 + ], + "actual_end_pos": [ + 2755.0264, + 2591.311, + 863.0526 + ], + "actual_end_rot": [ + -0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2755.0264, + 2591.311, + 863.0526 + ], + "start_rot": [ + -0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 2755.0264, + 2591.311, + 863.0526 + ], + "actual_end_pos": [ + 2755.0264, + 2591.311, + 863.0526 + ], + "actual_end_rot": [ + -0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 2755.0264, + 2591.311, + 863.0526 + ], + "start_rot": [ + -0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2755.0264, + 2591.311, + 863.0526 + ], + "actual_end_pos": [ + 2755.0264, + 2591.311, + 863.0526 + ], + "actual_end_rot": [ + 7.5, + -45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2755.0264, + 2591.311, + 863.0526 + ], + "start_rot": [ + 7.5, + -45.0, + -0.0 + ], + "expected_end_pos": [ + 2825.7371, + 2662.0217, + 863.0526 + ], + "actual_end_pos": [ + 2825.7371, + 2662.0217, + 863.0526 + ], + "actual_end_rot": [ + 7.5, + -45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2825.7371, + 2662.0217, + 863.0526 + ], + "start_rot": [ + 7.5, + -45.0, + -0.0 + ], + "expected_end_pos": [ + 2825.7371, + 2662.0217, + 863.0526 + ], + "actual_end_pos": [ + 2825.7371, + 2662.0217, + 863.0526 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2825.7371, + 2662.0217, + 863.0526 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 2739.1345, + 2612.0217, + 863.0526 + ], + "actual_end_pos": [ + 2739.1345, + 2612.0217, + 863.0526 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2739.1345, + 2612.0217, + 863.0526 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 2739.1345, + 2612.0217, + 863.0526 + ], + "actual_end_pos": [ + 2739.1345, + 2612.0217, + 863.0526 + ], + "actual_end_rot": [ + 7.5, + -75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2739.1345, + 2612.0217, + 863.0526 + ], + "start_rot": [ + 7.5, + -75.0, + -0.0 + ], + "expected_end_pos": [ + 2739.1345, + 2612.0217, + 863.0526 + ], + "actual_end_pos": [ + 2739.1345, + 2612.0217, + 863.0526 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2739.1345, + 2612.0217, + 863.0526 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2839.1345, + 2612.0217, + 863.0526 + ], + "actual_end_pos": [ + 2839.1345, + 2612.0217, + 863.0526 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2839.1345, + 2612.0217, + 863.0526 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2839.1345, + 2612.0217, + 863.0526 + ], + "actual_end_pos": [ + 2839.1345, + 2612.0217, + 863.0526 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 2839.1345, + 2612.0217, + 863.0526 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 2839.1345, + 2612.0217, + 863.0526 + ], + "actual_end_pos": [ + 2839.1345, + 2612.0217, + 863.0526 + ], + "actual_end_rot": [ + 15.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2839.1345, + 2612.0217, + 863.0526 + ], + "start_rot": [ + 15.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 2935.7271, + 2637.9036, + 863.0526 + ], + "actual_end_pos": [ + 2935.7271, + 2637.9036, + 863.0526 + ], + "actual_end_rot": [ + 15.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2935.7271, + 2637.9036, + 863.0526 + ], + "start_rot": [ + 15.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 2935.7271, + 2637.9036, + 863.0526 + ], + "actual_end_pos": [ + 2935.7271, + 2637.9036, + 863.0526 + ], + "actual_end_rot": [ + 15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2935.7271, + 2637.9036, + 863.0526 + ], + "start_rot": [ + 15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 2935.7271, + 2637.9036, + 863.0526 + ], + "actual_end_pos": [ + 2935.7271, + 2637.9036, + 863.0526 + ], + "actual_end_rot": [ + 15.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2935.7271, + 2637.9036, + 863.0526 + ], + "start_rot": [ + 15.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 2910.7271, + 2544.6023, + 888.9345 + ], + "actual_end_pos": [ + 2910.7271, + 2544.6023, + 888.9345 + ], + "actual_end_rot": [ + 15.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2910.7271, + 2544.6023, + 888.9345 + ], + "start_rot": [ + 15.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 2885.7271, + 2451.301, + 914.8164 + ], + "actual_end_pos": [ + 2885.7271, + 2451.301, + 914.8164 + ], + "actual_end_rot": [ + 15.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2885.7271, + 2451.301, + 914.8164 + ], + "start_rot": [ + 15.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 2885.7271, + 2451.301, + 914.8164 + ], + "actual_end_pos": [ + 2885.7271, + 2451.301, + 914.8164 + ], + "actual_end_rot": [ + 15.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2885.7271, + 2451.301, + 914.8164 + ], + "start_rot": [ + 15.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 2799.1246, + 2501.301, + 914.8164 + ], + "actual_end_pos": [ + 2799.1246, + 2501.301, + 914.8164 + ], + "actual_end_rot": [ + 15.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2799.1246, + 2501.301, + 914.8164 + ], + "start_rot": [ + 15.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 2799.1246, + 2501.301, + 914.8164 + ], + "actual_end_pos": [ + 2799.1246, + 2501.301, + 914.8164 + ], + "actual_end_rot": [ + 15.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2799.1246, + 2501.301, + 914.8164 + ], + "start_rot": [ + 15.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2728.4139, + 2572.0117, + 914.8164 + ], + "actual_end_pos": [ + 2728.4139, + 2572.0117, + 914.8164 + ], + "actual_end_rot": [ + 15.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 2728.4139, + 2572.0117, + 914.8164 + ], + "start_rot": [ + 15.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2728.4139, + 2572.0117, + 914.8164 + ], + "actual_end_pos": [ + 2728.4139, + 2572.0117, + 914.8164 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2728.4139, + 2572.0117, + 914.8164 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2728.4139, + 2572.0117, + 914.8164 + ], + "actual_end_pos": [ + 2728.4139, + 2572.0117, + 914.8164 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 2728.4139, + 2572.0117, + 914.8164 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 2728.4139, + 2572.0117, + 914.8164 + ], + "actual_end_pos": [ + 2728.4139, + 2572.0117, + 914.8164 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2728.4139, + 2572.0117, + 914.8164 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 2778.4139, + 2485.4092, + 914.8164 + ], + "actual_end_pos": [ + 2778.4139, + 2485.4092, + 914.8164 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2778.4139, + 2485.4092, + 914.8164 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 2691.8114, + 2435.4092, + 914.8164 + ], + "actual_end_pos": [ + 2691.8114, + 2435.4092, + 914.8164 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260422_172644__pair_005439_A_traj_005439_meta.json b/equivalence_easy/run_20260422_172644__pair_005439_A_traj_005439_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..181e9bc69d903c64a43d44490f902cfc829c9902 --- /dev/null +++ b/equivalence_easy/run_20260422_172644__pair_005439_A_traj_005439_meta.json @@ -0,0 +1,1476 @@ +{ + "trajectory_id": 5439, + "episode_id": 0, + "state_id": 4050, + "sample_index": 4050, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_A", + "partner_trajectory_id": 5440, + "primary_trajectory_id": 5439, + "paired_trajectory_id": 5440, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 2880.0, + 3830.0, + 850.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_left", + "turn_left", + "move_right", + "move_right", + "move_right", + "look_down", + "look_down", + "move_left", + "move_left", + "move_left", + "turn_right", + "move_forward", + "look_down", + "turn_left", + "no_op", + "turn_right", + "turn_right", + "turn_right", + "move_right", + "no_op", + "no_op", + "move_backward", + "turn_left", + "no_op", + "no_op", + "move_backward", + "look_up", + "move_backward", + "look_up", + "turn_right", + "move_forward", + "move_forward", + "move_left", + "move_backward", + "turn_right", + "move_backward", + "turn_left", + "move_left", + "turn_left", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2880.0, + 3830.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2880.0, + 3830.0, + 850.0 + ], + "actual_end_pos": [ + 2880.0, + 3830.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2880.0, + 3830.0, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 2880.0, + 3830.0, + 850.0 + ], + "actual_end_pos": [ + 2880.0, + 3830.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2880.0, + 3830.0, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2793.3975, + 3880.0, + 850.0 + ], + "actual_end_pos": [ + 2793.3975, + 3880.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2793.3975, + 3880.0, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2706.7949, + 3930.0, + 850.0 + ], + "actual_end_pos": [ + 2706.7949, + 3930.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2706.7949, + 3930.0, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2620.1924, + 3980.0, + 850.0 + ], + "actual_end_pos": [ + 2620.1924, + 3980.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 2620.1924, + 3980.0, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2620.1924, + 3980.0, + 850.0 + ], + "actual_end_pos": [ + 2620.1924, + 3980.0, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 2620.1924, + 3980.0, + 850.0 + ], + "start_rot": [ + -7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2620.1924, + 3980.0, + 850.0 + ], + "actual_end_pos": [ + 2620.1924, + 3980.0, + 850.0 + ], + "actual_end_rot": [ + -15.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2620.1924, + 3980.0, + 850.0 + ], + "start_rot": [ + -15.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2706.7949, + 3930.0, + 850.0 + ], + "actual_end_pos": [ + 2706.7949, + 3930.0, + 850.0 + ], + "actual_end_rot": [ + -15.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2706.7949, + 3930.0, + 850.0 + ], + "start_rot": [ + -15.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2793.3975, + 3880.0, + 850.0 + ], + "actual_end_pos": [ + 2793.3975, + 3880.0, + 850.0 + ], + "actual_end_rot": [ + -15.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2793.3975, + 3880.0, + 850.0 + ], + "start_rot": [ + -15.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2880.0, + 3830.0, + 850.0 + ], + "actual_end_pos": [ + 2880.0, + 3830.0, + 850.0 + ], + "actual_end_rot": [ + -15.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2880.0, + 3830.0, + 850.0 + ], + "start_rot": [ + -15.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2880.0, + 3830.0, + 850.0 + ], + "actual_end_pos": [ + 2880.0, + 3830.0, + 850.0 + ], + "actual_end_rot": [ + -15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2880.0, + 3830.0, + 850.0 + ], + "start_rot": [ + -15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 2905.0, + 3923.3013, + 824.1181 + ], + "actual_end_pos": [ + 2905.0, + 3923.3013, + 824.1181 + ], + "actual_end_rot": [ + -15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 2905.0, + 3923.3013, + 824.1181 + ], + "start_rot": [ + -15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 2905.0, + 3923.3013, + 824.1181 + ], + "actual_end_pos": [ + 2905.0, + 3923.3013, + 824.1181 + ], + "actual_end_rot": [ + -22.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2905.0, + 3923.3013, + 824.1181 + ], + "start_rot": [ + -22.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 2905.0, + 3923.3013, + 824.1181 + ], + "actual_end_pos": [ + 2905.0, + 3923.3013, + 824.1181 + ], + "actual_end_rot": [ + -22.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2905.0, + 3923.3013, + 824.1181 + ], + "start_rot": [ + -22.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2905.0, + 3923.3013, + 824.1181 + ], + "actual_end_pos": [ + 2905.0, + 3923.3013, + 824.1181 + ], + "actual_end_rot": [ + -22.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2905.0, + 3923.3013, + 824.1181 + ], + "start_rot": [ + -22.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2905.0, + 3923.3013, + 824.1181 + ], + "actual_end_pos": [ + 2905.0, + 3923.3013, + 824.1181 + ], + "actual_end_rot": [ + -22.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2905.0, + 3923.3013, + 824.1181 + ], + "start_rot": [ + -22.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 2905.0, + 3923.3013, + 824.1181 + ], + "actual_end_pos": [ + 2905.0, + 3923.3013, + 824.1181 + ], + "actual_end_rot": [ + -22.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2905.0, + 3923.3013, + 824.1181 + ], + "start_rot": [ + -22.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2905.0, + 3923.3013, + 824.1181 + ], + "actual_end_pos": [ + 2905.0, + 3923.3013, + 824.1181 + ], + "actual_end_rot": [ + -22.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2905.0, + 3923.3013, + 824.1181 + ], + "start_rot": [ + -22.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 2808.4074, + 3897.4194, + 824.1181 + ], + "actual_end_pos": [ + 2808.4074, + 3897.4194, + 824.1181 + ], + "actual_end_rot": [ + -22.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2808.4074, + 3897.4194, + 824.1181 + ], + "start_rot": [ + -22.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 2808.4074, + 3897.4194, + 824.1181 + ], + "actual_end_pos": [ + 2808.4074, + 3897.4194, + 824.1181 + ], + "actual_end_rot": [ + -22.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2808.4074, + 3897.4194, + 824.1181 + ], + "start_rot": [ + -22.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 2808.4074, + 3897.4194, + 824.1181 + ], + "actual_end_pos": [ + 2808.4074, + 3897.4194, + 824.1181 + ], + "actual_end_rot": [ + -22.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2808.4074, + 3897.4194, + 824.1181 + ], + "start_rot": [ + -22.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 2832.3192, + 3808.1795, + 862.3864 + ], + "actual_end_pos": [ + 2832.3192, + 3808.1795, + 862.3864 + ], + "actual_end_rot": [ + -22.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2832.3192, + 3808.1795, + 862.3864 + ], + "start_rot": [ + -22.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 2832.3192, + 3808.1795, + 862.3864 + ], + "actual_end_pos": [ + 2832.3192, + 3808.1795, + 862.3864 + ], + "actual_end_rot": [ + -22.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2832.3192, + 3808.1795, + 862.3864 + ], + "start_rot": [ + -22.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2832.3192, + 3808.1795, + 862.3864 + ], + "actual_end_pos": [ + 2832.3192, + 3808.1795, + 862.3864 + ], + "actual_end_rot": [ + -22.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2832.3192, + 3808.1795, + 862.3864 + ], + "start_rot": [ + -22.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2832.3192, + 3808.1795, + 862.3864 + ], + "actual_end_pos": [ + 2832.3192, + 3808.1795, + 862.3864 + ], + "actual_end_rot": [ + -22.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2832.3192, + 3808.1795, + 862.3864 + ], + "start_rot": [ + -22.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2832.3192, + 3715.7915, + 900.6548 + ], + "actual_end_pos": [ + 2832.3192, + 3715.7915, + 900.6548 + ], + "actual_end_rot": [ + -22.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 2832.3192, + 3715.7915, + 900.6548 + ], + "start_rot": [ + -22.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2832.3192, + 3715.7915, + 900.6548 + ], + "actual_end_pos": [ + 2832.3192, + 3715.7915, + 900.6548 + ], + "actual_end_rot": [ + -15.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2832.3192, + 3715.7915, + 900.6548 + ], + "start_rot": [ + -15.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2832.3192, + 3619.1989, + 926.5367 + ], + "actual_end_pos": [ + 2832.3192, + 3619.1989, + 926.5367 + ], + "actual_end_rot": [ + -15.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 2832.3192, + 3619.1989, + 926.5367 + ], + "start_rot": [ + -15.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2832.3192, + 3619.1989, + 926.5367 + ], + "actual_end_pos": [ + 2832.3192, + 3619.1989, + 926.5367 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2832.3192, + 3619.1989, + 926.5367 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2832.3192, + 3619.1989, + 926.5367 + ], + "actual_end_pos": [ + 2832.3192, + 3619.1989, + 926.5367 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2832.3192, + 3619.1989, + 926.5367 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 2806.6587, + 3714.9651, + 913.4841 + ], + "actual_end_pos": [ + 2806.6587, + 3714.9651, + 913.4841 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2806.6587, + 3714.9651, + 913.4841 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 2780.9982, + 3810.7314, + 900.4314 + ], + "actual_end_pos": [ + 2780.9982, + 3810.7314, + 900.4314 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2780.9982, + 3810.7314, + 900.4314 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 2877.5908, + 3836.6133, + 900.4314 + ], + "actual_end_pos": [ + 2877.5908, + 3836.6133, + 900.4314 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2877.5908, + 3836.6133, + 900.4314 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 2903.2513, + 3740.847, + 913.4841 + ], + "actual_end_pos": [ + 2903.2513, + 3740.847, + 913.4841 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2903.2513, + 3740.847, + 913.4841 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 2903.2513, + 3740.847, + 913.4841 + ], + "actual_end_pos": [ + 2903.2513, + 3740.847, + 913.4841 + ], + "actual_end_rot": [ + -7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2903.2513, + 3740.847, + 913.4841 + ], + "start_rot": [ + -7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 2952.8235, + 3654.9854, + 926.5367 + ], + "actual_end_pos": [ + 2952.8235, + 3654.9854, + 926.5367 + ], + "actual_end_rot": [ + -7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2952.8235, + 3654.9854, + 926.5367 + ], + "start_rot": [ + -7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 2952.8235, + 3654.9854, + 926.5367 + ], + "actual_end_pos": [ + 2952.8235, + 3654.9854, + 926.5367 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2952.8235, + 3654.9854, + 926.5367 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 3049.4161, + 3680.8673, + 926.5367 + ], + "actual_end_pos": [ + 3049.4161, + 3680.8673, + 926.5367 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 3049.4161, + 3680.8673, + 926.5367 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 3049.4161, + 3680.8673, + 926.5367 + ], + "actual_end_pos": [ + 3049.4161, + 3680.8673, + 926.5367 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3049.4161, + 3680.8673, + 926.5367 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3049.4161, + 3680.8673, + 926.5367 + ], + "actual_end_pos": [ + 3049.4161, + 3680.8673, + 926.5367 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260422_172644__pair_005439_B_traj_005440_meta.json b/equivalence_easy/run_20260422_172644__pair_005439_B_traj_005440_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e02098abe42ee4f0b6def16d3f03fa9e2ebcb1d7 --- /dev/null +++ b/equivalence_easy/run_20260422_172644__pair_005439_B_traj_005440_meta.json @@ -0,0 +1,1476 @@ +{ + "trajectory_id": 5440, + "episode_id": 0, + "state_id": 4050, + "sample_index": 4050, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_B", + "partner_trajectory_id": 5439, + "primary_trajectory_id": 5439, + "paired_trajectory_id": 5440, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 2880.0, + 3830.0, + 850.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_left", + "turn_left", + "move_right", + "move_right", + "move_right", + "look_down", + "look_down", + "move_left", + "move_left", + "move_left", + "turn_right", + "move_forward", + "turn_left", + "look_down", + "no_op", + "turn_right", + "turn_right", + "turn_right", + "move_right", + "no_op", + "no_op", + "move_backward", + "turn_left", + "no_op", + "no_op", + "move_backward", + "look_up", + "move_backward", + "look_up", + "turn_right", + "move_forward", + "move_backward", + "move_left", + "move_forward", + "turn_right", + "move_backward", + "turn_left", + "move_left", + "turn_left", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2880.0, + 3830.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2880.0, + 3830.0, + 850.0 + ], + "actual_end_pos": [ + 2880.0, + 3830.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2880.0, + 3830.0, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 2880.0, + 3830.0, + 850.0 + ], + "actual_end_pos": [ + 2880.0, + 3830.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2880.0, + 3830.0, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2793.3975, + 3880.0, + 850.0 + ], + "actual_end_pos": [ + 2793.3975, + 3880.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2793.3975, + 3880.0, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2706.7949, + 3930.0, + 850.0 + ], + "actual_end_pos": [ + 2706.7949, + 3930.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2706.7949, + 3930.0, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2620.1924, + 3980.0, + 850.0 + ], + "actual_end_pos": [ + 2620.1924, + 3980.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 2620.1924, + 3980.0, + 850.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2620.1924, + 3980.0, + 850.0 + ], + "actual_end_pos": [ + 2620.1924, + 3980.0, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 2620.1924, + 3980.0, + 850.0 + ], + "start_rot": [ + -7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2620.1924, + 3980.0, + 850.0 + ], + "actual_end_pos": [ + 2620.1924, + 3980.0, + 850.0 + ], + "actual_end_rot": [ + -15.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2620.1924, + 3980.0, + 850.0 + ], + "start_rot": [ + -15.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2706.7949, + 3930.0, + 850.0 + ], + "actual_end_pos": [ + 2706.7949, + 3930.0, + 850.0 + ], + "actual_end_rot": [ + -15.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2706.7949, + 3930.0, + 850.0 + ], + "start_rot": [ + -15.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2793.3975, + 3880.0, + 850.0 + ], + "actual_end_pos": [ + 2793.3975, + 3880.0, + 850.0 + ], + "actual_end_rot": [ + -15.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2793.3975, + 3880.0, + 850.0 + ], + "start_rot": [ + -15.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2880.0, + 3830.0, + 850.0 + ], + "actual_end_pos": [ + 2880.0, + 3830.0, + 850.0 + ], + "actual_end_rot": [ + -15.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2880.0, + 3830.0, + 850.0 + ], + "start_rot": [ + -15.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2880.0, + 3830.0, + 850.0 + ], + "actual_end_pos": [ + 2880.0, + 3830.0, + 850.0 + ], + "actual_end_rot": [ + -15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2880.0, + 3830.0, + 850.0 + ], + "start_rot": [ + -15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 2905.0, + 3923.3013, + 824.1181 + ], + "actual_end_pos": [ + 2905.0, + 3923.3013, + 824.1181 + ], + "actual_end_rot": [ + -15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2905.0, + 3923.3013, + 824.1181 + ], + "start_rot": [ + -15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 2905.0, + 3923.3013, + 824.1181 + ], + "actual_end_pos": [ + 2905.0, + 3923.3013, + 824.1181 + ], + "actual_end_rot": [ + -15.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 2905.0, + 3923.3013, + 824.1181 + ], + "start_rot": [ + -15.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2905.0, + 3923.3013, + 824.1181 + ], + "actual_end_pos": [ + 2905.0, + 3923.3013, + 824.1181 + ], + "actual_end_rot": [ + -22.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2905.0, + 3923.3013, + 824.1181 + ], + "start_rot": [ + -22.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2905.0, + 3923.3013, + 824.1181 + ], + "actual_end_pos": [ + 2905.0, + 3923.3013, + 824.1181 + ], + "actual_end_rot": [ + -22.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2905.0, + 3923.3013, + 824.1181 + ], + "start_rot": [ + -22.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 2905.0, + 3923.3013, + 824.1181 + ], + "actual_end_pos": [ + 2905.0, + 3923.3013, + 824.1181 + ], + "actual_end_rot": [ + -22.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2905.0, + 3923.3013, + 824.1181 + ], + "start_rot": [ + -22.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 2905.0, + 3923.3013, + 824.1181 + ], + "actual_end_pos": [ + 2905.0, + 3923.3013, + 824.1181 + ], + "actual_end_rot": [ + -22.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2905.0, + 3923.3013, + 824.1181 + ], + "start_rot": [ + -22.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2905.0, + 3923.3013, + 824.1181 + ], + "actual_end_pos": [ + 2905.0, + 3923.3013, + 824.1181 + ], + "actual_end_rot": [ + -22.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2905.0, + 3923.3013, + 824.1181 + ], + "start_rot": [ + -22.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 2808.4074, + 3897.4194, + 824.1181 + ], + "actual_end_pos": [ + 2808.4074, + 3897.4194, + 824.1181 + ], + "actual_end_rot": [ + -22.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2808.4074, + 3897.4194, + 824.1181 + ], + "start_rot": [ + -22.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 2808.4074, + 3897.4194, + 824.1181 + ], + "actual_end_pos": [ + 2808.4074, + 3897.4194, + 824.1181 + ], + "actual_end_rot": [ + -22.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2808.4074, + 3897.4194, + 824.1181 + ], + "start_rot": [ + -22.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 2808.4074, + 3897.4194, + 824.1181 + ], + "actual_end_pos": [ + 2808.4074, + 3897.4194, + 824.1181 + ], + "actual_end_rot": [ + -22.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2808.4074, + 3897.4194, + 824.1181 + ], + "start_rot": [ + -22.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 2832.3192, + 3808.1795, + 862.3864 + ], + "actual_end_pos": [ + 2832.3192, + 3808.1795, + 862.3864 + ], + "actual_end_rot": [ + -22.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2832.3192, + 3808.1795, + 862.3864 + ], + "start_rot": [ + -22.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 2832.3192, + 3808.1795, + 862.3864 + ], + "actual_end_pos": [ + 2832.3192, + 3808.1795, + 862.3864 + ], + "actual_end_rot": [ + -22.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2832.3192, + 3808.1795, + 862.3864 + ], + "start_rot": [ + -22.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2832.3192, + 3808.1795, + 862.3864 + ], + "actual_end_pos": [ + 2832.3192, + 3808.1795, + 862.3864 + ], + "actual_end_rot": [ + -22.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2832.3192, + 3808.1795, + 862.3864 + ], + "start_rot": [ + -22.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2832.3192, + 3808.1795, + 862.3864 + ], + "actual_end_pos": [ + 2832.3192, + 3808.1795, + 862.3864 + ], + "actual_end_rot": [ + -22.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2832.3192, + 3808.1795, + 862.3864 + ], + "start_rot": [ + -22.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2832.3192, + 3715.7915, + 900.6548 + ], + "actual_end_pos": [ + 2832.3192, + 3715.7915, + 900.6548 + ], + "actual_end_rot": [ + -22.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 2832.3192, + 3715.7915, + 900.6548 + ], + "start_rot": [ + -22.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2832.3192, + 3715.7915, + 900.6548 + ], + "actual_end_pos": [ + 2832.3192, + 3715.7915, + 900.6548 + ], + "actual_end_rot": [ + -15.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2832.3192, + 3715.7915, + 900.6548 + ], + "start_rot": [ + -15.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2832.3192, + 3619.1989, + 926.5367 + ], + "actual_end_pos": [ + 2832.3192, + 3619.1989, + 926.5367 + ], + "actual_end_rot": [ + -15.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 2832.3192, + 3619.1989, + 926.5367 + ], + "start_rot": [ + -15.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2832.3192, + 3619.1989, + 926.5367 + ], + "actual_end_pos": [ + 2832.3192, + 3619.1989, + 926.5367 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2832.3192, + 3619.1989, + 926.5367 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 2832.3192, + 3619.1989, + 926.5367 + ], + "actual_end_pos": [ + 2832.3192, + 3619.1989, + 926.5367 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2832.3192, + 3619.1989, + 926.5367 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 2806.6587, + 3714.9651, + 913.4841 + ], + "actual_end_pos": [ + 2806.6587, + 3714.9651, + 913.4841 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2806.6587, + 3714.9651, + 913.4841 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 2832.3192, + 3619.1989, + 926.5367 + ], + "actual_end_pos": [ + 2832.3192, + 3619.1989, + 926.5367 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2832.3192, + 3619.1989, + 926.5367 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 2928.9118, + 3645.0808, + 926.5367 + ], + "actual_end_pos": [ + 2928.9118, + 3645.0808, + 926.5367 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2928.9118, + 3645.0808, + 926.5367 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 2903.2513, + 3740.847, + 913.4841 + ], + "actual_end_pos": [ + 2903.2513, + 3740.847, + 913.4841 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2903.2513, + 3740.847, + 913.4841 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 2903.2513, + 3740.847, + 913.4841 + ], + "actual_end_pos": [ + 2903.2513, + 3740.847, + 913.4841 + ], + "actual_end_rot": [ + -7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2903.2513, + 3740.847, + 913.4841 + ], + "start_rot": [ + -7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 2952.8235, + 3654.9854, + 926.5367 + ], + "actual_end_pos": [ + 2952.8235, + 3654.9854, + 926.5367 + ], + "actual_end_rot": [ + -7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2952.8235, + 3654.9854, + 926.5367 + ], + "start_rot": [ + -7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 2952.8235, + 3654.9854, + 926.5367 + ], + "actual_end_pos": [ + 2952.8235, + 3654.9854, + 926.5367 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2952.8235, + 3654.9854, + 926.5367 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 3049.4161, + 3680.8673, + 926.5367 + ], + "actual_end_pos": [ + 3049.4161, + 3680.8673, + 926.5367 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 3049.4161, + 3680.8673, + 926.5367 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 3049.4161, + 3680.8673, + 926.5367 + ], + "actual_end_pos": [ + 3049.4161, + 3680.8673, + 926.5367 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3049.4161, + 3680.8673, + 926.5367 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3049.4161, + 3680.8673, + 926.5367 + ], + "actual_end_pos": [ + 3049.4161, + 3680.8673, + 926.5367 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260422_172644__pair_005949_A_traj_005949_meta.json b/equivalence_easy/run_20260422_172644__pair_005949_A_traj_005949_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e8906660fd5836a765c32c1a94918a1ca5635f9f --- /dev/null +++ b/equivalence_easy/run_20260422_172644__pair_005949_A_traj_005949_meta.json @@ -0,0 +1,1476 @@ +{ + "trajectory_id": 5949, + "episode_id": 0, + "state_id": 4429, + "sample_index": 4429, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_A", + "partner_trajectory_id": 5950, + "primary_trajectory_id": 5949, + "paired_trajectory_id": 5950, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 3880.0, + 3030.0, + 850.0 + ], + "rotation": [ + 0.0, + 225.0, + 0.0 + ] + }, + "action_sequence": [ + "look_up", + "turn_left", + "turn_left", + "move_left", + "move_forward", + "move_forward", + "move_backward", + "move_backward", + "move_left", + "move_left", + "move_left", + "no_op", + "turn_left", + "move_right", + "move_forward", + "turn_left", + "move_right", + "move_right", + "look_down", + "move_backward", + "move_backward", + "move_left", + "look_down", + "turn_left", + "move_right", + "move_right", + "turn_left", + "look_down", + "move_forward", + "move_right", + "look_down", + "turn_right", + "look_up", + "move_backward", + "look_down", + "turn_left", + "move_left", + "turn_left", + "turn_left", + "move_right" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 3880.0, + 3030.0, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 3880.0, + 3030.0, + 850.0 + ], + "actual_end_pos": [ + 3880.0, + 3030.0, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 3880.0, + 3030.0, + 850.0 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 3880.0, + 3030.0, + 850.0 + ], + "actual_end_pos": [ + 3880.0, + 3030.0, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 3880.0, + 3030.0, + 850.0 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 3880.0, + 3030.0, + 850.0 + ], + "actual_end_pos": [ + 3880.0, + 3030.0, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3880.0, + 3030.0, + 850.0 + ], + "start_rot": [ + 7.5, + -165.0, + -0.0 + ], + "expected_end_pos": [ + 3854.1181, + 3126.5926, + 850.0 + ], + "actual_end_pos": [ + 3854.1181, + 3126.5926, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 3854.1181, + 3126.5926, + 850.0 + ], + "start_rot": [ + 7.5, + -165.0, + -0.0 + ], + "expected_end_pos": [ + 3758.3519, + 3100.9321, + 863.0526 + ], + "actual_end_pos": [ + 3758.3519, + 3100.9321, + 863.0526 + ], + "actual_end_rot": [ + 7.5, + -165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 3758.3519, + 3100.9321, + 863.0526 + ], + "start_rot": [ + 7.5, + -165.0, + -0.0 + ], + "expected_end_pos": [ + 3662.5857, + 3075.2716, + 876.1052 + ], + "actual_end_pos": [ + 3662.5857, + 3075.2716, + 876.1052 + ], + "actual_end_rot": [ + 7.5, + -165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 3662.5857, + 3075.2716, + 876.1052 + ], + "start_rot": [ + 7.5, + -165.0, + -0.0 + ], + "expected_end_pos": [ + 3758.3519, + 3100.9321, + 863.0526 + ], + "actual_end_pos": [ + 3758.3519, + 3100.9321, + 863.0526 + ], + "actual_end_rot": [ + 7.5, + -165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 3758.3519, + 3100.9321, + 863.0526 + ], + "start_rot": [ + 7.5, + -165.0, + -0.0 + ], + "expected_end_pos": [ + 3854.1181, + 3126.5926, + 850.0 + ], + "actual_end_pos": [ + 3854.1181, + 3126.5926, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3854.1181, + 3126.5926, + 850.0 + ], + "start_rot": [ + 7.5, + -165.0, + -0.0 + ], + "expected_end_pos": [ + 3828.2362, + 3223.1852, + 850.0 + ], + "actual_end_pos": [ + 3828.2362, + 3223.1852, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3828.2362, + 3223.1852, + 850.0 + ], + "start_rot": [ + 7.5, + -165.0, + -0.0 + ], + "expected_end_pos": [ + 3802.3543, + 3319.7777, + 850.0 + ], + "actual_end_pos": [ + 3802.3543, + 3319.7777, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3802.3543, + 3319.7777, + 850.0 + ], + "start_rot": [ + 7.5, + -165.0, + -0.0 + ], + "expected_end_pos": [ + 3776.4724, + 3416.3703, + 850.0 + ], + "actual_end_pos": [ + 3776.4724, + 3416.3703, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3776.4724, + 3416.3703, + 850.0 + ], + "start_rot": [ + 7.5, + -165.0, + -0.0 + ], + "expected_end_pos": [ + 3776.4724, + 3416.3703, + 850.0 + ], + "actual_end_pos": [ + 3776.4724, + 3416.3703, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 3776.4724, + 3416.3703, + 850.0 + ], + "start_rot": [ + 7.5, + -165.0, + -0.0 + ], + "expected_end_pos": [ + 3776.4724, + 3416.3703, + 850.0 + ], + "actual_end_pos": [ + 3776.4724, + 3416.3703, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3776.4724, + 3416.3703, + 850.0 + ], + "start_rot": [ + 7.5, + -180.0, + 0.0 + ], + "expected_end_pos": [ + 3776.4724, + 3316.3703, + 850.0 + ], + "actual_end_pos": [ + 3776.4724, + 3316.3703, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 3776.4724, + 3316.3703, + 850.0 + ], + "start_rot": [ + 7.5, + -180.0, + 0.0 + ], + "expected_end_pos": [ + 3677.3279, + 3316.3703, + 863.0526 + ], + "actual_end_pos": [ + 3677.3279, + 3316.3703, + 863.0526 + ], + "actual_end_rot": [ + 7.5, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 3677.3279, + 3316.3703, + 863.0526 + ], + "start_rot": [ + 7.5, + -180.0, + 0.0 + ], + "expected_end_pos": [ + 3677.3279, + 3316.3703, + 863.0526 + ], + "actual_end_pos": [ + 3677.3279, + 3316.3703, + 863.0526 + ], + "actual_end_rot": [ + 7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3677.3279, + 3316.3703, + 863.0526 + ], + "start_rot": [ + 7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 3651.446, + 3219.7777, + 863.0526 + ], + "actual_end_pos": [ + 3651.446, + 3219.7777, + 863.0526 + ], + "actual_end_rot": [ + 7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3651.446, + 3219.7777, + 863.0526 + ], + "start_rot": [ + 7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 3625.5641, + 3123.1852, + 863.0526 + ], + "actual_end_pos": [ + 3625.5641, + 3123.1852, + 863.0526 + ], + "actual_end_rot": [ + 7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 3625.5641, + 3123.1852, + 863.0526 + ], + "start_rot": [ + 7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 3625.5641, + 3123.1852, + 863.0526 + ], + "actual_end_pos": [ + 3625.5641, + 3123.1852, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 3625.5641, + 3123.1852, + 863.0526 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 3722.1567, + 3097.3033, + 863.0526 + ], + "actual_end_pos": [ + 3722.1567, + 3097.3033, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 3722.1567, + 3097.3033, + 863.0526 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 3818.7492, + 3071.4213, + 863.0526 + ], + "actual_end_pos": [ + 3818.7492, + 3071.4213, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3818.7492, + 3071.4213, + 863.0526 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 3844.6311, + 3168.0139, + 863.0526 + ], + "actual_end_pos": [ + 3844.6311, + 3168.0139, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 3844.6311, + 3168.0139, + 863.0526 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 3844.6311, + 3168.0139, + 863.0526 + ], + "actual_end_pos": [ + 3844.6311, + 3168.0139, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 3844.6311, + 3168.0139, + 863.0526 + ], + "start_rot": [ + -7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 3844.6311, + 3168.0139, + 863.0526 + ], + "actual_end_pos": [ + 3844.6311, + 3168.0139, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3844.6311, + 3168.0139, + 863.0526 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 3794.6311, + 3081.4114, + 863.0526 + ], + "actual_end_pos": [ + 3794.6311, + 3081.4114, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3794.6311, + 3081.4114, + 863.0526 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 3744.6311, + 2994.8089, + 863.0526 + ], + "actual_end_pos": [ + 3744.6311, + 2994.8089, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 3744.6311, + 2994.8089, + 863.0526 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 3744.6311, + 2994.8089, + 863.0526 + ], + "actual_end_pos": [ + 3744.6311, + 2994.8089, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 3744.6311, + 2994.8089, + 863.0526 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 3744.6311, + 2994.8089, + 863.0526 + ], + "actual_end_pos": [ + 3744.6311, + 2994.8089, + 863.0526 + ], + "actual_end_rot": [ + -15.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 3744.6311, + 2994.8089, + 863.0526 + ], + "start_rot": [ + -15.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 3676.3299, + 3063.1101, + 837.1707 + ], + "actual_end_pos": [ + 3676.3299, + 3063.1101, + 837.1707 + ], + "actual_end_rot": [ + -15.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3676.3299, + 3063.1101, + 837.1707 + ], + "start_rot": [ + -15.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 3605.6192, + 2992.3994, + 837.1707 + ], + "actual_end_pos": [ + 3605.6192, + 2992.3994, + 837.1707 + ], + "actual_end_rot": [ + -15.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 3605.6192, + 2992.3994, + 837.1707 + ], + "start_rot": [ + -15.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 3605.6192, + 2992.3994, + 837.1707 + ], + "actual_end_pos": [ + 3605.6192, + 2992.3994, + 837.1707 + ], + "actual_end_rot": [ + -22.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 3605.6192, + 2992.3994, + 837.1707 + ], + "start_rot": [ + -22.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 3605.6192, + 2992.3994, + 837.1707 + ], + "actual_end_pos": [ + 3605.6192, + 2992.3994, + 837.1707 + ], + "actual_end_rot": [ + -22.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 3605.6192, + 2992.3994, + 837.1707 + ], + "start_rot": [ + -22.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 3605.6192, + 2992.3994, + 837.1707 + ], + "actual_end_pos": [ + 3605.6192, + 2992.3994, + 837.1707 + ], + "actual_end_rot": [ + -15.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 3605.6192, + 2992.3994, + 837.1707 + ], + "start_rot": [ + -15.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 3689.2708, + 2944.1032, + 863.0526 + ], + "actual_end_pos": [ + 3689.2708, + 2944.1032, + 863.0526 + ], + "actual_end_rot": [ + -15.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 3689.2708, + 2944.1032, + 863.0526 + ], + "start_rot": [ + -15.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 3689.2708, + 2944.1032, + 863.0526 + ], + "actual_end_pos": [ + 3689.2708, + 2944.1032, + 863.0526 + ], + "actual_end_rot": [ + -22.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 3689.2708, + 2944.1032, + 863.0526 + ], + "start_rot": [ + -22.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 3689.2708, + 2944.1032, + 863.0526 + ], + "actual_end_pos": [ + 3689.2708, + 2944.1032, + 863.0526 + ], + "actual_end_rot": [ + -22.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3689.2708, + 2944.1032, + 863.0526 + ], + "start_rot": [ + -22.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 3759.9815, + 3014.8138, + 863.0526 + ], + "actual_end_pos": [ + 3759.9815, + 3014.8138, + 863.0526 + ], + "actual_end_rot": [ + -22.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 3759.9815, + 3014.8138, + 863.0526 + ], + "start_rot": [ + -22.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 3759.9815, + 3014.8138, + 863.0526 + ], + "actual_end_pos": [ + 3759.9815, + 3014.8138, + 863.0526 + ], + "actual_end_rot": [ + -22.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 3759.9815, + 3014.8138, + 863.0526 + ], + "start_rot": [ + -22.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 3759.9815, + 3014.8138, + 863.0526 + ], + "actual_end_pos": [ + 3759.9815, + 3014.8138, + 863.0526 + ], + "actual_end_rot": [ + -22.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3759.9815, + 3014.8138, + 863.0526 + ], + "start_rot": [ + -22.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 3663.3889, + 2988.9319, + 863.0526 + ], + "actual_end_pos": [ + 3663.3889, + 2988.9319, + 863.0526 + ], + "actual_end_rot": [ + -22.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260422_172644__pair_005949_B_traj_005950_meta.json b/equivalence_easy/run_20260422_172644__pair_005949_B_traj_005950_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0bbcdbeeef0d23fc66bedcec6b54aa4eeb73e876 --- /dev/null +++ b/equivalence_easy/run_20260422_172644__pair_005949_B_traj_005950_meta.json @@ -0,0 +1,1476 @@ +{ + "trajectory_id": 5950, + "episode_id": 0, + "state_id": 4429, + "sample_index": 4429, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_B", + "partner_trajectory_id": 5949, + "primary_trajectory_id": 5949, + "paired_trajectory_id": 5950, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 3880.0, + 3030.0, + 850.0 + ], + "rotation": [ + 0.0, + 225.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_left", + "look_up", + "turn_left", + "move_forward", + "move_backward", + "move_forward", + "move_backward", + "move_left", + "move_left", + "move_left", + "move_left", + "no_op", + "turn_left", + "move_right", + "move_forward", + "turn_left", + "move_right", + "move_right", + "look_down", + "move_backward", + "move_backward", + "move_left", + "look_down", + "turn_left", + "move_right", + "move_right", + "look_down", + "turn_left", + "move_forward", + "move_right", + "turn_right", + "look_down", + "look_up", + "move_backward", + "look_down", + "turn_left", + "move_left", + "turn_left", + "turn_left", + "move_right" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 3880.0, + 3030.0, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 3880.0, + 3030.0, + 850.0 + ], + "actual_end_pos": [ + 3880.0, + 3030.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 3880.0, + 3030.0, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 3880.0, + 3030.0, + 850.0 + ], + "actual_end_pos": [ + 3880.0, + 3030.0, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 3880.0, + 3030.0, + 850.0 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 3880.0, + 3030.0, + 850.0 + ], + "actual_end_pos": [ + 3880.0, + 3030.0, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 3880.0, + 3030.0, + 850.0 + ], + "start_rot": [ + 7.5, + -165.0, + -0.0 + ], + "expected_end_pos": [ + 3784.2338, + 3004.3395, + 863.0526 + ], + "actual_end_pos": [ + 3784.2338, + 3004.3395, + 863.0526 + ], + "actual_end_rot": [ + 7.5, + -165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 3784.2338, + 3004.3395, + 863.0526 + ], + "start_rot": [ + 7.5, + -165.0, + -0.0 + ], + "expected_end_pos": [ + 3880.0, + 3030.0, + 850.0 + ], + "actual_end_pos": [ + 3880.0, + 3030.0, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 3880.0, + 3030.0, + 850.0 + ], + "start_rot": [ + 7.5, + -165.0, + -0.0 + ], + "expected_end_pos": [ + 3784.2338, + 3004.3395, + 863.0526 + ], + "actual_end_pos": [ + 3784.2338, + 3004.3395, + 863.0526 + ], + "actual_end_rot": [ + 7.5, + -165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 3784.2338, + 3004.3395, + 863.0526 + ], + "start_rot": [ + 7.5, + -165.0, + -0.0 + ], + "expected_end_pos": [ + 3880.0, + 3030.0, + 850.0 + ], + "actual_end_pos": [ + 3880.0, + 3030.0, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3880.0, + 3030.0, + 850.0 + ], + "start_rot": [ + 7.5, + -165.0, + -0.0 + ], + "expected_end_pos": [ + 3854.1181, + 3126.5926, + 850.0 + ], + "actual_end_pos": [ + 3854.1181, + 3126.5926, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3854.1181, + 3126.5926, + 850.0 + ], + "start_rot": [ + 7.5, + -165.0, + -0.0 + ], + "expected_end_pos": [ + 3828.2362, + 3223.1852, + 850.0 + ], + "actual_end_pos": [ + 3828.2362, + 3223.1852, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3828.2362, + 3223.1852, + 850.0 + ], + "start_rot": [ + 7.5, + -165.0, + -0.0 + ], + "expected_end_pos": [ + 3802.3543, + 3319.7777, + 850.0 + ], + "actual_end_pos": [ + 3802.3543, + 3319.7777, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3802.3543, + 3319.7777, + 850.0 + ], + "start_rot": [ + 7.5, + -165.0, + -0.0 + ], + "expected_end_pos": [ + 3776.4724, + 3416.3703, + 850.0 + ], + "actual_end_pos": [ + 3776.4724, + 3416.3703, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3776.4724, + 3416.3703, + 850.0 + ], + "start_rot": [ + 7.5, + -165.0, + -0.0 + ], + "expected_end_pos": [ + 3776.4724, + 3416.3703, + 850.0 + ], + "actual_end_pos": [ + 3776.4724, + 3416.3703, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 3776.4724, + 3416.3703, + 850.0 + ], + "start_rot": [ + 7.5, + -165.0, + -0.0 + ], + "expected_end_pos": [ + 3776.4724, + 3416.3703, + 850.0 + ], + "actual_end_pos": [ + 3776.4724, + 3416.3703, + 850.0 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3776.4724, + 3416.3703, + 850.0 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 3776.4724, + 3316.3703, + 850.0 + ], + "actual_end_pos": [ + 3776.4724, + 3316.3703, + 850.0 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 3776.4724, + 3316.3703, + 850.0 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 3677.3279, + 3316.3703, + 863.0526 + ], + "actual_end_pos": [ + 3677.3279, + 3316.3703, + 863.0526 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 3677.3279, + 3316.3703, + 863.0526 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 3677.3279, + 3316.3703, + 863.0526 + ], + "actual_end_pos": [ + 3677.3279, + 3316.3703, + 863.0526 + ], + "actual_end_rot": [ + 7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3677.3279, + 3316.3703, + 863.0526 + ], + "start_rot": [ + 7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 3651.446, + 3219.7777, + 863.0526 + ], + "actual_end_pos": [ + 3651.446, + 3219.7777, + 863.0526 + ], + "actual_end_rot": [ + 7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3651.446, + 3219.7777, + 863.0526 + ], + "start_rot": [ + 7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 3625.5641, + 3123.1852, + 863.0526 + ], + "actual_end_pos": [ + 3625.5641, + 3123.1852, + 863.0526 + ], + "actual_end_rot": [ + 7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 3625.5641, + 3123.1852, + 863.0526 + ], + "start_rot": [ + 7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 3625.5641, + 3123.1852, + 863.0526 + ], + "actual_end_pos": [ + 3625.5641, + 3123.1852, + 863.0526 + ], + "actual_end_rot": [ + -0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 3625.5641, + 3123.1852, + 863.0526 + ], + "start_rot": [ + -0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 3722.1567, + 3097.3033, + 863.0526 + ], + "actual_end_pos": [ + 3722.1567, + 3097.3033, + 863.0526 + ], + "actual_end_rot": [ + -0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 3722.1567, + 3097.3033, + 863.0526 + ], + "start_rot": [ + -0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 3818.7492, + 3071.4214, + 863.0526 + ], + "actual_end_pos": [ + 3818.7492, + 3071.4214, + 863.0526 + ], + "actual_end_rot": [ + -0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3818.7492, + 3071.4214, + 863.0526 + ], + "start_rot": [ + -0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 3844.6311, + 3168.0139, + 863.0526 + ], + "actual_end_pos": [ + 3844.6311, + 3168.0139, + 863.0526 + ], + "actual_end_rot": [ + -0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 3844.6311, + 3168.0139, + 863.0526 + ], + "start_rot": [ + -0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 3844.6311, + 3168.0139, + 863.0526 + ], + "actual_end_pos": [ + 3844.6311, + 3168.0139, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 3844.6311, + 3168.0139, + 863.0526 + ], + "start_rot": [ + -7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 3844.6311, + 3168.0139, + 863.0526 + ], + "actual_end_pos": [ + 3844.6311, + 3168.0139, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3844.6311, + 3168.0139, + 863.0526 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 3794.6311, + 3081.4114, + 863.0526 + ], + "actual_end_pos": [ + 3794.6311, + 3081.4114, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3794.6311, + 3081.4114, + 863.0526 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 3744.6311, + 2994.8089, + 863.0526 + ], + "actual_end_pos": [ + 3744.6311, + 2994.8089, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 3744.6311, + 2994.8089, + 863.0526 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 3744.6311, + 2994.8089, + 863.0526 + ], + "actual_end_pos": [ + 3744.6311, + 2994.8089, + 863.0526 + ], + "actual_end_rot": [ + -15.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 3744.6311, + 2994.8089, + 863.0526 + ], + "start_rot": [ + -15.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 3744.6311, + 2994.8089, + 863.0526 + ], + "actual_end_pos": [ + 3744.6311, + 2994.8089, + 863.0526 + ], + "actual_end_rot": [ + -15.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 3744.6311, + 2994.8089, + 863.0526 + ], + "start_rot": [ + -15.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 3676.3299, + 3063.1101, + 837.1707 + ], + "actual_end_pos": [ + 3676.3299, + 3063.1101, + 837.1707 + ], + "actual_end_rot": [ + -15.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3676.3299, + 3063.1101, + 837.1707 + ], + "start_rot": [ + -15.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 3605.6192, + 2992.3995, + 837.1707 + ], + "actual_end_pos": [ + 3605.6192, + 2992.3995, + 837.1707 + ], + "actual_end_rot": [ + -15.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 3605.6192, + 2992.3995, + 837.1707 + ], + "start_rot": [ + -15.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 3605.6192, + 2992.3995, + 837.1707 + ], + "actual_end_pos": [ + 3605.6192, + 2992.3995, + 837.1707 + ], + "actual_end_rot": [ + -15.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 3605.6192, + 2992.3995, + 837.1707 + ], + "start_rot": [ + -15.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 3605.6192, + 2992.3995, + 837.1707 + ], + "actual_end_pos": [ + 3605.6192, + 2992.3995, + 837.1707 + ], + "actual_end_rot": [ + -22.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 3605.6192, + 2992.3995, + 837.1707 + ], + "start_rot": [ + -22.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 3605.6192, + 2992.3995, + 837.1707 + ], + "actual_end_pos": [ + 3605.6192, + 2992.3995, + 837.1707 + ], + "actual_end_rot": [ + -15.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 3605.6192, + 2992.3995, + 837.1707 + ], + "start_rot": [ + -15.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 3689.2708, + 2944.1032, + 863.0526 + ], + "actual_end_pos": [ + 3689.2708, + 2944.1032, + 863.0526 + ], + "actual_end_rot": [ + -15.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 3689.2708, + 2944.1032, + 863.0526 + ], + "start_rot": [ + -15.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 3689.2708, + 2944.1032, + 863.0526 + ], + "actual_end_pos": [ + 3689.2708, + 2944.1032, + 863.0526 + ], + "actual_end_rot": [ + -22.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 3689.2708, + 2944.1032, + 863.0526 + ], + "start_rot": [ + -22.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 3689.2708, + 2944.1032, + 863.0526 + ], + "actual_end_pos": [ + 3689.2708, + 2944.1032, + 863.0526 + ], + "actual_end_rot": [ + -22.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3689.2708, + 2944.1032, + 863.0526 + ], + "start_rot": [ + -22.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 3759.9815, + 3014.8138, + 863.0526 + ], + "actual_end_pos": [ + 3759.9815, + 3014.8138, + 863.0526 + ], + "actual_end_rot": [ + -22.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 3759.9815, + 3014.8138, + 863.0526 + ], + "start_rot": [ + -22.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 3759.9815, + 3014.8138, + 863.0526 + ], + "actual_end_pos": [ + 3759.9815, + 3014.8138, + 863.0526 + ], + "actual_end_rot": [ + -22.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 3759.9815, + 3014.8138, + 863.0526 + ], + "start_rot": [ + -22.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 3759.9815, + 3014.8138, + 863.0526 + ], + "actual_end_pos": [ + 3759.9815, + 3014.8138, + 863.0526 + ], + "actual_end_rot": [ + -22.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3759.9815, + 3014.8138, + 863.0526 + ], + "start_rot": [ + -22.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 3663.3889, + 2988.9319, + 863.0526 + ], + "actual_end_pos": [ + 3663.3889, + 2988.9319, + 863.0526 + ], + "actual_end_rot": [ + -22.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260422_172644__pair_006319_A_traj_006319_meta.json b/equivalence_easy/run_20260422_172644__pair_006319_A_traj_006319_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..87f3232e6a6e3987ff592a344a0b609b17811c2d --- /dev/null +++ b/equivalence_easy/run_20260422_172644__pair_006319_A_traj_006319_meta.json @@ -0,0 +1,1476 @@ +{ + "trajectory_id": 6319, + "episode_id": 0, + "state_id": 4700, + "sample_index": 4700, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_A", + "partner_trajectory_id": 6320, + "primary_trajectory_id": 6319, + "paired_trajectory_id": 6320, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 4480.0, + -1370.0, + 850.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "move_forward", + "turn_left", + "move_forward", + "move_forward", + "no_op", + "no_op", + "move_right", + "move_forward", + "move_left", + "move_left", + "move_forward", + "move_left", + "move_left", + "turn_right", + "move_forward", + "move_right", + "turn_left", + "turn_left", + "look_up", + "move_backward", + "move_right", + "turn_left", + "no_op", + "no_op", + "look_down", + "move_forward", + "look_down", + "turn_right", + "move_backward", + "move_backward", + "move_backward", + "no_op", + "move_forward", + "move_left", + "look_up", + "move_forward", + "move_left", + "move_left", + "turn_left" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4480.0, + -1370.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 4480.0, + -1470.0, + 850.0 + ], + "actual_end_pos": [ + 4480.0, + -1470.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4480.0, + -1470.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 4380.0, + -1470.0, + 850.0 + ], + "actual_end_pos": [ + 4380.0, + -1470.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4380.0, + -1470.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 4380.0, + -1470.0, + 850.0 + ], + "actual_end_pos": [ + 4380.0, + -1470.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4380.0, + -1470.0, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 4283.4074, + -1444.1181, + 850.0 + ], + "actual_end_pos": [ + 4283.4074, + -1444.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4283.4074, + -1444.1181, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 4186.8148, + -1418.2362, + 850.0 + ], + "actual_end_pos": [ + 4186.8148, + -1418.2362, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4186.8148, + -1418.2362, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 4186.8148, + -1418.2362, + 850.0 + ], + "actual_end_pos": [ + 4186.8148, + -1418.2362, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4186.8148, + -1418.2362, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 4186.8148, + -1418.2362, + 850.0 + ], + "actual_end_pos": [ + 4186.8148, + -1418.2362, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4186.8148, + -1418.2362, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 4160.9329, + -1514.8288, + 850.0 + ], + "actual_end_pos": [ + 4160.9329, + -1514.8288, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4160.9329, + -1514.8288, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 4064.3403, + -1488.9469, + 850.0 + ], + "actual_end_pos": [ + 4064.3403, + -1488.9469, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4064.3403, + -1488.9469, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 4090.2223, + -1392.3543, + 850.0 + ], + "actual_end_pos": [ + 4090.2223, + -1392.3543, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4090.2223, + -1392.3543, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 4116.1042, + -1295.7617, + 850.0 + ], + "actual_end_pos": [ + 4116.1042, + -1295.7617, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4116.1042, + -1295.7617, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 4019.5116, + -1269.8798, + 850.0 + ], + "actual_end_pos": [ + 4019.5116, + -1269.8798, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4019.5116, + -1269.8798, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 4045.3935, + -1173.2872, + 850.0 + ], + "actual_end_pos": [ + 4045.3935, + -1173.2872, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4045.3935, + -1173.2872, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 4071.2754, + -1076.6946, + 850.0 + ], + "actual_end_pos": [ + 4071.2754, + -1076.6946, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 4071.2754, + -1076.6946, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 4071.2754, + -1076.6946, + 850.0 + ], + "actual_end_pos": [ + 4071.2754, + -1076.6946, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4071.2754, + -1076.6946, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 3971.2754, + -1076.6946, + 850.0 + ], + "actual_end_pos": [ + 3971.2754, + -1076.6946, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3971.2754, + -1076.6946, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 3971.2754, + -1176.6946, + 850.0 + ], + "actual_end_pos": [ + 3971.2754, + -1176.6946, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 3971.2754, + -1176.6946, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 3971.2754, + -1176.6946, + 850.0 + ], + "actual_end_pos": [ + 3971.2754, + -1176.6946, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 3971.2754, + -1176.6946, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 3971.2754, + -1176.6946, + 850.0 + ], + "actual_end_pos": [ + 3971.2754, + -1176.6946, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 3971.2754, + -1176.6946, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 3971.2754, + -1176.6946, + 850.0 + ], + "actual_end_pos": [ + 3971.2754, + -1176.6946, + 850.0 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 3971.2754, + -1176.6946, + 850.0 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 4057.137, + -1226.2669, + 836.9474 + ], + "actual_end_pos": [ + 4057.137, + -1226.2669, + 836.9474 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4057.137, + -1226.2669, + 836.9474 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 4007.137, + -1312.8694, + 836.9474 + ], + "actual_end_pos": [ + 4007.137, + -1312.8694, + 836.9474 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4007.137, + -1312.8694, + 836.9474 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 4007.137, + -1312.8694, + 836.9474 + ], + "actual_end_pos": [ + 4007.137, + -1312.8694, + 836.9474 + ], + "actual_end_rot": [ + 7.5, + 135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4007.137, + -1312.8694, + 836.9474 + ], + "start_rot": [ + 7.5, + 135.0, + -0.0 + ], + "expected_end_pos": [ + 4007.137, + -1312.8694, + 836.9474 + ], + "actual_end_pos": [ + 4007.137, + -1312.8694, + 836.9474 + ], + "actual_end_rot": [ + 7.5, + 135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4007.137, + -1312.8694, + 836.9474 + ], + "start_rot": [ + 7.5, + 135.0, + -0.0 + ], + "expected_end_pos": [ + 4007.137, + -1312.8694, + 836.9474 + ], + "actual_end_pos": [ + 4007.137, + -1312.8694, + 836.9474 + ], + "actual_end_rot": [ + 7.5, + 135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 4007.137, + -1312.8694, + 836.9474 + ], + "start_rot": [ + 7.5, + 135.0, + -0.0 + ], + "expected_end_pos": [ + 4007.137, + -1312.8694, + 836.9474 + ], + "actual_end_pos": [ + 4007.137, + -1312.8694, + 836.9474 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4007.137, + -1312.8694, + 836.9474 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 3936.4264, + -1242.1587, + 836.9474 + ], + "actual_end_pos": [ + 3936.4264, + -1242.1587, + 836.9474 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 3936.4264, + -1242.1587, + 836.9474 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 3936.4264, + -1242.1587, + 836.9474 + ], + "actual_end_pos": [ + 3936.4264, + -1242.1587, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 3936.4264, + -1242.1587, + 836.9474 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 3936.4264, + -1242.1587, + 836.9474 + ], + "actual_end_pos": [ + 3936.4264, + -1242.1587, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 3936.4264, + -1242.1587, + 836.9474 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 4022.288, + -1291.731, + 850.0 + ], + "actual_end_pos": [ + 4022.288, + -1291.731, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4022.288, + -1291.731, + 850.0 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 4108.1496, + -1341.3032, + 863.0526 + ], + "actual_end_pos": [ + 4108.1496, + -1341.3032, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4108.1496, + -1341.3032, + 863.0526 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 4194.0113, + -1390.8755, + 876.1052 + ], + "actual_end_pos": [ + 4194.0113, + -1390.8755, + 876.1052 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4194.0113, + -1390.8755, + 876.1052 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 4194.0113, + -1390.8755, + 876.1052 + ], + "actual_end_pos": [ + 4194.0113, + -1390.8755, + 876.1052 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4194.0113, + -1390.8755, + 876.1052 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 4108.1496, + -1341.3032, + 863.0526 + ], + "actual_end_pos": [ + 4108.1496, + -1341.3032, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4108.1496, + -1341.3032, + 863.0526 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 4158.1496, + -1254.7007, + 863.0526 + ], + "actual_end_pos": [ + 4158.1496, + -1254.7007, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 4158.1496, + -1254.7007, + 863.0526 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 4158.1496, + -1254.7007, + 863.0526 + ], + "actual_end_pos": [ + 4158.1496, + -1254.7007, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4158.1496, + -1254.7007, + 863.0526 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 4071.5471, + -1204.7007, + 863.0526 + ], + "actual_end_pos": [ + 4071.5471, + -1204.7007, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4071.5471, + -1204.7007, + 863.0526 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 4121.5471, + -1118.0981, + 863.0526 + ], + "actual_end_pos": [ + 4121.5471, + -1118.0981, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4121.5471, + -1118.0981, + 863.0526 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 4171.5471, + -1031.4956, + 863.0526 + ], + "actual_end_pos": [ + 4171.5471, + -1031.4956, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4171.5471, + -1031.4956, + 863.0526 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 4171.5471, + -1031.4956, + 863.0526 + ], + "actual_end_pos": [ + 4171.5471, + -1031.4956, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260422_172644__pair_006319_B_traj_006320_meta.json b/equivalence_easy/run_20260422_172644__pair_006319_B_traj_006320_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..891c8ca9483e8ce9d4e90be6a1ba775f9ae547fe --- /dev/null +++ b/equivalence_easy/run_20260422_172644__pair_006319_B_traj_006320_meta.json @@ -0,0 +1,1476 @@ +{ + "trajectory_id": 6320, + "episode_id": 0, + "state_id": 4700, + "sample_index": 4700, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_B", + "partner_trajectory_id": 6319, + "primary_trajectory_id": 6319, + "paired_trajectory_id": 6320, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 4480.0, + -1370.0, + 850.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_right", + "turn_left", + "move_forward", + "move_forward", + "no_op", + "no_op", + "move_left", + "move_left", + "move_right", + "move_forward", + "move_left", + "move_left", + "move_forward", + "turn_right", + "move_right", + "move_forward", + "look_up", + "turn_left", + "turn_left", + "move_backward", + "move_right", + "turn_left", + "no_op", + "no_op", + "look_down", + "move_forward", + "look_down", + "turn_right", + "move_backward", + "move_backward", + "move_backward", + "no_op", + "move_forward", + "move_left", + "look_up", + "move_left", + "move_left", + "move_forward", + "turn_left" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4480.0, + -1370.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 4380.0, + -1370.0, + 850.0 + ], + "actual_end_pos": [ + 4380.0, + -1370.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4380.0, + -1370.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 4380.0, + -1470.0, + 850.0 + ], + "actual_end_pos": [ + 4380.0, + -1470.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4380.0, + -1470.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 4380.0, + -1470.0, + 850.0 + ], + "actual_end_pos": [ + 4380.0, + -1470.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4380.0, + -1470.0, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 4283.4074, + -1444.1181, + 850.0 + ], + "actual_end_pos": [ + 4283.4074, + -1444.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4283.4074, + -1444.1181, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 4186.8148, + -1418.2362, + 850.0 + ], + "actual_end_pos": [ + 4186.8148, + -1418.2362, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4186.8148, + -1418.2362, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 4186.8148, + -1418.2362, + 850.0 + ], + "actual_end_pos": [ + 4186.8148, + -1418.2362, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4186.8148, + -1418.2362, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 4186.8148, + -1418.2362, + 850.0 + ], + "actual_end_pos": [ + 4186.8148, + -1418.2362, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4186.8148, + -1418.2362, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 4212.6967, + -1321.6436, + 850.0 + ], + "actual_end_pos": [ + 4212.6967, + -1321.6436, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4212.6967, + -1321.6436, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 4238.5786, + -1225.051, + 850.0 + ], + "actual_end_pos": [ + 4238.5786, + -1225.051, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4238.5786, + -1225.051, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 4212.6967, + -1321.6436, + 850.0 + ], + "actual_end_pos": [ + 4212.6967, + -1321.6436, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4212.6967, + -1321.6436, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 4116.1042, + -1295.7617, + 850.0 + ], + "actual_end_pos": [ + 4116.1042, + -1295.7617, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4116.1042, + -1295.7617, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 4141.9861, + -1199.1691, + 850.0 + ], + "actual_end_pos": [ + 4141.9861, + -1199.1691, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4141.9861, + -1199.1691, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 4167.868, + -1102.5765, + 850.0 + ], + "actual_end_pos": [ + 4167.868, + -1102.5765, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4167.868, + -1102.5765, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 4071.2754, + -1076.6946, + 850.0 + ], + "actual_end_pos": [ + 4071.2754, + -1076.6946, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 4071.2754, + -1076.6946, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 4071.2754, + -1076.6946, + 850.0 + ], + "actual_end_pos": [ + 4071.2754, + -1076.6946, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4071.2754, + -1076.6946, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 4071.2754, + -1176.6946, + 850.0 + ], + "actual_end_pos": [ + 4071.2754, + -1176.6946, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4071.2754, + -1176.6946, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 3971.2754, + -1176.6946, + 850.0 + ], + "actual_end_pos": [ + 3971.2754, + -1176.6946, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 3971.2754, + -1176.6946, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 3971.2754, + -1176.6946, + 850.0 + ], + "actual_end_pos": [ + 3971.2754, + -1176.6946, + 850.0 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 3971.2754, + -1176.6946, + 850.0 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 3971.2754, + -1176.6946, + 850.0 + ], + "actual_end_pos": [ + 3971.2754, + -1176.6946, + 850.0 + ], + "actual_end_rot": [ + 7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 3971.2754, + -1176.6946, + 850.0 + ], + "start_rot": [ + 7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 3971.2754, + -1176.6946, + 850.0 + ], + "actual_end_pos": [ + 3971.2754, + -1176.6946, + 850.0 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 3971.2754, + -1176.6946, + 850.0 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 4057.137, + -1226.2669, + 836.9474 + ], + "actual_end_pos": [ + 4057.137, + -1226.2669, + 836.9474 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4057.137, + -1226.2669, + 836.9474 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 4007.137, + -1312.8694, + 836.9474 + ], + "actual_end_pos": [ + 4007.137, + -1312.8694, + 836.9474 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4007.137, + -1312.8694, + 836.9474 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 4007.137, + -1312.8694, + 836.9474 + ], + "actual_end_pos": [ + 4007.137, + -1312.8694, + 836.9474 + ], + "actual_end_rot": [ + 7.5, + 135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4007.137, + -1312.8694, + 836.9474 + ], + "start_rot": [ + 7.5, + 135.0, + -0.0 + ], + "expected_end_pos": [ + 4007.137, + -1312.8694, + 836.9474 + ], + "actual_end_pos": [ + 4007.137, + -1312.8694, + 836.9474 + ], + "actual_end_rot": [ + 7.5, + 135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4007.137, + -1312.8694, + 836.9474 + ], + "start_rot": [ + 7.5, + 135.0, + -0.0 + ], + "expected_end_pos": [ + 4007.137, + -1312.8694, + 836.9474 + ], + "actual_end_pos": [ + 4007.137, + -1312.8694, + 836.9474 + ], + "actual_end_rot": [ + 7.5, + 135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 4007.137, + -1312.8694, + 836.9474 + ], + "start_rot": [ + 7.5, + 135.0, + -0.0 + ], + "expected_end_pos": [ + 4007.137, + -1312.8694, + 836.9474 + ], + "actual_end_pos": [ + 4007.137, + -1312.8694, + 836.9474 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4007.137, + -1312.8694, + 836.9474 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 3936.4264, + -1242.1587, + 836.9474 + ], + "actual_end_pos": [ + 3936.4264, + -1242.1587, + 836.9474 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 3936.4264, + -1242.1587, + 836.9474 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 3936.4264, + -1242.1587, + 836.9474 + ], + "actual_end_pos": [ + 3936.4264, + -1242.1587, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 3936.4264, + -1242.1587, + 836.9474 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 3936.4264, + -1242.1587, + 836.9474 + ], + "actual_end_pos": [ + 3936.4264, + -1242.1587, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 3936.4264, + -1242.1587, + 836.9474 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 4022.288, + -1291.731, + 850.0 + ], + "actual_end_pos": [ + 4022.288, + -1291.731, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4022.288, + -1291.731, + 850.0 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 4108.1496, + -1341.3032, + 863.0526 + ], + "actual_end_pos": [ + 4108.1496, + -1341.3032, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4108.1496, + -1341.3032, + 863.0526 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 4194.0113, + -1390.8755, + 876.1052 + ], + "actual_end_pos": [ + 4194.0113, + -1390.8755, + 876.1052 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4194.0113, + -1390.8755, + 876.1052 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 4194.0113, + -1390.8755, + 876.1052 + ], + "actual_end_pos": [ + 4194.0113, + -1390.8755, + 876.1052 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4194.0113, + -1390.8755, + 876.1052 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 4108.1496, + -1341.3032, + 863.0526 + ], + "actual_end_pos": [ + 4108.1496, + -1341.3032, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4108.1496, + -1341.3032, + 863.0526 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 4158.1496, + -1254.7007, + 863.0526 + ], + "actual_end_pos": [ + 4158.1496, + -1254.7007, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 4158.1496, + -1254.7007, + 863.0526 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 4158.1496, + -1254.7007, + 863.0526 + ], + "actual_end_pos": [ + 4158.1496, + -1254.7007, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4158.1496, + -1254.7007, + 863.0526 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 4208.1496, + -1168.0981, + 863.0526 + ], + "actual_end_pos": [ + 4208.1496, + -1168.0981, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4208.1496, + -1168.0981, + 863.0526 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 4258.1496, + -1081.4956, + 863.0526 + ], + "actual_end_pos": [ + 4258.1496, + -1081.4956, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4258.1496, + -1081.4956, + 863.0526 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 4171.5471, + -1031.4956, + 863.0526 + ], + "actual_end_pos": [ + 4171.5471, + -1031.4956, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4171.5471, + -1031.4956, + 863.0526 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 4171.5471, + -1031.4956, + 863.0526 + ], + "actual_end_pos": [ + 4171.5471, + -1031.4956, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260422_172644__pair_006367_A_traj_006367_meta.json b/equivalence_easy/run_20260422_172644__pair_006367_A_traj_006367_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..20198e08e8fb383c96b194940e674dbc73599d07 --- /dev/null +++ b/equivalence_easy/run_20260422_172644__pair_006367_A_traj_006367_meta.json @@ -0,0 +1,1476 @@ +{ + "trajectory_id": 6367, + "episode_id": 0, + "state_id": 4736, + "sample_index": 4736, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_A", + "partner_trajectory_id": 6368, + "primary_trajectory_id": 6367, + "paired_trajectory_id": 6368, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 4480.0, + 3630.0, + 850.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "move_left", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "look_up", + "move_right", + "move_forward", + "turn_left", + "move_backward", + "move_left", + "move_left", + "turn_right", + "move_left", + "turn_left", + "move_forward", + "turn_right", + "move_forward", + "look_up", + "look_up", + "move_backward", + "move_backward", + "turn_left", + "move_forward", + "move_left", + "move_forward", + "turn_right", + "move_right", + "turn_left", + "turn_left", + "look_up", + "move_forward", + "look_down", + "look_down", + "move_left", + "move_backward", + "turn_left", + "move_left", + "turn_right" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4480.0, + 3630.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4480.0, + 3530.0, + 850.0 + ], + "actual_end_pos": [ + 4480.0, + 3530.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4480.0, + 3530.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4480.0, + 3430.0, + 850.0 + ], + "actual_end_pos": [ + 4480.0, + 3430.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4480.0, + 3430.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4580.0, + 3430.0, + 850.0 + ], + "actual_end_pos": [ + 4580.0, + 3430.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4580.0, + 3430.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4680.0, + 3430.0, + 850.0 + ], + "actual_end_pos": [ + 4680.0, + 3430.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4680.0, + 3430.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4680.0, + 3430.0, + 850.0 + ], + "actual_end_pos": [ + 4680.0, + 3430.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4680.0, + 3430.0, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 4680.0, + 3430.0, + 850.0 + ], + "actual_end_pos": [ + 4680.0, + 3430.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 4680.0, + 3430.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 4680.0, + 3430.0, + 850.0 + ], + "actual_end_pos": [ + 4680.0, + 3430.0, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4680.0, + 3430.0, + 850.0 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 4730.0, + 3516.6025, + 850.0 + ], + "actual_end_pos": [ + 4730.0, + 3516.6025, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4730.0, + 3516.6025, + 850.0 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 4815.8616, + 3467.0303, + 863.0526 + ], + "actual_end_pos": [ + 4815.8616, + 3467.0303, + 863.0526 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4815.8616, + 3467.0303, + 863.0526 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 4815.8616, + 3467.0303, + 863.0526 + ], + "actual_end_pos": [ + 4815.8616, + 3467.0303, + 863.0526 + ], + "actual_end_rot": [ + 7.5, + -45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4815.8616, + 3467.0303, + 863.0526 + ], + "start_rot": [ + 7.5, + -45.0, + -0.0 + ], + "expected_end_pos": [ + 4745.7559, + 3537.136, + 850.0 + ], + "actual_end_pos": [ + 4745.7559, + 3537.136, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4745.7559, + 3537.136, + 850.0 + ], + "start_rot": [ + 7.5, + -45.0, + -0.0 + ], + "expected_end_pos": [ + 4675.0452, + 3466.4254, + 850.0 + ], + "actual_end_pos": [ + 4675.0452, + 3466.4254, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4675.0452, + 3466.4254, + 850.0 + ], + "start_rot": [ + 7.5, + -45.0, + -0.0 + ], + "expected_end_pos": [ + 4604.3345, + 3395.7147, + 850.0 + ], + "actual_end_pos": [ + 4604.3345, + 3395.7147, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 4604.3345, + 3395.7147, + 850.0 + ], + "start_rot": [ + 7.5, + -45.0, + -0.0 + ], + "expected_end_pos": [ + 4604.3345, + 3395.7147, + 850.0 + ], + "actual_end_pos": [ + 4604.3345, + 3395.7147, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4604.3345, + 3395.7147, + 850.0 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 4554.3345, + 3309.1121, + 850.0 + ], + "actual_end_pos": [ + 4554.3345, + 3309.1121, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4554.3345, + 3309.1121, + 850.0 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 4554.3345, + 3309.1121, + 850.0 + ], + "actual_end_pos": [ + 4554.3345, + 3309.1121, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4554.3345, + 3309.1121, + 850.0 + ], + "start_rot": [ + 7.5, + -45.0, + -0.0 + ], + "expected_end_pos": [ + 4624.4403, + 3239.0064, + 863.0526 + ], + "actual_end_pos": [ + 4624.4403, + 3239.0064, + 863.0526 + ], + "actual_end_rot": [ + 7.5, + -45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 4624.4403, + 3239.0064, + 863.0526 + ], + "start_rot": [ + 7.5, + -45.0, + -0.0 + ], + "expected_end_pos": [ + 4624.4403, + 3239.0064, + 863.0526 + ], + "actual_end_pos": [ + 4624.4403, + 3239.0064, + 863.0526 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4624.4403, + 3239.0064, + 863.0526 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 4710.3019, + 3189.4342, + 876.1052 + ], + "actual_end_pos": [ + 4710.3019, + 3189.4342, + 876.1052 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 4710.3019, + 3189.4342, + 876.1052 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 4710.3019, + 3189.4342, + 876.1052 + ], + "actual_end_pos": [ + 4710.3019, + 3189.4342, + 876.1052 + ], + "actual_end_rot": [ + 15.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 4710.3019, + 3189.4342, + 876.1052 + ], + "start_rot": [ + 15.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 4710.3019, + 3189.4342, + 876.1052 + ], + "actual_end_pos": [ + 4710.3019, + 3189.4342, + 876.1052 + ], + "actual_end_rot": [ + 22.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4710.3019, + 3189.4342, + 876.1052 + ], + "start_rot": [ + 22.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 4630.2916, + 3235.6281, + 837.8369 + ], + "actual_end_pos": [ + 4630.2916, + 3235.6281, + 837.8369 + ], + "actual_end_rot": [ + 22.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4630.2916, + 3235.6281, + 837.8369 + ], + "start_rot": [ + 22.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 4550.2813, + 3281.8221, + 799.5686 + ], + "actual_end_pos": [ + 4550.2813, + 3281.8221, + 799.5686 + ], + "actual_end_rot": [ + 22.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4550.2813, + 3281.8221, + 799.5686 + ], + "start_rot": [ + 22.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 4550.2813, + 3281.8221, + 799.5686 + ], + "actual_end_pos": [ + 4550.2813, + 3281.8221, + 799.5686 + ], + "actual_end_rot": [ + 22.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4550.2813, + 3281.8221, + 799.5686 + ], + "start_rot": [ + 22.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 4615.6095, + 3216.494, + 837.8369 + ], + "actual_end_pos": [ + 4615.6095, + 3216.494, + 837.8369 + ], + "actual_end_rot": [ + 22.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4615.6095, + 3216.494, + 837.8369 + ], + "start_rot": [ + 22.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 4544.8988, + 3145.7833, + 837.8369 + ], + "actual_end_pos": [ + 4544.8988, + 3145.7833, + 837.8369 + ], + "actual_end_rot": [ + 22.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4544.8988, + 3145.7833, + 837.8369 + ], + "start_rot": [ + 22.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 4610.2269, + 3080.4551, + 876.1052 + ], + "actual_end_pos": [ + 4610.2269, + 3080.4551, + 876.1052 + ], + "actual_end_rot": [ + 22.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 4610.2269, + 3080.4551, + 876.1052 + ], + "start_rot": [ + 22.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 4610.2269, + 3080.4551, + 876.1052 + ], + "actual_end_pos": [ + 4610.2269, + 3080.4551, + 876.1052 + ], + "actual_end_rot": [ + 22.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4610.2269, + 3080.4551, + 876.1052 + ], + "start_rot": [ + 22.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 4660.2269, + 3167.0577, + 876.1052 + ], + "actual_end_pos": [ + 4660.2269, + 3167.0577, + 876.1052 + ], + "actual_end_rot": [ + 22.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4660.2269, + 3167.0577, + 876.1052 + ], + "start_rot": [ + 22.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 4660.2269, + 3167.0577, + 876.1052 + ], + "actual_end_pos": [ + 4660.2269, + 3167.0577, + 876.1052 + ], + "actual_end_rot": [ + 22.5, + -45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4660.2269, + 3167.0577, + 876.1052 + ], + "start_rot": [ + 22.5, + -45.0, + -0.0 + ], + "expected_end_pos": [ + 4660.2269, + 3167.0577, + 876.1052 + ], + "actual_end_pos": [ + 4660.2269, + 3167.0577, + 876.1052 + ], + "actual_end_rot": [ + 22.5, + -60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 4660.2269, + 3167.0577, + 876.1052 + ], + "start_rot": [ + 22.5, + -60.0, + -0.0 + ], + "expected_end_pos": [ + 4660.2269, + 3167.0577, + 876.1052 + ], + "actual_end_pos": [ + 4660.2269, + 3167.0577, + 876.1052 + ], + "actual_end_rot": [ + 30.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4660.2269, + 3167.0577, + 876.1052 + ], + "start_rot": [ + 30.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 4703.5282, + 3092.0577, + 926.1052 + ], + "actual_end_pos": [ + 4703.5282, + 3092.0577, + 926.1052 + ], + "actual_end_rot": [ + 30.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 4703.5282, + 3092.0577, + 926.1052 + ], + "start_rot": [ + 30.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 4703.5282, + 3092.0577, + 926.1052 + ], + "actual_end_pos": [ + 4703.5282, + 3092.0577, + 926.1052 + ], + "actual_end_rot": [ + 22.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 4703.5282, + 3092.0577, + 926.1052 + ], + "start_rot": [ + 22.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 4703.5282, + 3092.0577, + 926.1052 + ], + "actual_end_pos": [ + 4703.5282, + 3092.0577, + 926.1052 + ], + "actual_end_rot": [ + 15.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4703.5282, + 3092.0577, + 926.1052 + ], + "start_rot": [ + 15.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 4616.9257, + 3042.0577, + 926.1052 + ], + "actual_end_pos": [ + 4616.9257, + 3042.0577, + 926.1052 + ], + "actual_end_rot": [ + 15.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4616.9257, + 3042.0577, + 926.1052 + ], + "start_rot": [ + 15.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 4568.6294, + 3125.7093, + 900.2233 + ], + "actual_end_pos": [ + 4568.6294, + 3125.7093, + 900.2233 + ], + "actual_end_rot": [ + 15.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4568.6294, + 3125.7093, + 900.2233 + ], + "start_rot": [ + 15.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 4568.6294, + 3125.7093, + 900.2233 + ], + "actual_end_pos": [ + 4568.6294, + 3125.7093, + 900.2233 + ], + "actual_end_rot": [ + 15.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4568.6294, + 3125.7093, + 900.2233 + ], + "start_rot": [ + 15.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 4472.0368, + 3099.8274, + 900.2233 + ], + "actual_end_pos": [ + 4472.0368, + 3099.8274, + 900.2233 + ], + "actual_end_rot": [ + 15.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 4472.0368, + 3099.8274, + 900.2233 + ], + "start_rot": [ + 15.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 4472.0368, + 3099.8274, + 900.2233 + ], + "actual_end_pos": [ + 4472.0368, + 3099.8274, + 900.2233 + ], + "actual_end_rot": [ + 15.0, + -60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/equivalence_easy/run_20260422_172644__pair_006367_B_traj_006368_meta.json b/equivalence_easy/run_20260422_172644__pair_006367_B_traj_006368_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d008a7144541cc5ef3ab0bf2791c51befb7f95e5 --- /dev/null +++ b/equivalence_easy/run_20260422_172644__pair_006367_B_traj_006368_meta.json @@ -0,0 +1,1476 @@ +{ + "trajectory_id": 6368, + "episode_id": 0, + "state_id": 4736, + "sample_index": 4736, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "equivalence", + "algebraic_property": "equivalence: T_A(s₀) = T_B(s₀), A ≠ B (commutative shuffle)", + "paired_trajectory": { + "is_paired": true, + "role": "path_B", + "partner_trajectory_id": 6367, + "primary_trajectory_id": 6367, + "paired_trajectory_id": 6368, + "relation": "path_A and path_B are commutative shuffles, should reach same final state" + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 4480.0, + 3630.0, + 850.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_forward", + "move_left", + "move_left", + "turn_left", + "turn_left", + "look_up", + "move_forward", + "move_right", + "turn_left", + "move_left", + "move_backward", + "move_left", + "turn_right", + "move_left", + "turn_left", + "move_forward", + "turn_right", + "move_forward", + "look_up", + "look_up", + "move_backward", + "move_backward", + "turn_left", + "move_forward", + "move_left", + "move_forward", + "turn_right", + "move_right", + "look_up", + "turn_left", + "turn_left", + "move_forward", + "look_down", + "look_down", + "move_left", + "move_backward", + "turn_left", + "move_left", + "turn_right" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4480.0, + 3630.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4580.0, + 3630.0, + 850.0 + ], + "actual_end_pos": [ + 4580.0, + 3630.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4580.0, + 3630.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4680.0, + 3630.0, + 850.0 + ], + "actual_end_pos": [ + 4680.0, + 3630.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4680.0, + 3630.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4680.0, + 3530.0, + 850.0 + ], + "actual_end_pos": [ + 4680.0, + 3530.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4680.0, + 3530.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4680.0, + 3430.0, + 850.0 + ], + "actual_end_pos": [ + 4680.0, + 3430.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4680.0, + 3430.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4680.0, + 3430.0, + 850.0 + ], + "actual_end_pos": [ + 4680.0, + 3430.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4680.0, + 3430.0, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 4680.0, + 3430.0, + 850.0 + ], + "actual_end_pos": [ + 4680.0, + 3430.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 4680.0, + 3430.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 4680.0, + 3430.0, + 850.0 + ], + "actual_end_pos": [ + 4680.0, + 3430.0, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4680.0, + 3430.0, + 850.0 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 4765.8616, + 3380.4278, + 863.0526 + ], + "actual_end_pos": [ + 4765.8616, + 3380.4278, + 863.0526 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4765.8616, + 3380.4278, + 863.0526 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 4815.8616, + 3467.0303, + 863.0526 + ], + "actual_end_pos": [ + 4815.8616, + 3467.0303, + 863.0526 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4815.8616, + 3467.0303, + 863.0526 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 4815.8616, + 3467.0303, + 863.0526 + ], + "actual_end_pos": [ + 4815.8616, + 3467.0303, + 863.0526 + ], + "actual_end_rot": [ + 7.5, + -45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4815.8616, + 3467.0303, + 863.0526 + ], + "start_rot": [ + 7.5, + -45.0, + -0.0 + ], + "expected_end_pos": [ + 4745.151, + 3396.3196, + 863.0526 + ], + "actual_end_pos": [ + 4745.151, + 3396.3196, + 863.0526 + ], + "actual_end_rot": [ + 7.5, + -45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4745.151, + 3396.3196, + 863.0526 + ], + "start_rot": [ + 7.5, + -45.0, + -0.0 + ], + "expected_end_pos": [ + 4675.0452, + 3466.4254, + 850.0 + ], + "actual_end_pos": [ + 4675.0452, + 3466.4254, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4675.0452, + 3466.4254, + 850.0 + ], + "start_rot": [ + 7.5, + -45.0, + -0.0 + ], + "expected_end_pos": [ + 4604.3345, + 3395.7147, + 850.0 + ], + "actual_end_pos": [ + 4604.3345, + 3395.7147, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 4604.3345, + 3395.7147, + 850.0 + ], + "start_rot": [ + 7.5, + -45.0, + -0.0 + ], + "expected_end_pos": [ + 4604.3345, + 3395.7147, + 850.0 + ], + "actual_end_pos": [ + 4604.3345, + 3395.7147, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4604.3345, + 3395.7147, + 850.0 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 4554.3345, + 3309.1121, + 850.0 + ], + "actual_end_pos": [ + 4554.3345, + 3309.1121, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4554.3345, + 3309.1121, + 850.0 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 4554.3345, + 3309.1121, + 850.0 + ], + "actual_end_pos": [ + 4554.3345, + 3309.1121, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4554.3345, + 3309.1121, + 850.0 + ], + "start_rot": [ + 7.5, + -45.0, + -0.0 + ], + "expected_end_pos": [ + 4624.4403, + 3239.0064, + 863.0526 + ], + "actual_end_pos": [ + 4624.4403, + 3239.0064, + 863.0526 + ], + "actual_end_rot": [ + 7.5, + -45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 4624.4403, + 3239.0064, + 863.0526 + ], + "start_rot": [ + 7.5, + -45.0, + -0.0 + ], + "expected_end_pos": [ + 4624.4403, + 3239.0064, + 863.0526 + ], + "actual_end_pos": [ + 4624.4403, + 3239.0064, + 863.0526 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4624.4403, + 3239.0064, + 863.0526 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 4710.3019, + 3189.4342, + 876.1052 + ], + "actual_end_pos": [ + 4710.3019, + 3189.4342, + 876.1052 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 4710.3019, + 3189.4342, + 876.1052 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 4710.3019, + 3189.4342, + 876.1052 + ], + "actual_end_pos": [ + 4710.3019, + 3189.4342, + 876.1052 + ], + "actual_end_rot": [ + 15.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 4710.3019, + 3189.4342, + 876.1052 + ], + "start_rot": [ + 15.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 4710.3019, + 3189.4342, + 876.1052 + ], + "actual_end_pos": [ + 4710.3019, + 3189.4342, + 876.1052 + ], + "actual_end_rot": [ + 22.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4710.3019, + 3189.4342, + 876.1052 + ], + "start_rot": [ + 22.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 4630.2916, + 3235.6281, + 837.8369 + ], + "actual_end_pos": [ + 4630.2916, + 3235.6281, + 837.8369 + ], + "actual_end_rot": [ + 22.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4630.2916, + 3235.6281, + 837.8369 + ], + "start_rot": [ + 22.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 4550.2813, + 3281.8221, + 799.5686 + ], + "actual_end_pos": [ + 4550.2813, + 3281.8221, + 799.5686 + ], + "actual_end_rot": [ + 22.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4550.2813, + 3281.8221, + 799.5686 + ], + "start_rot": [ + 22.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 4550.2813, + 3281.8221, + 799.5686 + ], + "actual_end_pos": [ + 4550.2813, + 3281.8221, + 799.5686 + ], + "actual_end_rot": [ + 22.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4550.2813, + 3281.8221, + 799.5686 + ], + "start_rot": [ + 22.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 4615.6095, + 3216.494, + 837.8369 + ], + "actual_end_pos": [ + 4615.6095, + 3216.494, + 837.8369 + ], + "actual_end_rot": [ + 22.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4615.6095, + 3216.494, + 837.8369 + ], + "start_rot": [ + 22.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 4544.8988, + 3145.7833, + 837.8369 + ], + "actual_end_pos": [ + 4544.8988, + 3145.7833, + 837.8369 + ], + "actual_end_rot": [ + 22.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4544.8988, + 3145.7833, + 837.8369 + ], + "start_rot": [ + 22.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 4610.2269, + 3080.4551, + 876.1052 + ], + "actual_end_pos": [ + 4610.2269, + 3080.4551, + 876.1052 + ], + "actual_end_rot": [ + 22.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 4610.2269, + 3080.4551, + 876.1052 + ], + "start_rot": [ + 22.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 4610.2269, + 3080.4551, + 876.1052 + ], + "actual_end_pos": [ + 4610.2269, + 3080.4551, + 876.1052 + ], + "actual_end_rot": [ + 22.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4610.2269, + 3080.4551, + 876.1052 + ], + "start_rot": [ + 22.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 4660.2269, + 3167.0577, + 876.1052 + ], + "actual_end_pos": [ + 4660.2269, + 3167.0577, + 876.1052 + ], + "actual_end_rot": [ + 22.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 4660.2269, + 3167.0577, + 876.1052 + ], + "start_rot": [ + 22.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 4660.2269, + 3167.0577, + 876.1052 + ], + "actual_end_pos": [ + 4660.2269, + 3167.0577, + 876.1052 + ], + "actual_end_rot": [ + 30.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4660.2269, + 3167.0577, + 876.1052 + ], + "start_rot": [ + 30.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 4660.2269, + 3167.0577, + 876.1052 + ], + "actual_end_pos": [ + 4660.2269, + 3167.0577, + 876.1052 + ], + "actual_end_rot": [ + 30.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4660.2269, + 3167.0577, + 876.1052 + ], + "start_rot": [ + 30.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 4660.2269, + 3167.0577, + 876.1052 + ], + "actual_end_pos": [ + 4660.2269, + 3167.0577, + 876.1052 + ], + "actual_end_rot": [ + 30.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4660.2269, + 3167.0577, + 876.1052 + ], + "start_rot": [ + 30.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 4703.5282, + 3092.0577, + 926.1052 + ], + "actual_end_pos": [ + 4703.5282, + 3092.0577, + 926.1052 + ], + "actual_end_rot": [ + 30.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 4703.5282, + 3092.0577, + 926.1052 + ], + "start_rot": [ + 30.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 4703.5282, + 3092.0577, + 926.1052 + ], + "actual_end_pos": [ + 4703.5282, + 3092.0577, + 926.1052 + ], + "actual_end_rot": [ + 22.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 4703.5282, + 3092.0577, + 926.1052 + ], + "start_rot": [ + 22.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 4703.5282, + 3092.0577, + 926.1052 + ], + "actual_end_pos": [ + 4703.5282, + 3092.0577, + 926.1052 + ], + "actual_end_rot": [ + 15.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4703.5282, + 3092.0577, + 926.1052 + ], + "start_rot": [ + 15.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 4616.9257, + 3042.0577, + 926.1052 + ], + "actual_end_pos": [ + 4616.9257, + 3042.0577, + 926.1052 + ], + "actual_end_rot": [ + 15.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4616.9257, + 3042.0577, + 926.1052 + ], + "start_rot": [ + 15.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 4568.6294, + 3125.7093, + 900.2233 + ], + "actual_end_pos": [ + 4568.6294, + 3125.7093, + 900.2233 + ], + "actual_end_rot": [ + 15.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4568.6294, + 3125.7093, + 900.2233 + ], + "start_rot": [ + 15.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 4568.6294, + 3125.7093, + 900.2233 + ], + "actual_end_pos": [ + 4568.6294, + 3125.7093, + 900.2233 + ], + "actual_end_rot": [ + 15.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4568.6294, + 3125.7093, + 900.2233 + ], + "start_rot": [ + 15.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 4472.0368, + 3099.8274, + 900.2233 + ], + "actual_end_pos": [ + 4472.0368, + 3099.8274, + 900.2233 + ], + "actual_end_rot": [ + 15.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 4472.0368, + 3099.8274, + 900.2233 + ], + "start_rot": [ + 15.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 4472.0368, + 3099.8274, + 900.2233 + ], + "actual_end_pos": [ + 4472.0368, + 3099.8274, + 900.2233 + ], + "actual_end_rot": [ + 15.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260407_132406__traj_000353_meta.json b/inverse_easy/run_20260407_132406__traj_000353_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9bec729b3d03b1779187cb6fdd0b21021ee0b981 --- /dev/null +++ b/inverse_easy/run_20260407_132406__traj_000353_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 353, + "episode_id": 0, + "state_id": 256, + "sample_index": 256, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2490.0, + 1200.0, + 400.0 + ], + "rotation": [ + 0.0, + 240.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "turn_right", + "look_down", + "turn_right", + "move_forward", + "move_right", + "move_forward", + "move_right", + "move_forward", + "turn_left", + "move_left", + "move_left", + "move_left", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "move_right", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_right", + "move_right", + "move_right", + "turn_right", + "move_backward", + "move_left", + "move_backward", + "move_left", + "move_backward", + "turn_left", + "look_up", + "turn_left", + "move_left" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2490.0, + 1200.0, + 400.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -2403.3975, + 1150.0, + 400.0 + ], + "actual_end_pos": [ + -2403.3975, + 1150.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2403.3975, + 1150.0, + 400.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -2403.3975, + 1150.0, + 400.0 + ], + "actual_end_pos": [ + -2403.3975, + 1150.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -2403.3975, + 1150.0, + 400.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2403.3975, + 1150.0, + 400.0 + ], + "actual_end_pos": [ + -2403.3975, + 1150.0, + 400.0 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2403.3975, + 1150.0, + 400.0 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2403.3975, + 1150.0, + 400.0 + ], + "actual_end_pos": [ + -2403.3975, + 1150.0, + 400.0 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2403.3975, + 1150.0, + 400.0 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2403.3975, + 1050.8555, + 386.9474 + ], + "actual_end_pos": [ + -2403.3975, + 1050.8555, + 386.9474 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2403.3975, + 1050.8555, + 386.9474 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2303.3975, + 1050.8555, + 386.9474 + ], + "actual_end_pos": [ + -2303.3975, + 1050.8555, + 386.9474 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2303.3975, + 1050.8555, + 386.9474 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2303.3975, + 951.711, + 373.8948 + ], + "actual_end_pos": [ + -2303.3975, + 951.711, + 373.8948 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2303.3975, + 951.711, + 373.8948 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2203.3975, + 951.711, + 373.8948 + ], + "actual_end_pos": [ + -2203.3975, + 951.711, + 373.8948 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2203.3975, + 951.711, + 373.8948 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2203.3975, + 852.5665, + 360.8421 + ], + "actual_end_pos": [ + -2203.3975, + 852.5665, + 360.8421 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2203.3975, + 852.5665, + 360.8421 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2203.3975, + 852.5665, + 360.8421 + ], + "actual_end_pos": [ + -2203.3975, + 852.5665, + 360.8421 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2203.3975, + 852.5665, + 360.8421 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2299.99, + 878.4484, + 360.8421 + ], + "actual_end_pos": [ + -2299.99, + 878.4484, + 360.8421 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2299.99, + 878.4484, + 360.8421 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2396.5826, + 904.3304, + 360.8421 + ], + "actual_end_pos": [ + -2396.5826, + 904.3304, + 360.8421 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2396.5826, + 904.3304, + 360.8421 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2493.1752, + 930.2123, + 360.8421 + ], + "actual_end_pos": [ + -2493.1752, + 930.2123, + 360.8421 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2493.1752, + 930.2123, + 360.8421 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2518.8357, + 834.446, + 347.7895 + ], + "actual_end_pos": [ + -2518.8357, + 834.446, + 347.7895 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2518.8357, + 834.446, + 347.7895 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2544.4962, + 738.6798, + 334.7369 + ], + "actual_end_pos": [ + -2544.4962, + 738.6798, + 334.7369 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2544.4962, + 738.6798, + 334.7369 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2570.1566, + 642.9136, + 321.6843 + ], + "actual_end_pos": [ + -2570.1566, + 642.9136, + 321.6843 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2570.1566, + 642.9136, + 321.6843 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2595.8171, + 547.1474, + 308.6317 + ], + "actual_end_pos": [ + -2595.8171, + 547.1474, + 308.6317 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2595.8171, + 547.1474, + 308.6317 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2692.4097, + 573.0293, + 308.6317 + ], + "actual_end_pos": [ + -2692.4097, + 573.0293, + 308.6317 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2692.4097, + 573.0293, + 308.6317 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2692.4097, + 573.0293, + 308.6317 + ], + "actual_end_pos": [ + -2692.4097, + 573.0293, + 308.6317 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2692.4097, + 573.0293, + 308.6317 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2692.4097, + 573.0293, + 308.6317 + ], + "actual_end_pos": [ + -2692.4097, + 573.0293, + 308.6317 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2692.4097, + 573.0293, + 308.6317 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2692.4097, + 573.0293, + 308.6317 + ], + "actual_end_pos": [ + -2692.4097, + 573.0293, + 308.6317 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2692.4097, + 573.0293, + 308.6317 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2692.4097, + 573.0293, + 308.6317 + ], + "actual_end_pos": [ + -2692.4097, + 573.0293, + 308.6317 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2692.4097, + 573.0293, + 308.6317 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2595.8171, + 547.1474, + 308.6317 + ], + "actual_end_pos": [ + -2595.8171, + 547.1474, + 308.6317 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2595.8171, + 547.1474, + 308.6317 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2570.1566, + 642.9136, + 321.6843 + ], + "actual_end_pos": [ + -2570.1566, + 642.9136, + 321.6843 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2570.1566, + 642.9136, + 321.6843 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2544.4962, + 738.6798, + 334.7369 + ], + "actual_end_pos": [ + -2544.4962, + 738.6798, + 334.7369 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2544.4962, + 738.6798, + 334.7369 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2518.8357, + 834.446, + 347.7895 + ], + "actual_end_pos": [ + -2518.8357, + 834.446, + 347.7895 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2518.8357, + 834.446, + 347.7895 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2493.1752, + 930.2123, + 360.8421 + ], + "actual_end_pos": [ + -2493.1752, + 930.2123, + 360.8421 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2493.1752, + 930.2123, + 360.8421 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2396.5826, + 904.3304, + 360.8421 + ], + "actual_end_pos": [ + -2396.5826, + 904.3304, + 360.8421 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2396.5826, + 904.3304, + 360.8421 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2299.99, + 878.4484, + 360.8421 + ], + "actual_end_pos": [ + -2299.99, + 878.4484, + 360.8421 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2299.99, + 878.4484, + 360.8421 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2203.3975, + 852.5665, + 360.8421 + ], + "actual_end_pos": [ + -2203.3975, + 852.5665, + 360.8421 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2203.3975, + 852.5665, + 360.8421 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2203.3975, + 852.5665, + 360.8421 + ], + "actual_end_pos": [ + -2203.3975, + 852.5665, + 360.8421 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2203.3975, + 852.5665, + 360.8421 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2203.3975, + 951.711, + 373.8948 + ], + "actual_end_pos": [ + -2203.3975, + 951.711, + 373.8948 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2203.3975, + 951.711, + 373.8948 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2303.3975, + 951.711, + 373.8948 + ], + "actual_end_pos": [ + -2303.3975, + 951.711, + 373.8948 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2303.3975, + 951.711, + 373.8948 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2303.3975, + 1050.8555, + 386.9474 + ], + "actual_end_pos": [ + -2303.3975, + 1050.8555, + 386.9474 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2303.3975, + 1050.8555, + 386.9474 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2403.3975, + 1050.8555, + 386.9474 + ], + "actual_end_pos": [ + -2403.3975, + 1050.8555, + 386.9474 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2403.3975, + 1050.8555, + 386.9474 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2403.3975, + 1150.0, + 400.0 + ], + "actual_end_pos": [ + -2403.3975, + 1150.0, + 400.0 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2403.3975, + 1150.0, + 400.0 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2403.3975, + 1150.0, + 400.0 + ], + "actual_end_pos": [ + -2403.3975, + 1150.0, + 400.0 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -2403.3975, + 1150.0, + 400.0 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2403.3975, + 1150.0, + 400.0 + ], + "actual_end_pos": [ + -2403.3975, + 1150.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2403.3975, + 1150.0, + 400.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2403.3975, + 1150.0, + 400.0 + ], + "actual_end_pos": [ + -2403.3975, + 1150.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2403.3975, + 1150.0, + 400.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -2490.0, + 1200.0, + 400.0 + ], + "actual_end_pos": [ + -2490.0, + 1200.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260407_174321__traj_000281_meta.json b/inverse_easy/run_20260407_174321__traj_000281_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d140ebab95072ec25b4703673aa0b5683136b12e --- /dev/null +++ b/inverse_easy/run_20260407_174321__traj_000281_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 281, + "episode_id": 0, + "state_id": 208, + "sample_index": 208, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -45790.0, + 7010.0, + 200.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_right", + "no_op", + "no_op", + "turn_right", + "look_up", + "turn_left", + "move_backward", + "move_backward", + "turn_left", + "move_right", + "move_right", + "move_right", + "move_right", + "no_op", + "turn_right", + "move_right", + "move_forward", + "no_op", + "no_op", + "no_op", + "no_op", + "move_backward", + "move_left", + "turn_left", + "no_op", + "move_left", + "move_left", + "move_left", + "move_left", + "turn_right", + "move_forward", + "move_forward", + "turn_right", + "look_down", + "turn_left", + "no_op", + "no_op", + "move_left", + "move_backward" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -45790.0, + 7010.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -45690.0, + 7010.0, + 200.0 + ], + "actual_end_pos": [ + -45690.0, + 7010.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -45690.0, + 7010.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -45690.0, + 7110.0, + 200.0 + ], + "actual_end_pos": [ + -45690.0, + 7110.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -45690.0, + 7110.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -45690.0, + 7110.0, + 200.0 + ], + "actual_end_pos": [ + -45690.0, + 7110.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -45690.0, + 7110.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -45690.0, + 7110.0, + 200.0 + ], + "actual_end_pos": [ + -45690.0, + 7110.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -45690.0, + 7110.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -45690.0, + 7110.0, + 200.0 + ], + "actual_end_pos": [ + -45690.0, + 7110.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -45690.0, + 7110.0, + 200.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -45690.0, + 7110.0, + 200.0 + ], + "actual_end_pos": [ + -45690.0, + 7110.0, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -45690.0, + 7110.0, + 200.0 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -45690.0, + 7110.0, + 200.0 + ], + "actual_end_pos": [ + -45690.0, + 7110.0, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -45690.0, + 7110.0, + 200.0 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -45789.1445, + 7110.0, + 186.9474 + ], + "actual_end_pos": [ + -45789.1445, + 7110.0, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -45789.1445, + 7110.0, + 186.9474 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -45888.289, + 7110.0, + 173.8948 + ], + "actual_end_pos": [ + -45888.289, + 7110.0, + 173.8948 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -45888.289, + 7110.0, + 173.8948 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -45888.289, + 7110.0, + 173.8948 + ], + "actual_end_pos": [ + -45888.289, + 7110.0, + 173.8948 + ], + "actual_end_rot": [ + 7.5, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -45888.289, + 7110.0, + 173.8948 + ], + "start_rot": [ + 7.5, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -45862.4071, + 7206.5926, + 173.8948 + ], + "actual_end_pos": [ + -45862.4071, + 7206.5926, + 173.8948 + ], + "actual_end_rot": [ + 7.5, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -45862.4071, + 7206.5926, + 173.8948 + ], + "start_rot": [ + 7.5, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -45836.5252, + 7303.1852, + 173.8948 + ], + "actual_end_pos": [ + -45836.5252, + 7303.1852, + 173.8948 + ], + "actual_end_rot": [ + 7.5, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -45836.5252, + 7303.1852, + 173.8948 + ], + "start_rot": [ + 7.5, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -45810.6433, + 7399.7777, + 173.8948 + ], + "actual_end_pos": [ + -45810.6433, + 7399.7777, + 173.8948 + ], + "actual_end_rot": [ + 7.5, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -45810.6433, + 7399.7777, + 173.8948 + ], + "start_rot": [ + 7.5, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -45784.7614, + 7496.3703, + 173.8948 + ], + "actual_end_pos": [ + -45784.7614, + 7496.3703, + 173.8948 + ], + "actual_end_rot": [ + 7.5, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -45784.7614, + 7496.3703, + 173.8948 + ], + "start_rot": [ + 7.5, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -45784.7614, + 7496.3703, + 173.8948 + ], + "actual_end_pos": [ + -45784.7614, + 7496.3703, + 173.8948 + ], + "actual_end_rot": [ + 7.5, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -45784.7614, + 7496.3703, + 173.8948 + ], + "start_rot": [ + 7.5, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -45784.7614, + 7496.3703, + 173.8948 + ], + "actual_end_pos": [ + -45784.7614, + 7496.3703, + 173.8948 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -45784.7614, + 7496.3703, + 173.8948 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -45784.7614, + 7596.3703, + 173.8948 + ], + "actual_end_pos": [ + -45784.7614, + 7596.3703, + 173.8948 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -45784.7614, + 7596.3703, + 173.8948 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -45685.6169, + 7596.3703, + 186.9474 + ], + "actual_end_pos": [ + -45685.6169, + 7596.3703, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -45685.6169, + 7596.3703, + 186.9474 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -45685.6169, + 7596.3703, + 186.9474 + ], + "actual_end_pos": [ + -45685.6169, + 7596.3703, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -45685.6169, + 7596.3703, + 186.9474 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -45685.6169, + 7596.3703, + 186.9474 + ], + "actual_end_pos": [ + -45685.6169, + 7596.3703, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -45685.6169, + 7596.3703, + 186.9474 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -45685.6169, + 7596.3703, + 186.9474 + ], + "actual_end_pos": [ + -45685.6169, + 7596.3703, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -45685.6169, + 7596.3703, + 186.9474 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -45685.6169, + 7596.3703, + 186.9474 + ], + "actual_end_pos": [ + -45685.6169, + 7596.3703, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -45685.6169, + 7596.3703, + 186.9474 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -45784.7614, + 7596.3703, + 173.8948 + ], + "actual_end_pos": [ + -45784.7614, + 7596.3703, + 173.8948 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -45784.7614, + 7596.3703, + 173.8948 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -45784.7614, + 7496.3703, + 173.8948 + ], + "actual_end_pos": [ + -45784.7614, + 7496.3703, + 173.8948 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -45784.7614, + 7496.3703, + 173.8948 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -45784.7614, + 7496.3703, + 173.8948 + ], + "actual_end_pos": [ + -45784.7614, + 7496.3703, + 173.8948 + ], + "actual_end_rot": [ + 7.5, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -45784.7614, + 7496.3703, + 173.8948 + ], + "start_rot": [ + 7.5, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -45784.7614, + 7496.3703, + 173.8948 + ], + "actual_end_pos": [ + -45784.7614, + 7496.3703, + 173.8948 + ], + "actual_end_rot": [ + 7.5, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -45784.7614, + 7496.3703, + 173.8948 + ], + "start_rot": [ + 7.5, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -45810.6433, + 7399.7777, + 173.8948 + ], + "actual_end_pos": [ + -45810.6433, + 7399.7777, + 173.8948 + ], + "actual_end_rot": [ + 7.5, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -45810.6433, + 7399.7777, + 173.8948 + ], + "start_rot": [ + 7.5, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -45836.5252, + 7303.1852, + 173.8948 + ], + "actual_end_pos": [ + -45836.5252, + 7303.1852, + 173.8948 + ], + "actual_end_rot": [ + 7.5, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -45836.5252, + 7303.1852, + 173.8948 + ], + "start_rot": [ + 7.5, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -45862.4071, + 7206.5926, + 173.8948 + ], + "actual_end_pos": [ + -45862.4071, + 7206.5926, + 173.8948 + ], + "actual_end_rot": [ + 7.5, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -45862.4071, + 7206.5926, + 173.8948 + ], + "start_rot": [ + 7.5, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -45888.289, + 7110.0, + 173.8948 + ], + "actual_end_pos": [ + -45888.289, + 7110.0, + 173.8948 + ], + "actual_end_rot": [ + 7.5, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -45888.289, + 7110.0, + 173.8948 + ], + "start_rot": [ + 7.5, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -45888.289, + 7110.0, + 173.8948 + ], + "actual_end_pos": [ + -45888.289, + 7110.0, + 173.8948 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -45888.289, + 7110.0, + 173.8948 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -45789.1445, + 7110.0, + 186.9474 + ], + "actual_end_pos": [ + -45789.1445, + 7110.0, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -45789.1445, + 7110.0, + 186.9474 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -45690.0, + 7110.0, + 200.0 + ], + "actual_end_pos": [ + -45690.0, + 7110.0, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -45690.0, + 7110.0, + 200.0 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -45690.0, + 7110.0, + 200.0 + ], + "actual_end_pos": [ + -45690.0, + 7110.0, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -45690.0, + 7110.0, + 200.0 + ], + "start_rot": [ + 7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -45690.0, + 7110.0, + 200.0 + ], + "actual_end_pos": [ + -45690.0, + 7110.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -45690.0, + 7110.0, + 200.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -45690.0, + 7110.0, + 200.0 + ], + "actual_end_pos": [ + -45690.0, + 7110.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -45690.0, + 7110.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -45690.0, + 7110.0, + 200.0 + ], + "actual_end_pos": [ + -45690.0, + 7110.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -45690.0, + 7110.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -45690.0, + 7110.0, + 200.0 + ], + "actual_end_pos": [ + -45690.0, + 7110.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -45690.0, + 7110.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -45690.0, + 7010.0, + 200.0 + ], + "actual_end_pos": [ + -45690.0, + 7010.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -45690.0, + 7010.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -45790.0, + 7010.0, + 200.0 + ], + "actual_end_pos": [ + -45790.0, + 7010.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260407_174321__traj_000697_meta.json b/inverse_easy/run_20260407_174321__traj_000697_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ec1313098549146795c6a42230cec19120933a24 --- /dev/null +++ b/inverse_easy/run_20260407_174321__traj_000697_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 697, + "episode_id": 0, + "state_id": 513, + "sample_index": 513, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -44790.0, + 12010.0, + 200.0 + ], + "rotation": [ + 0.0, + 45.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "move_forward", + "turn_right", + "move_backward", + "turn_right", + "move_forward", + "turn_left", + "move_forward", + "move_forward", + "turn_left", + "move_forward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "move_backward", + "turn_right", + "move_backward", + "move_backward", + "turn_right", + "move_backward", + "turn_left", + "move_forward", + "turn_left", + "move_backward", + "move_left" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -44790.0, + 12010.0, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -44860.7107, + 12080.7107, + 200.0 + ], + "actual_end_pos": [ + -44860.7107, + 12080.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -44860.7107, + 12080.7107, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -44790.0, + 12151.4214, + 200.0 + ], + "actual_end_pos": [ + -44790.0, + 12151.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -44790.0, + 12151.4214, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -44790.0, + 12151.4214, + 200.0 + ], + "actual_end_pos": [ + -44790.0, + 12151.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -44790.0, + 12151.4214, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -44840.0, + 12064.8188, + 200.0 + ], + "actual_end_pos": [ + -44840.0, + 12064.8188, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -44840.0, + 12064.8188, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -44840.0, + 12064.8188, + 200.0 + ], + "actual_end_pos": [ + -44840.0, + 12064.8188, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -44840.0, + 12064.8188, + 200.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -44814.1181, + 12161.4114, + 200.0 + ], + "actual_end_pos": [ + -44814.1181, + 12161.4114, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -44814.1181, + 12161.4114, + 200.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -44814.1181, + 12161.4114, + 200.0 + ], + "actual_end_pos": [ + -44814.1181, + 12161.4114, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -44814.1181, + 12161.4114, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -44764.1181, + 12248.0139, + 200.0 + ], + "actual_end_pos": [ + -44764.1181, + 12248.0139, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -44764.1181, + 12248.0139, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -44714.1181, + 12334.6165, + 200.0 + ], + "actual_end_pos": [ + -44714.1181, + 12334.6165, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -44714.1181, + 12334.6165, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -44714.1181, + 12334.6165, + 200.0 + ], + "actual_end_pos": [ + -44714.1181, + 12334.6165, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -44714.1181, + 12334.6165, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -44643.4074, + 12405.3272, + 200.0 + ], + "actual_end_pos": [ + -44643.4074, + 12405.3272, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -44643.4074, + 12405.3272, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -44643.4074, + 12405.3272, + 200.0 + ], + "actual_end_pos": [ + -44643.4074, + 12405.3272, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -44643.4074, + 12405.3272, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -44643.4074, + 12405.3272, + 200.0 + ], + "actual_end_pos": [ + -44643.4074, + 12405.3272, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -44643.4074, + 12405.3272, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -44643.4074, + 12405.3272, + 200.0 + ], + "actual_end_pos": [ + -44643.4074, + 12405.3272, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -44643.4074, + 12405.3272, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -44643.4074, + 12405.3272, + 200.0 + ], + "actual_end_pos": [ + -44643.4074, + 12405.3272, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -44643.4074, + 12405.3272, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -44643.4074, + 12405.3272, + 200.0 + ], + "actual_end_pos": [ + -44643.4074, + 12405.3272, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -44643.4074, + 12405.3272, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -44643.4074, + 12405.3272, + 200.0 + ], + "actual_end_pos": [ + -44643.4074, + 12405.3272, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -44643.4074, + 12405.3272, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -44643.4074, + 12405.3272, + 200.0 + ], + "actual_end_pos": [ + -44643.4074, + 12405.3272, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -44643.4074, + 12405.3272, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -44643.4074, + 12405.3272, + 200.0 + ], + "actual_end_pos": [ + -44643.4074, + 12405.3272, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -44643.4074, + 12405.3272, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -44643.4074, + 12405.3272, + 200.0 + ], + "actual_end_pos": [ + -44643.4074, + 12405.3272, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -44643.4074, + 12405.3272, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -44643.4074, + 12405.3272, + 200.0 + ], + "actual_end_pos": [ + -44643.4074, + 12405.3272, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -44643.4074, + 12405.3272, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -44643.4074, + 12405.3272, + 200.0 + ], + "actual_end_pos": [ + -44643.4074, + 12405.3272, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -44643.4074, + 12405.3272, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -44643.4074, + 12405.3272, + 200.0 + ], + "actual_end_pos": [ + -44643.4074, + 12405.3272, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -44643.4074, + 12405.3272, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -44643.4074, + 12405.3272, + 200.0 + ], + "actual_end_pos": [ + -44643.4074, + 12405.3272, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -44643.4074, + 12405.3272, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -44643.4074, + 12405.3272, + 200.0 + ], + "actual_end_pos": [ + -44643.4074, + 12405.3272, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -44643.4074, + 12405.3272, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -44643.4074, + 12405.3272, + 200.0 + ], + "actual_end_pos": [ + -44643.4074, + 12405.3272, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -44643.4074, + 12405.3272, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -44643.4074, + 12405.3272, + 200.0 + ], + "actual_end_pos": [ + -44643.4074, + 12405.3272, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -44643.4074, + 12405.3272, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -44643.4074, + 12405.3272, + 200.0 + ], + "actual_end_pos": [ + -44643.4074, + 12405.3272, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -44643.4074, + 12405.3272, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -44643.4074, + 12405.3272, + 200.0 + ], + "actual_end_pos": [ + -44643.4074, + 12405.3272, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -44643.4074, + 12405.3272, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -44714.1181, + 12334.6165, + 200.0 + ], + "actual_end_pos": [ + -44714.1181, + 12334.6165, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -44714.1181, + 12334.6165, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -44714.1181, + 12334.6165, + 200.0 + ], + "actual_end_pos": [ + -44714.1181, + 12334.6165, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -44714.1181, + 12334.6165, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -44764.1181, + 12248.0139, + 200.0 + ], + "actual_end_pos": [ + -44764.1181, + 12248.0139, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -44764.1181, + 12248.0139, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -44814.1181, + 12161.4114, + 200.0 + ], + "actual_end_pos": [ + -44814.1181, + 12161.4114, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -44814.1181, + 12161.4114, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -44814.1181, + 12161.4114, + 200.0 + ], + "actual_end_pos": [ + -44814.1181, + 12161.4114, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -44814.1181, + 12161.4114, + 200.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -44840.0, + 12064.8188, + 200.0 + ], + "actual_end_pos": [ + -44840.0, + 12064.8188, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -44840.0, + 12064.8188, + 200.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -44840.0, + 12064.8188, + 200.0 + ], + "actual_end_pos": [ + -44840.0, + 12064.8188, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -44840.0, + 12064.8188, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -44790.0, + 12151.4214, + 200.0 + ], + "actual_end_pos": [ + -44790.0, + 12151.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -44790.0, + 12151.4214, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -44790.0, + 12151.4214, + 200.0 + ], + "actual_end_pos": [ + -44790.0, + 12151.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -44790.0, + 12151.4214, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -44860.7107, + 12080.7107, + 200.0 + ], + "actual_end_pos": [ + -44860.7107, + 12080.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -44860.7107, + 12080.7107, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -44790.0, + 12010.0, + 200.0 + ], + "actual_end_pos": [ + -44790.0, + 12010.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260407_174321__traj_000843_meta.json b/inverse_easy/run_20260407_174321__traj_000843_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..32b3db4e4133d5fc3c15c8daa56359e960fba6c7 --- /dev/null +++ b/inverse_easy/run_20260407_174321__traj_000843_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 843, + "episode_id": 0, + "state_id": 617, + "sample_index": 617, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -43790.0, + -15990.0, + 200.0 + ], + "rotation": [ + 0.0, + 45.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_left", + "turn_left", + "no_op", + "move_forward", + "no_op", + "no_op", + "move_right", + "move_right", + "move_forward", + "move_forward", + "move_right", + "look_up", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "look_down", + "move_left", + "move_backward", + "move_backward", + "move_left", + "move_left", + "no_op", + "no_op", + "move_backward", + "no_op", + "turn_right", + "move_right", + "move_backward" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -43790.0, + -15990.0, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -43719.2893, + -15919.2893, + 200.0 + ], + "actual_end_pos": [ + -43719.2893, + -15919.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -43719.2893, + -15919.2893, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -43648.5786, + -15990.0, + 200.0 + ], + "actual_end_pos": [ + -43648.5786, + -15990.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -43648.5786, + -15990.0, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -43648.5786, + -15990.0, + 200.0 + ], + "actual_end_pos": [ + -43648.5786, + -15990.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -43648.5786, + -15990.0, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -43648.5786, + -15990.0, + 200.0 + ], + "actual_end_pos": [ + -43648.5786, + -15990.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -43648.5786, + -15990.0, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -43561.9761, + -15940.0, + 200.0 + ], + "actual_end_pos": [ + -43561.9761, + -15940.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -43561.9761, + -15940.0, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -43561.9761, + -15940.0, + 200.0 + ], + "actual_end_pos": [ + -43561.9761, + -15940.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -43561.9761, + -15940.0, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -43561.9761, + -15940.0, + 200.0 + ], + "actual_end_pos": [ + -43561.9761, + -15940.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -43561.9761, + -15940.0, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -43611.9761, + -15853.3975, + 200.0 + ], + "actual_end_pos": [ + -43611.9761, + -15853.3975, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -43611.9761, + -15853.3975, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -43661.9761, + -15766.7949, + 200.0 + ], + "actual_end_pos": [ + -43661.9761, + -15766.7949, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -43661.9761, + -15766.7949, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -43575.3736, + -15716.7949, + 200.0 + ], + "actual_end_pos": [ + -43575.3736, + -15716.7949, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -43575.3736, + -15716.7949, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -43488.771, + -15666.7949, + 200.0 + ], + "actual_end_pos": [ + -43488.771, + -15666.7949, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -43488.771, + -15666.7949, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -43538.771, + -15580.1924, + 200.0 + ], + "actual_end_pos": [ + -43538.771, + -15580.1924, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -43538.771, + -15580.1924, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -43538.771, + -15580.1924, + 200.0 + ], + "actual_end_pos": [ + -43538.771, + -15580.1924, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -43538.771, + -15580.1924, + 200.0 + ], + "start_rot": [ + 7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -43538.771, + -15580.1924, + 200.0 + ], + "actual_end_pos": [ + -43538.771, + -15580.1924, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -43538.771, + -15580.1924, + 200.0 + ], + "start_rot": [ + 7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -43538.771, + -15580.1924, + 200.0 + ], + "actual_end_pos": [ + -43538.771, + -15580.1924, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -43538.771, + -15580.1924, + 200.0 + ], + "start_rot": [ + 7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -43538.771, + -15580.1924, + 200.0 + ], + "actual_end_pos": [ + -43538.771, + -15580.1924, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -43538.771, + -15580.1924, + 200.0 + ], + "start_rot": [ + 7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -43538.771, + -15580.1924, + 200.0 + ], + "actual_end_pos": [ + -43538.771, + -15580.1924, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -43538.771, + -15580.1924, + 200.0 + ], + "start_rot": [ + 7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -43538.771, + -15580.1924, + 200.0 + ], + "actual_end_pos": [ + -43538.771, + -15580.1924, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -43538.771, + -15580.1924, + 200.0 + ], + "start_rot": [ + 7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -43538.771, + -15580.1924, + 200.0 + ], + "actual_end_pos": [ + -43538.771, + -15580.1924, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -43538.771, + -15580.1924, + 200.0 + ], + "start_rot": [ + 7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -43538.771, + -15580.1924, + 200.0 + ], + "actual_end_pos": [ + -43538.771, + -15580.1924, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -43538.771, + -15580.1924, + 200.0 + ], + "start_rot": [ + 7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -43538.771, + -15580.1924, + 200.0 + ], + "actual_end_pos": [ + -43538.771, + -15580.1924, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -43538.771, + -15580.1924, + 200.0 + ], + "start_rot": [ + 7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -43538.771, + -15580.1924, + 200.0 + ], + "actual_end_pos": [ + -43538.771, + -15580.1924, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -43538.771, + -15580.1924, + 200.0 + ], + "start_rot": [ + 7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -43538.771, + -15580.1924, + 200.0 + ], + "actual_end_pos": [ + -43538.771, + -15580.1924, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -43538.771, + -15580.1924, + 200.0 + ], + "start_rot": [ + 7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -43538.771, + -15580.1924, + 200.0 + ], + "actual_end_pos": [ + -43538.771, + -15580.1924, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -43538.771, + -15580.1924, + 200.0 + ], + "start_rot": [ + 7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -43538.771, + -15580.1924, + 200.0 + ], + "actual_end_pos": [ + -43538.771, + -15580.1924, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -43538.771, + -15580.1924, + 200.0 + ], + "start_rot": [ + 7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -43538.771, + -15580.1924, + 200.0 + ], + "actual_end_pos": [ + -43538.771, + -15580.1924, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -43538.771, + -15580.1924, + 200.0 + ], + "start_rot": [ + 7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -43538.771, + -15580.1924, + 200.0 + ], + "actual_end_pos": [ + -43538.771, + -15580.1924, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -43538.771, + -15580.1924, + 200.0 + ], + "start_rot": [ + 7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -43538.771, + -15580.1924, + 200.0 + ], + "actual_end_pos": [ + -43538.771, + -15580.1924, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -43538.771, + -15580.1924, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + -0.0 + ], + "expected_end_pos": [ + -43488.771, + -15666.7949, + 200.0 + ], + "actual_end_pos": [ + -43488.771, + -15666.7949, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -43488.771, + -15666.7949, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + -0.0 + ], + "expected_end_pos": [ + -43575.3736, + -15716.7949, + 200.0 + ], + "actual_end_pos": [ + -43575.3736, + -15716.7949, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -43575.3736, + -15716.7949, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + -0.0 + ], + "expected_end_pos": [ + -43661.9761, + -15766.7949, + 200.0 + ], + "actual_end_pos": [ + -43661.9761, + -15766.7949, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -43661.9761, + -15766.7949, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + -0.0 + ], + "expected_end_pos": [ + -43611.9761, + -15853.3975, + 200.0 + ], + "actual_end_pos": [ + -43611.9761, + -15853.3975, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -43611.9761, + -15853.3975, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + -0.0 + ], + "expected_end_pos": [ + -43561.9761, + -15940.0, + 200.0 + ], + "actual_end_pos": [ + -43561.9761, + -15940.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -43561.9761, + -15940.0, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + -0.0 + ], + "expected_end_pos": [ + -43561.9761, + -15940.0, + 200.0 + ], + "actual_end_pos": [ + -43561.9761, + -15940.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -43561.9761, + -15940.0, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + -0.0 + ], + "expected_end_pos": [ + -43561.9761, + -15940.0, + 200.0 + ], + "actual_end_pos": [ + -43561.9761, + -15940.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -43561.9761, + -15940.0, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + -0.0 + ], + "expected_end_pos": [ + -43648.5786, + -15990.0, + 200.0 + ], + "actual_end_pos": [ + -43648.5786, + -15990.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -43648.5786, + -15990.0, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + -0.0 + ], + "expected_end_pos": [ + -43648.5786, + -15990.0, + 200.0 + ], + "actual_end_pos": [ + -43648.5786, + -15990.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -43648.5786, + -15990.0, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + -0.0 + ], + "expected_end_pos": [ + -43648.5786, + -15990.0, + 200.0 + ], + "actual_end_pos": [ + -43648.5786, + -15990.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -43648.5786, + -15990.0, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + -43719.2893, + -15919.2893, + 200.0 + ], + "actual_end_pos": [ + -43719.2893, + -15919.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -43719.2893, + -15919.2893, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + -43790.0, + -15990.0, + 200.0 + ], + "actual_end_pos": [ + -43790.0, + -15990.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260407_174321__traj_000933_meta.json b/inverse_easy/run_20260407_174321__traj_000933_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c6b13947ba40085186c09e631ab198466dfdc71a --- /dev/null +++ b/inverse_easy/run_20260407_174321__traj_000933_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 933, + "episode_id": 0, + "state_id": 681, + "sample_index": 681, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -43790.0, + -1990.0, + 200.0 + ], + "rotation": [ + 0.0, + 45.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_left", + "move_forward", + "turn_right", + "move_right", + "no_op", + "move_backward", + "move_right", + "look_up", + "turn_right", + "look_up", + "move_right", + "look_up", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "look_down", + "move_left", + "look_down", + "turn_left", + "look_down", + "move_left", + "move_forward", + "no_op", + "move_left", + "turn_left", + "move_backward", + "turn_right" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -43790.0, + -1990.0, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -43790.0, + -1990.0, + 200.0 + ], + "actual_end_pos": [ + -43790.0, + -1990.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -43790.0, + -1990.0, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -43703.3975, + -1940.0, + 200.0 + ], + "actual_end_pos": [ + -43703.3975, + -1940.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -43703.3975, + -1940.0, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -43703.3975, + -1940.0, + 200.0 + ], + "actual_end_pos": [ + -43703.3975, + -1940.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -43703.3975, + -1940.0, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -43774.1081, + -1869.2893, + 200.0 + ], + "actual_end_pos": [ + -43774.1081, + -1869.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -43774.1081, + -1869.2893, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -43774.1081, + -1869.2893, + 200.0 + ], + "actual_end_pos": [ + -43774.1081, + -1869.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -43774.1081, + -1869.2893, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -43844.8188, + -1940.0, + 200.0 + ], + "actual_end_pos": [ + -43844.8188, + -1940.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -43844.8188, + -1940.0, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -43915.5295, + -1869.2893, + 200.0 + ], + "actual_end_pos": [ + -43915.5295, + -1869.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -43915.5295, + -1869.2893, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -43915.5295, + -1869.2893, + 200.0 + ], + "actual_end_pos": [ + -43915.5295, + -1869.2893, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -43915.5295, + -1869.2893, + 200.0 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -43915.5295, + -1869.2893, + 200.0 + ], + "actual_end_pos": [ + -43915.5295, + -1869.2893, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -43915.5295, + -1869.2893, + 200.0 + ], + "start_rot": [ + 7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -43915.5295, + -1869.2893, + 200.0 + ], + "actual_end_pos": [ + -43915.5295, + -1869.2893, + 200.0 + ], + "actual_end_rot": [ + 15.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -43915.5295, + -1869.2893, + 200.0 + ], + "start_rot": [ + 15.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -44002.132, + -1819.2893, + 200.0 + ], + "actual_end_pos": [ + -44002.132, + -1819.2893, + 200.0 + ], + "actual_end_rot": [ + 15.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -44002.132, + -1819.2893, + 200.0 + ], + "start_rot": [ + 15.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -44002.132, + -1819.2893, + 200.0 + ], + "actual_end_pos": [ + -44002.132, + -1819.2893, + 200.0 + ], + "actual_end_rot": [ + 22.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -44002.132, + -1819.2893, + 200.0 + ], + "start_rot": [ + 22.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -44002.132, + -1819.2893, + 200.0 + ], + "actual_end_pos": [ + -44002.132, + -1819.2893, + 200.0 + ], + "actual_end_rot": [ + 22.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -44002.132, + -1819.2893, + 200.0 + ], + "start_rot": [ + 22.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -44002.132, + -1819.2893, + 200.0 + ], + "actual_end_pos": [ + -44002.132, + -1819.2893, + 200.0 + ], + "actual_end_rot": [ + 22.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -44002.132, + -1819.2893, + 200.0 + ], + "start_rot": [ + 22.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -44002.132, + -1819.2893, + 200.0 + ], + "actual_end_pos": [ + -44002.132, + -1819.2893, + 200.0 + ], + "actual_end_rot": [ + 22.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -44002.132, + -1819.2893, + 200.0 + ], + "start_rot": [ + 22.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -44002.132, + -1819.2893, + 200.0 + ], + "actual_end_pos": [ + -44002.132, + -1819.2893, + 200.0 + ], + "actual_end_rot": [ + 22.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -44002.132, + -1819.2893, + 200.0 + ], + "start_rot": [ + 22.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -44002.132, + -1819.2893, + 200.0 + ], + "actual_end_pos": [ + -44002.132, + -1819.2893, + 200.0 + ], + "actual_end_rot": [ + 22.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -44002.132, + -1819.2893, + 200.0 + ], + "start_rot": [ + 22.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -44002.132, + -1819.2893, + 200.0 + ], + "actual_end_pos": [ + -44002.132, + -1819.2893, + 200.0 + ], + "actual_end_rot": [ + 22.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -44002.132, + -1819.2893, + 200.0 + ], + "start_rot": [ + 22.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -44002.132, + -1819.2893, + 200.0 + ], + "actual_end_pos": [ + -44002.132, + -1819.2893, + 200.0 + ], + "actual_end_rot": [ + 22.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -44002.132, + -1819.2893, + 200.0 + ], + "start_rot": [ + 22.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -44002.132, + -1819.2893, + 200.0 + ], + "actual_end_pos": [ + -44002.132, + -1819.2893, + 200.0 + ], + "actual_end_rot": [ + 22.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -44002.132, + -1819.2893, + 200.0 + ], + "start_rot": [ + 22.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -44002.132, + -1819.2893, + 200.0 + ], + "actual_end_pos": [ + -44002.132, + -1819.2893, + 200.0 + ], + "actual_end_rot": [ + 22.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -44002.132, + -1819.2893, + 200.0 + ], + "start_rot": [ + 22.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -44002.132, + -1819.2893, + 200.0 + ], + "actual_end_pos": [ + -44002.132, + -1819.2893, + 200.0 + ], + "actual_end_rot": [ + 22.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -44002.132, + -1819.2893, + 200.0 + ], + "start_rot": [ + 22.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -44002.132, + -1819.2893, + 200.0 + ], + "actual_end_pos": [ + -44002.132, + -1819.2893, + 200.0 + ], + "actual_end_rot": [ + 22.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -44002.132, + -1819.2893, + 200.0 + ], + "start_rot": [ + 22.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -44002.132, + -1819.2893, + 200.0 + ], + "actual_end_pos": [ + -44002.132, + -1819.2893, + 200.0 + ], + "actual_end_rot": [ + 22.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -44002.132, + -1819.2893, + 200.0 + ], + "start_rot": [ + 22.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -44002.132, + -1819.2893, + 200.0 + ], + "actual_end_pos": [ + -44002.132, + -1819.2893, + 200.0 + ], + "actual_end_rot": [ + 22.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -44002.132, + -1819.2893, + 200.0 + ], + "start_rot": [ + 22.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -44002.132, + -1819.2893, + 200.0 + ], + "actual_end_pos": [ + -44002.132, + -1819.2893, + 200.0 + ], + "actual_end_rot": [ + 22.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -44002.132, + -1819.2893, + 200.0 + ], + "start_rot": [ + 22.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -44002.132, + -1819.2893, + 200.0 + ], + "actual_end_pos": [ + -44002.132, + -1819.2893, + 200.0 + ], + "actual_end_rot": [ + 22.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -44002.132, + -1819.2893, + 200.0 + ], + "start_rot": [ + 22.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -44002.132, + -1819.2893, + 200.0 + ], + "actual_end_pos": [ + -44002.132, + -1819.2893, + 200.0 + ], + "actual_end_rot": [ + 22.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -44002.132, + -1819.2893, + 200.0 + ], + "start_rot": [ + 22.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -44002.132, + -1819.2893, + 200.0 + ], + "actual_end_pos": [ + -44002.132, + -1819.2893, + 200.0 + ], + "actual_end_rot": [ + 15.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -44002.132, + -1819.2893, + 200.0 + ], + "start_rot": [ + 15.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -43915.5295, + -1869.2893, + 200.0 + ], + "actual_end_pos": [ + -43915.5295, + -1869.2893, + 200.0 + ], + "actual_end_rot": [ + 15.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -43915.5295, + -1869.2893, + 200.0 + ], + "start_rot": [ + 15.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -43915.5295, + -1869.2893, + 200.0 + ], + "actual_end_pos": [ + -43915.5295, + -1869.2893, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -43915.5295, + -1869.2893, + 200.0 + ], + "start_rot": [ + 7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -43915.5295, + -1869.2893, + 200.0 + ], + "actual_end_pos": [ + -43915.5295, + -1869.2893, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -43915.5295, + -1869.2893, + 200.0 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -43915.5295, + -1869.2893, + 200.0 + ], + "actual_end_pos": [ + -43915.5295, + -1869.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -43915.5295, + -1869.2893, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -43844.8188, + -1940.0, + 200.0 + ], + "actual_end_pos": [ + -43844.8188, + -1940.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -43844.8188, + -1940.0, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -43774.1081, + -1869.2893, + 200.0 + ], + "actual_end_pos": [ + -43774.1081, + -1869.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -43774.1081, + -1869.2893, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -43774.1081, + -1869.2893, + 200.0 + ], + "actual_end_pos": [ + -43774.1081, + -1869.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -43774.1081, + -1869.2893, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -43703.3975, + -1940.0, + 200.0 + ], + "actual_end_pos": [ + -43703.3975, + -1940.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -43703.3975, + -1940.0, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -43703.3975, + -1940.0, + 200.0 + ], + "actual_end_pos": [ + -43703.3975, + -1940.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -43703.3975, + -1940.0, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -43790.0, + -1990.0, + 200.0 + ], + "actual_end_pos": [ + -43790.0, + -1990.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -43790.0, + -1990.0, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -43790.0, + -1990.0, + 200.0 + ], + "actual_end_pos": [ + -43790.0, + -1990.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260407_174321__traj_000999_meta.json b/inverse_easy/run_20260407_174321__traj_000999_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2e3713d1d91b4013e153c5470fb53f43687ffe21 --- /dev/null +++ b/inverse_easy/run_20260407_174321__traj_000999_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 999, + "episode_id": 0, + "state_id": 733, + "sample_index": 733, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -43790.0, + 7010.0, + 200.0 + ], + "rotation": [ + 0.0, + 225.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_forward", + "turn_left", + "move_right", + "move_backward", + "move_right", + "look_up", + "move_right", + "move_forward", + "move_right", + "move_right", + "move_right", + "move_right", + "turn_right", + "move_backward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "move_forward", + "turn_left", + "move_left", + "move_left", + "move_left", + "move_left", + "move_backward", + "move_left", + "look_down", + "move_left", + "move_forward", + "move_left", + "turn_right", + "move_backward", + "move_backward" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -43790.0, + 7010.0, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -43860.7107, + 6939.2893, + 200.0 + ], + "actual_end_pos": [ + -43860.7107, + 6939.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -43860.7107, + 6939.2893, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -43931.4214, + 6868.5786, + 200.0 + ], + "actual_end_pos": [ + -43931.4214, + 6868.5786, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -43931.4214, + 6868.5786, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -43931.4214, + 6868.5786, + 200.0 + ], + "actual_end_pos": [ + -43931.4214, + 6868.5786, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -43931.4214, + 6868.5786, + 200.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -43881.4214, + 6781.9761, + 200.0 + ], + "actual_end_pos": [ + -43881.4214, + 6781.9761, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -43881.4214, + 6781.9761, + 200.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -43794.8188, + 6831.9761, + 200.0 + ], + "actual_end_pos": [ + -43794.8188, + 6831.9761, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -43794.8188, + 6831.9761, + 200.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -43744.8188, + 6745.3736, + 200.0 + ], + "actual_end_pos": [ + -43744.8188, + 6745.3736, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -43744.8188, + 6745.3736, + 200.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -43744.8188, + 6745.3736, + 200.0 + ], + "actual_end_pos": [ + -43744.8188, + 6745.3736, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -43744.8188, + 6745.3736, + 200.0 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -43694.8188, + 6658.771, + 200.0 + ], + "actual_end_pos": [ + -43694.8188, + 6658.771, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -43694.8188, + 6658.771, + 200.0 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -43780.6805, + 6609.1988, + 213.0526 + ], + "actual_end_pos": [ + -43780.6805, + 6609.1988, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -43780.6805, + 6609.1988, + 213.0526 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -43730.6804, + 6522.5962, + 213.0526 + ], + "actual_end_pos": [ + -43730.6804, + 6522.5962, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -43730.6804, + 6522.5962, + 213.0526 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -43680.6804, + 6435.9937, + 213.0526 + ], + "actual_end_pos": [ + -43680.6804, + 6435.9937, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -43680.6804, + 6435.9937, + 213.0526 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -43630.6804, + 6349.3912, + 213.0526 + ], + "actual_end_pos": [ + -43630.6804, + 6349.3912, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -43630.6804, + 6349.3912, + 213.0526 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -43580.6804, + 6262.7886, + 213.0526 + ], + "actual_end_pos": [ + -43580.6804, + 6262.7886, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -43580.6804, + 6262.7886, + 213.0526 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -43580.6804, + 6262.7886, + 213.0526 + ], + "actual_end_pos": [ + -43580.6804, + 6262.7886, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -43580.6804, + 6262.7886, + 213.0526 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -43510.5747, + 6332.8944, + 200.0 + ], + "actual_end_pos": [ + -43510.5747, + 6332.8944, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -43510.5747, + 6332.8944, + 200.0 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -43510.5747, + 6332.8944, + 200.0 + ], + "actual_end_pos": [ + -43510.5747, + 6332.8944, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -43510.5747, + 6332.8944, + 200.0 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -43510.5747, + 6332.8944, + 200.0 + ], + "actual_end_pos": [ + -43510.5747, + 6332.8944, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -43510.5747, + 6332.8944, + 200.0 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -43510.5747, + 6332.8944, + 200.0 + ], + "actual_end_pos": [ + -43510.5747, + 6332.8944, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -43510.5747, + 6332.8944, + 200.0 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -43510.5747, + 6332.8944, + 200.0 + ], + "actual_end_pos": [ + -43510.5747, + 6332.8944, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -43510.5747, + 6332.8944, + 200.0 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -43510.5747, + 6332.8944, + 200.0 + ], + "actual_end_pos": [ + -43510.5747, + 6332.8944, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -43510.5747, + 6332.8944, + 200.0 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -43510.5747, + 6332.8944, + 200.0 + ], + "actual_end_pos": [ + -43510.5747, + 6332.8944, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -43510.5747, + 6332.8944, + 200.0 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -43510.5747, + 6332.8944, + 200.0 + ], + "actual_end_pos": [ + -43510.5747, + 6332.8944, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -43510.5747, + 6332.8944, + 200.0 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -43510.5747, + 6332.8944, + 200.0 + ], + "actual_end_pos": [ + -43510.5747, + 6332.8944, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -43510.5747, + 6332.8944, + 200.0 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -43510.5747, + 6332.8944, + 200.0 + ], + "actual_end_pos": [ + -43510.5747, + 6332.8944, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -43510.5747, + 6332.8944, + 200.0 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -43510.5747, + 6332.8944, + 200.0 + ], + "actual_end_pos": [ + -43510.5747, + 6332.8944, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -43510.5747, + 6332.8944, + 200.0 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -43580.6804, + 6262.7886, + 213.0526 + ], + "actual_end_pos": [ + -43580.6804, + 6262.7886, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -43580.6804, + 6262.7886, + 213.0526 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -43580.6804, + 6262.7886, + 213.0526 + ], + "actual_end_pos": [ + -43580.6804, + 6262.7886, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -43580.6804, + 6262.7886, + 213.0526 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -43630.6804, + 6349.3912, + 213.0526 + ], + "actual_end_pos": [ + -43630.6804, + 6349.3912, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -43630.6804, + 6349.3912, + 213.0526 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -43680.6804, + 6435.9937, + 213.0526 + ], + "actual_end_pos": [ + -43680.6804, + 6435.9937, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -43680.6804, + 6435.9937, + 213.0526 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -43730.6804, + 6522.5962, + 213.0526 + ], + "actual_end_pos": [ + -43730.6804, + 6522.5962, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -43730.6804, + 6522.5962, + 213.0526 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -43780.6805, + 6609.1988, + 213.0526 + ], + "actual_end_pos": [ + -43780.6805, + 6609.1988, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -43780.6805, + 6609.1988, + 213.0526 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -43694.8188, + 6658.771, + 200.0 + ], + "actual_end_pos": [ + -43694.8188, + 6658.771, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -43694.8188, + 6658.771, + 200.0 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -43744.8188, + 6745.3736, + 200.0 + ], + "actual_end_pos": [ + -43744.8188, + 6745.3736, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -43744.8188, + 6745.3736, + 200.0 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -43744.8188, + 6745.3736, + 200.0 + ], + "actual_end_pos": [ + -43744.8188, + 6745.3736, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -43744.8188, + 6745.3736, + 200.0 + ], + "start_rot": [ + 0.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + -43794.8188, + 6831.9761, + 200.0 + ], + "actual_end_pos": [ + -43794.8188, + 6831.9761, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -43794.8188, + 6831.9761, + 200.0 + ], + "start_rot": [ + 0.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + -43881.4214, + 6781.9761, + 200.0 + ], + "actual_end_pos": [ + -43881.4214, + 6781.9761, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -43881.4214, + 6781.9761, + 200.0 + ], + "start_rot": [ + 0.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + -43931.4214, + 6868.5786, + 200.0 + ], + "actual_end_pos": [ + -43931.4214, + 6868.5786, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -43931.4214, + 6868.5786, + 200.0 + ], + "start_rot": [ + 0.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + -43931.4214, + 6868.5786, + 200.0 + ], + "actual_end_pos": [ + -43931.4214, + 6868.5786, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -43931.4214, + 6868.5786, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -43860.7107, + 6939.2893, + 200.0 + ], + "actual_end_pos": [ + -43860.7107, + 6939.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -43860.7107, + 6939.2893, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -43790.0, + 7010.0, + 200.0 + ], + "actual_end_pos": [ + -43790.0, + 7010.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260407_174321__traj_001109_meta.json b/inverse_easy/run_20260407_174321__traj_001109_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d1c5dba61d5b15e1f0200662e27adf818e67832d --- /dev/null +++ b/inverse_easy/run_20260407_174321__traj_001109_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 1109, + "episode_id": 0, + "state_id": 816, + "sample_index": 816, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -43790.0, + 19010.0, + 200.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "turn_right", + "move_left", + "move_forward", + "move_left", + "move_backward", + "no_op", + "look_up", + "move_left", + "move_forward", + "move_forward", + "move_forward", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "move_right", + "move_backward", + "move_backward", + "move_backward", + "move_right", + "look_down", + "no_op", + "move_forward", + "move_right", + "move_backward", + "move_right", + "turn_left", + "move_left" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -43790.0, + 19010.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -43790.0, + 19110.0, + 200.0 + ], + "actual_end_pos": [ + -43790.0, + 19110.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -43790.0, + 19110.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -43790.0, + 19110.0, + 200.0 + ], + "actual_end_pos": [ + -43790.0, + 19110.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -43790.0, + 19110.0, + 200.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -43764.1181, + 19013.4074, + 200.0 + ], + "actual_end_pos": [ + -43764.1181, + 19013.4074, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -43764.1181, + 19013.4074, + 200.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -43667.5255, + 19039.2893, + 200.0 + ], + "actual_end_pos": [ + -43667.5255, + 19039.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -43667.5255, + 19039.2893, + 200.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -43641.6436, + 18942.6967, + 200.0 + ], + "actual_end_pos": [ + -43641.6436, + 18942.6967, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -43641.6436, + 18942.6967, + 200.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -43738.2362, + 18916.8148, + 200.0 + ], + "actual_end_pos": [ + -43738.2362, + 18916.8148, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -43738.2362, + 18916.8148, + 200.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -43738.2362, + 18916.8148, + 200.0 + ], + "actual_end_pos": [ + -43738.2362, + 18916.8148, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -43738.2362, + 18916.8148, + 200.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -43738.2362, + 18916.8148, + 200.0 + ], + "actual_end_pos": [ + -43738.2362, + 18916.8148, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -43738.2362, + 18916.8148, + 200.0 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -43712.3543, + 18820.2223, + 200.0 + ], + "actual_end_pos": [ + -43712.3543, + 18820.2223, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -43712.3543, + 18820.2223, + 200.0 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -43616.5881, + 18845.8827, + 213.0526 + ], + "actual_end_pos": [ + -43616.5881, + 18845.8827, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -43616.5881, + 18845.8827, + 213.0526 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -43520.8218, + 18871.5432, + 226.1052 + ], + "actual_end_pos": [ + -43520.8218, + 18871.5432, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -43520.8218, + 18871.5432, + 226.1052 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -43425.0556, + 18897.2037, + 239.1579 + ], + "actual_end_pos": [ + -43425.0556, + 18897.2037, + 239.1579 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -43425.0556, + 18897.2037, + 239.1579 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -43399.1737, + 18800.6111, + 239.1579 + ], + "actual_end_pos": [ + -43399.1737, + 18800.6111, + 239.1579 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -43399.1737, + 18800.6111, + 239.1579 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -43399.1737, + 18800.6111, + 239.1579 + ], + "actual_end_pos": [ + -43399.1737, + 18800.6111, + 239.1579 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -43399.1737, + 18800.6111, + 239.1579 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -43399.1737, + 18800.6111, + 239.1579 + ], + "actual_end_pos": [ + -43399.1737, + 18800.6111, + 239.1579 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -43399.1737, + 18800.6111, + 239.1579 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -43399.1737, + 18800.6111, + 239.1579 + ], + "actual_end_pos": [ + -43399.1737, + 18800.6111, + 239.1579 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -43399.1737, + 18800.6111, + 239.1579 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -43399.1737, + 18800.6111, + 239.1579 + ], + "actual_end_pos": [ + -43399.1737, + 18800.6111, + 239.1579 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -43399.1737, + 18800.6111, + 239.1579 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -43399.1737, + 18800.6111, + 239.1579 + ], + "actual_end_pos": [ + -43399.1737, + 18800.6111, + 239.1579 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -43399.1737, + 18800.6111, + 239.1579 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -43399.1737, + 18800.6111, + 239.1579 + ], + "actual_end_pos": [ + -43399.1737, + 18800.6111, + 239.1579 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -43399.1737, + 18800.6111, + 239.1579 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -43399.1737, + 18800.6111, + 239.1579 + ], + "actual_end_pos": [ + -43399.1737, + 18800.6111, + 239.1579 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -43399.1737, + 18800.6111, + 239.1579 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -43399.1737, + 18800.6111, + 239.1579 + ], + "actual_end_pos": [ + -43399.1737, + 18800.6111, + 239.1579 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -43399.1737, + 18800.6111, + 239.1579 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -43399.1737, + 18800.6111, + 239.1579 + ], + "actual_end_pos": [ + -43399.1737, + 18800.6111, + 239.1579 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -43399.1737, + 18800.6111, + 239.1579 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -43399.1737, + 18800.6111, + 239.1579 + ], + "actual_end_pos": [ + -43399.1737, + 18800.6111, + 239.1579 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -43399.1737, + 18800.6111, + 239.1579 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -43399.1737, + 18800.6111, + 239.1579 + ], + "actual_end_pos": [ + -43399.1737, + 18800.6111, + 239.1579 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -43399.1737, + 18800.6111, + 239.1579 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -43399.1737, + 18800.6111, + 239.1579 + ], + "actual_end_pos": [ + -43399.1737, + 18800.6111, + 239.1579 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -43399.1737, + 18800.6111, + 239.1579 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -43399.1737, + 18800.6111, + 239.1579 + ], + "actual_end_pos": [ + -43399.1737, + 18800.6111, + 239.1579 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -43399.1737, + 18800.6111, + 239.1579 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -43399.1737, + 18800.6111, + 239.1579 + ], + "actual_end_pos": [ + -43399.1737, + 18800.6111, + 239.1579 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -43399.1737, + 18800.6111, + 239.1579 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -43425.0556, + 18897.2037, + 239.1579 + ], + "actual_end_pos": [ + -43425.0556, + 18897.2037, + 239.1579 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -43425.0556, + 18897.2037, + 239.1579 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -43520.8218, + 18871.5432, + 226.1052 + ], + "actual_end_pos": [ + -43520.8218, + 18871.5432, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -43520.8218, + 18871.5432, + 226.1052 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -43616.5881, + 18845.8827, + 213.0526 + ], + "actual_end_pos": [ + -43616.5881, + 18845.8827, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -43616.5881, + 18845.8827, + 213.0526 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -43712.3543, + 18820.2223, + 200.0 + ], + "actual_end_pos": [ + -43712.3543, + 18820.2223, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -43712.3543, + 18820.2223, + 200.0 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -43738.2362, + 18916.8148, + 200.0 + ], + "actual_end_pos": [ + -43738.2362, + 18916.8148, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -43738.2362, + 18916.8148, + 200.0 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -43738.2362, + 18916.8148, + 200.0 + ], + "actual_end_pos": [ + -43738.2362, + 18916.8148, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -43738.2362, + 18916.8148, + 200.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -43738.2362, + 18916.8148, + 200.0 + ], + "actual_end_pos": [ + -43738.2362, + 18916.8148, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -43738.2362, + 18916.8148, + 200.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -43641.6436, + 18942.6967, + 200.0 + ], + "actual_end_pos": [ + -43641.6436, + 18942.6967, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -43641.6436, + 18942.6967, + 200.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -43667.5255, + 19039.2893, + 200.0 + ], + "actual_end_pos": [ + -43667.5255, + 19039.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -43667.5255, + 19039.2893, + 200.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -43764.1181, + 19013.4074, + 200.0 + ], + "actual_end_pos": [ + -43764.1181, + 19013.4074, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -43764.1181, + 19013.4074, + 200.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -43790.0, + 19110.0, + 200.0 + ], + "actual_end_pos": [ + -43790.0, + 19110.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -43790.0, + 19110.0, + 200.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -43790.0, + 19110.0, + 200.0 + ], + "actual_end_pos": [ + -43790.0, + 19110.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -43790.0, + 19110.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -43790.0, + 19010.0, + 200.0 + ], + "actual_end_pos": [ + -43790.0, + 19010.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260407_174321__traj_001121_meta.json b/inverse_easy/run_20260407_174321__traj_001121_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..26dc1a745df83b481bc0cafaa2306ea9a5b59696 --- /dev/null +++ b/inverse_easy/run_20260407_174321__traj_001121_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 1121, + "episode_id": 0, + "state_id": 826, + "sample_index": 826, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -42790.0, + -20990.0, + 200.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "move_backward", + "move_right", + "turn_right", + "move_right", + "move_right", + "move_right", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "move_left", + "move_left", + "move_left", + "move_left", + "move_left", + "move_left", + "turn_left", + "move_left", + "move_forward", + "move_left" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -42790.0, + -20990.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -42890.0, + -20990.0, + 200.0 + ], + "actual_end_pos": [ + -42890.0, + -20990.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -42890.0, + -20990.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -42890.0, + -21090.0, + 200.0 + ], + "actual_end_pos": [ + -42890.0, + -21090.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -42890.0, + -21090.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -42990.0, + -21090.0, + 200.0 + ], + "actual_end_pos": [ + -42990.0, + -21090.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -42990.0, + -21090.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -42990.0, + -21090.0, + 200.0 + ], + "actual_end_pos": [ + -42990.0, + -21090.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -42990.0, + -21090.0, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -43086.5926, + -21115.8819, + 200.0 + ], + "actual_end_pos": [ + -43086.5926, + -21115.8819, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -43086.5926, + -21115.8819, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -43183.1852, + -21141.7638, + 200.0 + ], + "actual_end_pos": [ + -43183.1852, + -21141.7638, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -43183.1852, + -21141.7638, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -43279.7778, + -21167.6457, + 200.0 + ], + "actual_end_pos": [ + -43279.7778, + -21167.6457, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -43279.7778, + -21167.6457, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -43376.3703, + -21193.5276, + 200.0 + ], + "actual_end_pos": [ + -43376.3703, + -21193.5276, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -43376.3703, + -21193.5276, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -43472.9629, + -21219.4095, + 200.0 + ], + "actual_end_pos": [ + -43472.9629, + -21219.4095, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -43472.9629, + -21219.4095, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -43569.5555, + -21245.2914, + 200.0 + ], + "actual_end_pos": [ + -43569.5555, + -21245.2914, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -43569.5555, + -21245.2914, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -43569.5555, + -21245.2914, + 200.0 + ], + "actual_end_pos": [ + -43569.5555, + -21245.2914, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -43569.5555, + -21245.2914, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -43569.5555, + -21245.2914, + 200.0 + ], + "actual_end_pos": [ + -43569.5555, + -21245.2914, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -43569.5555, + -21245.2914, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -43569.5555, + -21245.2914, + 200.0 + ], + "actual_end_pos": [ + -43569.5555, + -21245.2914, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -43569.5555, + -21245.2914, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -43569.5555, + -21245.2914, + 200.0 + ], + "actual_end_pos": [ + -43569.5555, + -21245.2914, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -43569.5555, + -21245.2914, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -43569.5555, + -21245.2914, + 200.0 + ], + "actual_end_pos": [ + -43569.5555, + -21245.2914, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -43569.5555, + -21245.2914, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -43569.5555, + -21245.2914, + 200.0 + ], + "actual_end_pos": [ + -43569.5555, + -21245.2914, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -43569.5555, + -21245.2914, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -43569.5555, + -21245.2914, + 200.0 + ], + "actual_end_pos": [ + -43569.5555, + -21245.2914, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -43569.5555, + -21245.2914, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -43569.5555, + -21245.2914, + 200.0 + ], + "actual_end_pos": [ + -43569.5555, + -21245.2914, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -43569.5555, + -21245.2914, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -43569.5555, + -21245.2914, + 200.0 + ], + "actual_end_pos": [ + -43569.5555, + -21245.2914, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -43569.5555, + -21245.2914, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -43569.5555, + -21245.2914, + 200.0 + ], + "actual_end_pos": [ + -43569.5555, + -21245.2914, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -43569.5555, + -21245.2914, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -43569.5555, + -21245.2914, + 200.0 + ], + "actual_end_pos": [ + -43569.5555, + -21245.2914, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -43569.5555, + -21245.2914, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -43569.5555, + -21245.2914, + 200.0 + ], + "actual_end_pos": [ + -43569.5555, + -21245.2914, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -43569.5555, + -21245.2914, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -43569.5555, + -21245.2914, + 200.0 + ], + "actual_end_pos": [ + -43569.5555, + -21245.2914, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -43569.5555, + -21245.2914, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -43569.5555, + -21245.2914, + 200.0 + ], + "actual_end_pos": [ + -43569.5555, + -21245.2914, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -43569.5555, + -21245.2914, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -43569.5555, + -21245.2914, + 200.0 + ], + "actual_end_pos": [ + -43569.5555, + -21245.2914, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -43569.5555, + -21245.2914, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -43569.5555, + -21245.2914, + 200.0 + ], + "actual_end_pos": [ + -43569.5555, + -21245.2914, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -43569.5555, + -21245.2914, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -43569.5555, + -21245.2914, + 200.0 + ], + "actual_end_pos": [ + -43569.5555, + -21245.2914, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -43569.5555, + -21245.2914, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -43569.5555, + -21245.2914, + 200.0 + ], + "actual_end_pos": [ + -43569.5555, + -21245.2914, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -43569.5555, + -21245.2914, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -43569.5555, + -21245.2914, + 200.0 + ], + "actual_end_pos": [ + -43569.5555, + -21245.2914, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -43569.5555, + -21245.2914, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -43569.5555, + -21245.2914, + 200.0 + ], + "actual_end_pos": [ + -43569.5555, + -21245.2914, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -43569.5555, + -21245.2914, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -43472.9629, + -21219.4095, + 200.0 + ], + "actual_end_pos": [ + -43472.9629, + -21219.4095, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -43472.9629, + -21219.4095, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -43376.3703, + -21193.5276, + 200.0 + ], + "actual_end_pos": [ + -43376.3703, + -21193.5276, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -43376.3703, + -21193.5276, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -43279.7778, + -21167.6457, + 200.0 + ], + "actual_end_pos": [ + -43279.7778, + -21167.6457, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -43279.7778, + -21167.6457, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -43183.1852, + -21141.7638, + 200.0 + ], + "actual_end_pos": [ + -43183.1852, + -21141.7638, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -43183.1852, + -21141.7638, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -43086.5926, + -21115.8819, + 200.0 + ], + "actual_end_pos": [ + -43086.5926, + -21115.8819, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -43086.5926, + -21115.8819, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -42990.0, + -21090.0, + 200.0 + ], + "actual_end_pos": [ + -42990.0, + -21090.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -42990.0, + -21090.0, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -42990.0, + -21090.0, + 200.0 + ], + "actual_end_pos": [ + -42990.0, + -21090.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -42990.0, + -21090.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -42890.0, + -21090.0, + 200.0 + ], + "actual_end_pos": [ + -42890.0, + -21090.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -42890.0, + -21090.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -42890.0, + -20990.0, + 200.0 + ], + "actual_end_pos": [ + -42890.0, + -20990.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -42890.0, + -20990.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -42790.0, + -20990.0, + 200.0 + ], + "actual_end_pos": [ + -42790.0, + -20990.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260407_174321__traj_001171_meta.json b/inverse_easy/run_20260407_174321__traj_001171_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7b50e5ba25aec76ae7e362aae2ef329999be482d --- /dev/null +++ b/inverse_easy/run_20260407_174321__traj_001171_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 1171, + "episode_id": 0, + "state_id": 865, + "sample_index": 865, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -42790.0, + -15990.0, + 200.0 + ], + "rotation": [ + 0.0, + 45.0, + 0.0 + ] + }, + "action_sequence": [ + "look_up", + "move_right", + "move_forward", + "move_left", + "move_forward", + "move_right", + "move_backward", + "move_right", + "move_backward", + "turn_right", + "move_forward", + "move_left", + "turn_left", + "move_backward", + "move_left", + "move_forward", + "look_down", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "move_right", + "look_up", + "move_backward", + "move_right", + "move_forward", + "turn_right", + "move_right", + "move_backward", + "turn_left", + "move_forward", + "move_left", + "move_forward", + "move_left", + "move_backward", + "move_right", + "move_backward", + "move_left", + "look_down" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -42790.0, + -15990.0, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -42790.0, + -15990.0, + 200.0 + ], + "actual_end_pos": [ + -42790.0, + -15990.0, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -42790.0, + -15990.0, + 200.0 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -42860.7107, + -15919.2893, + 200.0 + ], + "actual_end_pos": [ + -42860.7107, + -15919.2893, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -42860.7107, + -15919.2893, + 200.0 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -42790.6049, + -15849.1836, + 213.0526 + ], + "actual_end_pos": [ + -42790.6049, + -15849.1836, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -42790.6049, + -15849.1836, + 213.0526 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -42719.8943, + -15919.8943, + 213.0526 + ], + "actual_end_pos": [ + -42719.8943, + -15919.8943, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -42719.8943, + -15919.8943, + 213.0526 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -42649.7885, + -15849.7885, + 226.1052 + ], + "actual_end_pos": [ + -42649.7885, + -15849.7885, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -42649.7885, + -15849.7885, + 226.1052 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -42720.4992, + -15779.0778, + 226.1052 + ], + "actual_end_pos": [ + -42720.4992, + -15779.0778, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -42720.4992, + -15779.0778, + 226.1052 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -42790.6049, + -15849.1836, + 213.0526 + ], + "actual_end_pos": [ + -42790.6049, + -15849.1836, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -42790.6049, + -15849.1836, + 213.0526 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -42861.3156, + -15778.4729, + 213.0526 + ], + "actual_end_pos": [ + -42861.3156, + -15778.4729, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -42861.3156, + -15778.4729, + 213.0526 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -42931.4214, + -15848.5786, + 200.0 + ], + "actual_end_pos": [ + -42931.4214, + -15848.5786, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -42931.4214, + -15848.5786, + 200.0 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -42931.4214, + -15848.5786, + 200.0 + ], + "actual_end_pos": [ + -42931.4214, + -15848.5786, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -42931.4214, + -15848.5786, + 200.0 + ], + "start_rot": [ + 7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -42881.8491, + -15762.717, + 213.0526 + ], + "actual_end_pos": [ + -42881.8491, + -15762.717, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -42881.8491, + -15762.717, + 213.0526 + ], + "start_rot": [ + 7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -42795.2466, + -15812.717, + 213.0526 + ], + "actual_end_pos": [ + -42795.2466, + -15812.717, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -42795.2466, + -15812.717, + 213.0526 + ], + "start_rot": [ + 7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -42795.2466, + -15812.717, + 213.0526 + ], + "actual_end_pos": [ + -42795.2466, + -15812.717, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -42795.2466, + -15812.717, + 213.0526 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -42865.3523, + -15882.8227, + 200.0 + ], + "actual_end_pos": [ + -42865.3523, + -15882.8227, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -42865.3523, + -15882.8227, + 200.0 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -42794.6416, + -15953.5334, + 200.0 + ], + "actual_end_pos": [ + -42794.6416, + -15953.5334, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -42794.6416, + -15953.5334, + 200.0 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -42724.5359, + -15883.4277, + 213.0526 + ], + "actual_end_pos": [ + -42724.5359, + -15883.4277, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -42724.5359, + -15883.4277, + 213.0526 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -42724.5359, + -15883.4277, + 213.0526 + ], + "actual_end_pos": [ + -42724.5359, + -15883.4277, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -42724.5359, + -15883.4277, + 213.0526 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -42653.8252, + -15954.1384, + 213.0526 + ], + "actual_end_pos": [ + -42653.8252, + -15954.1384, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -42653.8252, + -15954.1384, + 213.0526 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -42653.8252, + -15954.1384, + 213.0526 + ], + "actual_end_pos": [ + -42653.8252, + -15954.1384, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -42653.8252, + -15954.1384, + 213.0526 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -42653.8252, + -15954.1384, + 213.0526 + ], + "actual_end_pos": [ + -42653.8252, + -15954.1384, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -42653.8252, + -15954.1384, + 213.0526 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -42653.8252, + -15954.1384, + 213.0526 + ], + "actual_end_pos": [ + -42653.8252, + -15954.1384, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -42653.8252, + -15954.1384, + 213.0526 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -42653.8252, + -15954.1384, + 213.0526 + ], + "actual_end_pos": [ + -42653.8252, + -15954.1384, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -42653.8252, + -15954.1384, + 213.0526 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -42724.5359, + -15883.4277, + 213.0526 + ], + "actual_end_pos": [ + -42724.5359, + -15883.4277, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -42724.5359, + -15883.4277, + 213.0526 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -42724.5359, + -15883.4277, + 213.0526 + ], + "actual_end_pos": [ + -42724.5359, + -15883.4277, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -42724.5359, + -15883.4277, + 213.0526 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -42794.6416, + -15953.5334, + 200.0 + ], + "actual_end_pos": [ + -42794.6416, + -15953.5334, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -42794.6416, + -15953.5334, + 200.0 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -42865.3523, + -15882.8227, + 200.0 + ], + "actual_end_pos": [ + -42865.3523, + -15882.8227, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -42865.3523, + -15882.8227, + 200.0 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -42795.2466, + -15812.717, + 213.0526 + ], + "actual_end_pos": [ + -42795.2466, + -15812.717, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -42795.2466, + -15812.717, + 213.0526 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -42795.2466, + -15812.717, + 213.0526 + ], + "actual_end_pos": [ + -42795.2466, + -15812.717, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -42795.2466, + -15812.717, + 213.0526 + ], + "start_rot": [ + 7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -42881.8491, + -15762.717, + 213.0526 + ], + "actual_end_pos": [ + -42881.8491, + -15762.717, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -42881.8491, + -15762.717, + 213.0526 + ], + "start_rot": [ + 7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -42931.4214, + -15848.5786, + 200.0 + ], + "actual_end_pos": [ + -42931.4214, + -15848.5786, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -42931.4214, + -15848.5786, + 200.0 + ], + "start_rot": [ + 7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -42931.4214, + -15848.5786, + 200.0 + ], + "actual_end_pos": [ + -42931.4214, + -15848.5786, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -42931.4214, + -15848.5786, + 200.0 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -42861.3156, + -15778.4729, + 213.0526 + ], + "actual_end_pos": [ + -42861.3156, + -15778.4729, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -42861.3156, + -15778.4729, + 213.0526 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -42790.6049, + -15849.1836, + 213.0526 + ], + "actual_end_pos": [ + -42790.6049, + -15849.1836, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -42790.6049, + -15849.1836, + 213.0526 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -42720.4992, + -15779.0778, + 226.1052 + ], + "actual_end_pos": [ + -42720.4992, + -15779.0778, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -42720.4992, + -15779.0778, + 226.1052 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -42649.7885, + -15849.7885, + 226.1052 + ], + "actual_end_pos": [ + -42649.7885, + -15849.7885, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -42649.7885, + -15849.7885, + 226.1052 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -42719.8943, + -15919.8943, + 213.0526 + ], + "actual_end_pos": [ + -42719.8943, + -15919.8943, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -42719.8943, + -15919.8943, + 213.0526 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -42790.6049, + -15849.1836, + 213.0526 + ], + "actual_end_pos": [ + -42790.6049, + -15849.1836, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -42790.6049, + -15849.1836, + 213.0526 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -42860.7107, + -15919.2893, + 200.0 + ], + "actual_end_pos": [ + -42860.7107, + -15919.2893, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -42860.7107, + -15919.2893, + 200.0 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -42790.0, + -15990.0, + 200.0 + ], + "actual_end_pos": [ + -42790.0, + -15990.0, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -42790.0, + -15990.0, + 200.0 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -42790.0, + -15990.0, + 200.0 + ], + "actual_end_pos": [ + -42790.0, + -15990.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260407_174321__traj_001248_meta.json b/inverse_easy/run_20260407_174321__traj_001248_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4920b1c1a72b46310a8b5af74e585eb3d34ea2a9 --- /dev/null +++ b/inverse_easy/run_20260407_174321__traj_001248_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 1248, + "episode_id": 0, + "state_id": 917, + "sample_index": 917, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -42790.0, + -9990.0, + 200.0 + ], + "rotation": [ + 0.0, + 225.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "turn_left", + "move_backward", + "turn_left", + "move_forward", + "turn_left", + "move_right", + "turn_left", + "move_right", + "turn_left", + "move_left", + "move_forward", + "move_forward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "move_backward", + "move_backward", + "move_right", + "turn_right", + "move_left", + "turn_right", + "move_left", + "turn_right", + "move_backward", + "turn_right", + "move_forward", + "turn_right", + "move_left" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -42790.0, + -9990.0, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -42719.2893, + -10060.7107, + 200.0 + ], + "actual_end_pos": [ + -42719.2893, + -10060.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -42719.2893, + -10060.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -42719.2893, + -10060.7107, + 200.0 + ], + "actual_end_pos": [ + -42719.2893, + -10060.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -42719.2893, + -10060.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -42632.6868, + -10010.7107, + 200.0 + ], + "actual_end_pos": [ + -42632.6868, + -10010.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -42632.6868, + -10010.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -42632.6868, + -10010.7107, + 200.0 + ], + "actual_end_pos": [ + -42632.6868, + -10010.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -42632.6868, + -10010.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -42729.2794, + -10036.5926, + 200.0 + ], + "actual_end_pos": [ + -42729.2794, + -10036.5926, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -42729.2794, + -10036.5926, + 200.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -42729.2794, + -10036.5926, + 200.0 + ], + "actual_end_pos": [ + -42729.2794, + -10036.5926, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -42729.2794, + -10036.5926, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -42729.2794, + -10136.5926, + 200.0 + ], + "actual_end_pos": [ + -42729.2794, + -10136.5926, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -42729.2794, + -10136.5926, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -42729.2794, + -10136.5926, + 200.0 + ], + "actual_end_pos": [ + -42729.2794, + -10136.5926, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -42729.2794, + -10136.5926, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -42755.1613, + -10233.1852, + 200.0 + ], + "actual_end_pos": [ + -42755.1613, + -10233.1852, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -42755.1613, + -10233.1852, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -42755.1613, + -10233.1852, + 200.0 + ], + "actual_end_pos": [ + -42755.1613, + -10233.1852, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -42755.1613, + -10233.1852, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -42705.1613, + -10146.5826, + 200.0 + ], + "actual_end_pos": [ + -42705.1613, + -10146.5826, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -42705.1613, + -10146.5826, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -42791.7638, + -10096.5826, + 200.0 + ], + "actual_end_pos": [ + -42791.7638, + -10096.5826, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -42791.7638, + -10096.5826, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -42878.3663, + -10046.5826, + 200.0 + ], + "actual_end_pos": [ + -42878.3663, + -10046.5826, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -42878.3663, + -10046.5826, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -42878.3663, + -10046.5826, + 200.0 + ], + "actual_end_pos": [ + -42878.3663, + -10046.5826, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -42878.3663, + -10046.5826, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -42878.3663, + -10046.5826, + 200.0 + ], + "actual_end_pos": [ + -42878.3663, + -10046.5826, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -42878.3663, + -10046.5826, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -42878.3663, + -10046.5826, + 200.0 + ], + "actual_end_pos": [ + -42878.3663, + -10046.5826, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -42878.3663, + -10046.5826, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -42878.3663, + -10046.5826, + 200.0 + ], + "actual_end_pos": [ + -42878.3663, + -10046.5826, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -42878.3663, + -10046.5826, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -42878.3663, + -10046.5826, + 200.0 + ], + "actual_end_pos": [ + -42878.3663, + -10046.5826, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -42878.3663, + -10046.5826, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -42878.3663, + -10046.5826, + 200.0 + ], + "actual_end_pos": [ + -42878.3663, + -10046.5826, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -42878.3663, + -10046.5826, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -42878.3663, + -10046.5826, + 200.0 + ], + "actual_end_pos": [ + -42878.3663, + -10046.5826, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -42878.3663, + -10046.5826, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -42878.3663, + -10046.5826, + 200.0 + ], + "actual_end_pos": [ + -42878.3663, + -10046.5826, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -42878.3663, + -10046.5826, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -42878.3663, + -10046.5826, + 200.0 + ], + "actual_end_pos": [ + -42878.3663, + -10046.5826, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -42878.3663, + -10046.5826, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -42878.3663, + -10046.5826, + 200.0 + ], + "actual_end_pos": [ + -42878.3663, + -10046.5826, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -42878.3663, + -10046.5826, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -42878.3663, + -10046.5826, + 200.0 + ], + "actual_end_pos": [ + -42878.3663, + -10046.5826, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -42878.3663, + -10046.5826, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -42878.3663, + -10046.5826, + 200.0 + ], + "actual_end_pos": [ + -42878.3663, + -10046.5826, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -42878.3663, + -10046.5826, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -42878.3663, + -10046.5826, + 200.0 + ], + "actual_end_pos": [ + -42878.3663, + -10046.5826, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -42878.3663, + -10046.5826, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -42878.3663, + -10046.5826, + 200.0 + ], + "actual_end_pos": [ + -42878.3663, + -10046.5826, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -42878.3663, + -10046.5826, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -42791.7638, + -10096.5826, + 200.0 + ], + "actual_end_pos": [ + -42791.7638, + -10096.5826, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -42791.7638, + -10096.5826, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -42705.1613, + -10146.5826, + 200.0 + ], + "actual_end_pos": [ + -42705.1613, + -10146.5826, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -42705.1613, + -10146.5826, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -42755.1613, + -10233.1852, + 200.0 + ], + "actual_end_pos": [ + -42755.1613, + -10233.1852, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -42755.1613, + -10233.1852, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -42755.1613, + -10233.1852, + 200.0 + ], + "actual_end_pos": [ + -42755.1613, + -10233.1852, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -42755.1613, + -10233.1852, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -42729.2794, + -10136.5926, + 200.0 + ], + "actual_end_pos": [ + -42729.2794, + -10136.5926, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -42729.2794, + -10136.5926, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -42729.2794, + -10136.5926, + 200.0 + ], + "actual_end_pos": [ + -42729.2794, + -10136.5926, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -42729.2794, + -10136.5926, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -42729.2794, + -10036.5926, + 200.0 + ], + "actual_end_pos": [ + -42729.2794, + -10036.5926, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -42729.2794, + -10036.5926, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -42729.2794, + -10036.5926, + 200.0 + ], + "actual_end_pos": [ + -42729.2794, + -10036.5926, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -42729.2794, + -10036.5926, + 200.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -42632.6868, + -10010.7107, + 200.0 + ], + "actual_end_pos": [ + -42632.6868, + -10010.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -42632.6868, + -10010.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -42632.6868, + -10010.7107, + 200.0 + ], + "actual_end_pos": [ + -42632.6868, + -10010.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -42632.6868, + -10010.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -42719.2893, + -10060.7107, + 200.0 + ], + "actual_end_pos": [ + -42719.2893, + -10060.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -42719.2893, + -10060.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -42719.2893, + -10060.7107, + 200.0 + ], + "actual_end_pos": [ + -42719.2893, + -10060.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -42719.2893, + -10060.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -42790.0, + -9990.0, + 200.0 + ], + "actual_end_pos": [ + -42790.0, + -9990.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260407_174321__traj_001261_meta.json b/inverse_easy/run_20260407_174321__traj_001261_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..245fb987726ab7d22d5ca054e8e28b5e77e49d3e --- /dev/null +++ b/inverse_easy/run_20260407_174321__traj_001261_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 1261, + "episode_id": 0, + "state_id": 926, + "sample_index": 926, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -42790.0, + -8990.0, + 200.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_left", + "move_forward", + "look_up", + "move_forward", + "move_forward", + "move_right", + "move_right", + "move_backward", + "move_backward", + "move_backward", + "move_right", + "turn_left", + "turn_right", + "move_forward", + "move_forward", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "move_left", + "move_left", + "move_backward", + "move_backward", + "turn_left", + "turn_right", + "move_left", + "move_forward", + "move_forward", + "move_forward", + "move_left", + "move_left", + "move_backward", + "move_backward", + "look_down", + "move_backward", + "turn_right" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -42790.0, + -8990.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -42790.0, + -8990.0, + 200.0 + ], + "actual_end_pos": [ + -42790.0, + -8990.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -42790.0, + -8990.0, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -42815.8819, + -9086.5926, + 200.0 + ], + "actual_end_pos": [ + -42815.8819, + -9086.5926, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -42815.8819, + -9086.5926, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -42815.8819, + -9086.5926, + 200.0 + ], + "actual_end_pos": [ + -42815.8819, + -9086.5926, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -42815.8819, + -9086.5926, + 200.0 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -42841.5424, + -9182.3588, + 213.0526 + ], + "actual_end_pos": [ + -42841.5424, + -9182.3588, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -42841.5424, + -9182.3588, + 213.0526 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -42867.2029, + -9278.125, + 226.1052 + ], + "actual_end_pos": [ + -42867.2029, + -9278.125, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -42867.2029, + -9278.125, + 226.1052 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -42770.6103, + -9304.0069, + 226.1052 + ], + "actual_end_pos": [ + -42770.6103, + -9304.0069, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -42770.6103, + -9304.0069, + 226.1052 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -42674.0177, + -9329.8888, + 226.1052 + ], + "actual_end_pos": [ + -42674.0177, + -9329.8888, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -42674.0177, + -9329.8888, + 226.1052 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -42648.3572, + -9234.1226, + 213.0526 + ], + "actual_end_pos": [ + -42648.3572, + -9234.1226, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -42648.3572, + -9234.1226, + 213.0526 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -42622.6967, + -9138.3564, + 200.0 + ], + "actual_end_pos": [ + -42622.6967, + -9138.3564, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -42622.6967, + -9138.3564, + 200.0 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -42597.0363, + -9042.5902, + 186.9474 + ], + "actual_end_pos": [ + -42597.0363, + -9042.5902, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -42597.0363, + -9042.5902, + 186.9474 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -42500.4437, + -9068.4721, + 186.9474 + ], + "actual_end_pos": [ + -42500.4437, + -9068.4721, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -42500.4437, + -9068.4721, + 186.9474 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -42500.4437, + -9068.4721, + 186.9474 + ], + "actual_end_pos": [ + -42500.4437, + -9068.4721, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -42500.4437, + -9068.4721, + 186.9474 + ], + "start_rot": [ + 7.5, + -120.0, + -0.0 + ], + "expected_end_pos": [ + -42500.4437, + -9068.4721, + 186.9474 + ], + "actual_end_pos": [ + -42500.4437, + -9068.4721, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + -105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -42500.4437, + -9068.4721, + 186.9474 + ], + "start_rot": [ + 7.5, + -105.0, + -0.0 + ], + "expected_end_pos": [ + -42526.1042, + -9164.2383, + 200.0 + ], + "actual_end_pos": [ + -42526.1042, + -9164.2383, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -42526.1042, + -9164.2383, + 200.0 + ], + "start_rot": [ + 7.5, + -105.0, + -0.0 + ], + "expected_end_pos": [ + -42551.7646, + -9260.0045, + 213.0526 + ], + "actual_end_pos": [ + -42551.7646, + -9260.0045, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -42551.7646, + -9260.0045, + 213.0526 + ], + "start_rot": [ + 7.5, + -105.0, + -0.0 + ], + "expected_end_pos": [ + -42455.1721, + -9285.8864, + 213.0526 + ], + "actual_end_pos": [ + -42455.1721, + -9285.8864, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -42455.1721, + -9285.8864, + 213.0526 + ], + "start_rot": [ + 7.5, + -105.0, + -0.0 + ], + "expected_end_pos": [ + -42358.5795, + -9311.7683, + 213.0526 + ], + "actual_end_pos": [ + -42358.5795, + -9311.7683, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -42358.5795, + -9311.7683, + 213.0526 + ], + "start_rot": [ + 7.5, + -105.0, + -0.0 + ], + "expected_end_pos": [ + -42358.5795, + -9311.7683, + 213.0526 + ], + "actual_end_pos": [ + -42358.5795, + -9311.7683, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -42358.5795, + -9311.7683, + 213.0526 + ], + "start_rot": [ + 7.5, + -105.0, + -0.0 + ], + "expected_end_pos": [ + -42358.5795, + -9311.7683, + 213.0526 + ], + "actual_end_pos": [ + -42358.5795, + -9311.7683, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -42358.5795, + -9311.7683, + 213.0526 + ], + "start_rot": [ + 7.5, + -105.0, + -0.0 + ], + "expected_end_pos": [ + -42358.5795, + -9311.7683, + 213.0526 + ], + "actual_end_pos": [ + -42358.5795, + -9311.7683, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -42358.5795, + -9311.7683, + 213.0526 + ], + "start_rot": [ + 7.5, + -105.0, + -0.0 + ], + "expected_end_pos": [ + -42358.5795, + -9311.7683, + 213.0526 + ], + "actual_end_pos": [ + -42358.5795, + -9311.7683, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -42358.5795, + -9311.7683, + 213.0526 + ], + "start_rot": [ + 7.5, + -105.0, + -0.0 + ], + "expected_end_pos": [ + -42358.5795, + -9311.7683, + 213.0526 + ], + "actual_end_pos": [ + -42358.5795, + -9311.7683, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -42358.5795, + -9311.7683, + 213.0526 + ], + "start_rot": [ + 7.5, + -105.0, + -0.0 + ], + "expected_end_pos": [ + -42358.5795, + -9311.7683, + 213.0526 + ], + "actual_end_pos": [ + -42358.5795, + -9311.7683, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -42358.5795, + -9311.7683, + 213.0526 + ], + "start_rot": [ + 7.5, + -105.0, + -0.0 + ], + "expected_end_pos": [ + -42455.1721, + -9285.8864, + 213.0526 + ], + "actual_end_pos": [ + -42455.1721, + -9285.8864, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -42455.1721, + -9285.8864, + 213.0526 + ], + "start_rot": [ + 7.5, + -105.0, + -0.0 + ], + "expected_end_pos": [ + -42551.7646, + -9260.0045, + 213.0526 + ], + "actual_end_pos": [ + -42551.7646, + -9260.0045, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -42551.7646, + -9260.0045, + 213.0526 + ], + "start_rot": [ + 7.5, + -105.0, + -0.0 + ], + "expected_end_pos": [ + -42526.1042, + -9164.2383, + 200.0 + ], + "actual_end_pos": [ + -42526.1042, + -9164.2383, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -42526.1042, + -9164.2383, + 200.0 + ], + "start_rot": [ + 7.5, + -105.0, + -0.0 + ], + "expected_end_pos": [ + -42500.4437, + -9068.4721, + 186.9474 + ], + "actual_end_pos": [ + -42500.4437, + -9068.4721, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + -105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -42500.4437, + -9068.4721, + 186.9474 + ], + "start_rot": [ + 7.5, + -105.0, + -0.0 + ], + "expected_end_pos": [ + -42500.4437, + -9068.4721, + 186.9474 + ], + "actual_end_pos": [ + -42500.4437, + -9068.4721, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -42500.4437, + -9068.4721, + 186.9474 + ], + "start_rot": [ + 7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -42500.4437, + -9068.4721, + 186.9474 + ], + "actual_end_pos": [ + -42500.4437, + -9068.4721, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + -105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -42500.4437, + -9068.4721, + 186.9474 + ], + "start_rot": [ + 7.5, + -105.0, + -0.0 + ], + "expected_end_pos": [ + -42597.0363, + -9042.5902, + 186.9474 + ], + "actual_end_pos": [ + -42597.0363, + -9042.5902, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + -105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -42597.0363, + -9042.5902, + 186.9474 + ], + "start_rot": [ + 7.5, + -105.0, + -0.0 + ], + "expected_end_pos": [ + -42622.6967, + -9138.3564, + 200.0 + ], + "actual_end_pos": [ + -42622.6967, + -9138.3564, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -42622.6967, + -9138.3564, + 200.0 + ], + "start_rot": [ + 7.5, + -105.0, + -0.0 + ], + "expected_end_pos": [ + -42648.3572, + -9234.1226, + 213.0526 + ], + "actual_end_pos": [ + -42648.3572, + -9234.1226, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -42648.3572, + -9234.1226, + 213.0526 + ], + "start_rot": [ + 7.5, + -105.0, + -0.0 + ], + "expected_end_pos": [ + -42674.0177, + -9329.8888, + 226.1052 + ], + "actual_end_pos": [ + -42674.0177, + -9329.8888, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -42674.0177, + -9329.8888, + 226.1052 + ], + "start_rot": [ + 7.5, + -105.0, + -0.0 + ], + "expected_end_pos": [ + -42770.6103, + -9304.0069, + 226.1052 + ], + "actual_end_pos": [ + -42770.6103, + -9304.0069, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -42770.6103, + -9304.0069, + 226.1052 + ], + "start_rot": [ + 7.5, + -105.0, + -0.0 + ], + "expected_end_pos": [ + -42867.2029, + -9278.125, + 226.1052 + ], + "actual_end_pos": [ + -42867.2029, + -9278.125, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -42867.2029, + -9278.125, + 226.1052 + ], + "start_rot": [ + 7.5, + -105.0, + -0.0 + ], + "expected_end_pos": [ + -42841.5424, + -9182.3588, + 213.0526 + ], + "actual_end_pos": [ + -42841.5424, + -9182.3588, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -42841.5424, + -9182.3588, + 213.0526 + ], + "start_rot": [ + 7.5, + -105.0, + -0.0 + ], + "expected_end_pos": [ + -42815.8819, + -9086.5926, + 200.0 + ], + "actual_end_pos": [ + -42815.8819, + -9086.5926, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -42815.8819, + -9086.5926, + 200.0 + ], + "start_rot": [ + 7.5, + -105.0, + -0.0 + ], + "expected_end_pos": [ + -42815.8819, + -9086.5926, + 200.0 + ], + "actual_end_pos": [ + -42815.8819, + -9086.5926, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -42815.8819, + -9086.5926, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -42790.0, + -8990.0, + 200.0 + ], + "actual_end_pos": [ + -42790.0, + -8990.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -42790.0, + -8990.0, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -42790.0, + -8990.0, + 200.0 + ], + "actual_end_pos": [ + -42790.0, + -8990.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260407_174321__traj_001719_meta.json b/inverse_easy/run_20260407_174321__traj_001719_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d5a508343179afd489d633e7f260bf3afd56f958 --- /dev/null +++ b/inverse_easy/run_20260407_174321__traj_001719_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 1719, + "episode_id": 0, + "state_id": 1262, + "sample_index": 1262, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -41790.0, + 8010.0, + 200.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_left", + "turn_left", + "move_forward", + "move_left", + "move_backward", + "turn_left", + "move_forward", + "move_right", + "look_down", + "move_forward", + "move_left", + "move_forward", + "move_left", + "move_forward", + "look_up", + "turn_left", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "move_left", + "turn_right", + "look_down", + "move_backward", + "move_right", + "move_backward", + "move_right", + "move_backward", + "look_up", + "move_left", + "move_backward", + "turn_right", + "move_forward", + "move_right", + "move_backward", + "turn_right", + "turn_right" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -41790.0, + 8010.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -41790.0, + 8010.0, + 200.0 + ], + "actual_end_pos": [ + -41790.0, + 8010.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -41790.0, + 8010.0, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -41790.0, + 8010.0, + 200.0 + ], + "actual_end_pos": [ + -41790.0, + 8010.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -41790.0, + 8010.0, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -41840.0, + 7923.3975, + 200.0 + ], + "actual_end_pos": [ + -41840.0, + 7923.3975, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -41840.0, + 7923.3975, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -41926.6025, + 7973.3975, + 200.0 + ], + "actual_end_pos": [ + -41926.6025, + 7973.3975, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -41926.6025, + 7973.3975, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -41876.6025, + 8060.0, + 200.0 + ], + "actual_end_pos": [ + -41876.6025, + 8060.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -41876.6025, + 8060.0, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -41876.6025, + 8060.0, + 200.0 + ], + "actual_end_pos": [ + -41876.6025, + 8060.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -41876.6025, + 8060.0, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -41947.3132, + 7989.2893, + 200.0 + ], + "actual_end_pos": [ + -41947.3132, + 7989.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -41947.3132, + 7989.2893, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -41876.6025, + 7918.5786, + 200.0 + ], + "actual_end_pos": [ + -41876.6025, + 7918.5786, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -41876.6025, + 7918.5786, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -41876.6025, + 7918.5786, + 200.0 + ], + "actual_end_pos": [ + -41876.6025, + 7918.5786, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -41876.6025, + 7918.5786, + 200.0 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -41946.7083, + 7848.4729, + 186.9474 + ], + "actual_end_pos": [ + -41946.7083, + 7848.4729, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -41946.7083, + 7848.4729, + 186.9474 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -42017.419, + 7919.1836, + 186.9474 + ], + "actual_end_pos": [ + -42017.419, + 7919.1836, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -42017.419, + 7919.1836, + 186.9474 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -42087.5247, + 7849.0778, + 173.8948 + ], + "actual_end_pos": [ + -42087.5247, + 7849.0778, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -42087.5247, + 7849.0778, + 173.8948 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -42158.2354, + 7919.7885, + 173.8948 + ], + "actual_end_pos": [ + -42158.2354, + 7919.7885, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -42158.2354, + 7919.7885, + 173.8948 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -42228.3411, + 7849.6828, + 160.8421 + ], + "actual_end_pos": [ + -42228.3411, + 7849.6828, + 160.8421 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -42228.3411, + 7849.6828, + 160.8421 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -42228.3411, + 7849.6828, + 160.8421 + ], + "actual_end_pos": [ + -42228.3411, + 7849.6828, + 160.8421 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -42228.3411, + 7849.6828, + 160.8421 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + -42228.3411, + 7849.6828, + 160.8421 + ], + "actual_end_pos": [ + -42228.3411, + 7849.6828, + 160.8421 + ], + "actual_end_rot": [ + 0.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -42228.3411, + 7849.6828, + 160.8421 + ], + "start_rot": [ + 0.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + -42178.3411, + 7763.0802, + 160.8421 + ], + "actual_end_pos": [ + -42178.3411, + 7763.0802, + 160.8421 + ], + "actual_end_rot": [ + 0.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -42178.3411, + 7763.0802, + 160.8421 + ], + "start_rot": [ + 0.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + -42178.3411, + 7763.0802, + 160.8421 + ], + "actual_end_pos": [ + -42178.3411, + 7763.0802, + 160.8421 + ], + "actual_end_rot": [ + 0.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -42178.3411, + 7763.0802, + 160.8421 + ], + "start_rot": [ + 0.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + -42178.3411, + 7763.0802, + 160.8421 + ], + "actual_end_pos": [ + -42178.3411, + 7763.0802, + 160.8421 + ], + "actual_end_rot": [ + 0.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -42178.3411, + 7763.0802, + 160.8421 + ], + "start_rot": [ + 0.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + -42178.3411, + 7763.0802, + 160.8421 + ], + "actual_end_pos": [ + -42178.3411, + 7763.0802, + 160.8421 + ], + "actual_end_rot": [ + 0.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -42178.3411, + 7763.0802, + 160.8421 + ], + "start_rot": [ + 0.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + -42178.3411, + 7763.0802, + 160.8421 + ], + "actual_end_pos": [ + -42178.3411, + 7763.0802, + 160.8421 + ], + "actual_end_rot": [ + 0.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -42178.3411, + 7763.0802, + 160.8421 + ], + "start_rot": [ + 0.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + -42178.3411, + 7763.0802, + 160.8421 + ], + "actual_end_pos": [ + -42178.3411, + 7763.0802, + 160.8421 + ], + "actual_end_rot": [ + 0.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -42178.3411, + 7763.0802, + 160.8421 + ], + "start_rot": [ + 0.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + -42178.3411, + 7763.0802, + 160.8421 + ], + "actual_end_pos": [ + -42178.3411, + 7763.0802, + 160.8421 + ], + "actual_end_rot": [ + 0.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -42178.3411, + 7763.0802, + 160.8421 + ], + "start_rot": [ + 0.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + -42228.3411, + 7849.6828, + 160.8421 + ], + "actual_end_pos": [ + -42228.3411, + 7849.6828, + 160.8421 + ], + "actual_end_rot": [ + 0.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -42228.3411, + 7849.6828, + 160.8421 + ], + "start_rot": [ + 0.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + -42228.3411, + 7849.6828, + 160.8421 + ], + "actual_end_pos": [ + -42228.3411, + 7849.6828, + 160.8421 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -42228.3411, + 7849.6828, + 160.8421 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + -42228.3411, + 7849.6828, + 160.8421 + ], + "actual_end_pos": [ + -42228.3411, + 7849.6828, + 160.8421 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -42228.3411, + 7849.6828, + 160.8421 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -42158.2354, + 7919.7885, + 173.8948 + ], + "actual_end_pos": [ + -42158.2354, + 7919.7885, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -42158.2354, + 7919.7885, + 173.8948 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -42087.5247, + 7849.0778, + 173.8948 + ], + "actual_end_pos": [ + -42087.5247, + 7849.0778, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -42087.5247, + 7849.0778, + 173.8948 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -42017.419, + 7919.1836, + 186.9474 + ], + "actual_end_pos": [ + -42017.419, + 7919.1836, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -42017.419, + 7919.1836, + 186.9474 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -41946.7083, + 7848.4729, + 186.9474 + ], + "actual_end_pos": [ + -41946.7083, + 7848.4729, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -41946.7083, + 7848.4729, + 186.9474 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -41876.6025, + 7918.5786, + 200.0 + ], + "actual_end_pos": [ + -41876.6025, + 7918.5786, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -41876.6025, + 7918.5786, + 200.0 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -41876.6025, + 7918.5786, + 200.0 + ], + "actual_end_pos": [ + -41876.6025, + 7918.5786, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -41876.6025, + 7918.5786, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + -41947.3132, + 7989.2893, + 200.0 + ], + "actual_end_pos": [ + -41947.3132, + 7989.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -41947.3132, + 7989.2893, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + -41876.6025, + 8060.0, + 200.0 + ], + "actual_end_pos": [ + -41876.6025, + 8060.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -41876.6025, + 8060.0, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + -41876.6025, + 8060.0, + 200.0 + ], + "actual_end_pos": [ + -41876.6025, + 8060.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -41876.6025, + 8060.0, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + -0.0 + ], + "expected_end_pos": [ + -41926.6025, + 7973.3975, + 200.0 + ], + "actual_end_pos": [ + -41926.6025, + 7973.3975, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -41926.6025, + 7973.3975, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + -0.0 + ], + "expected_end_pos": [ + -41840.0, + 7923.3975, + 200.0 + ], + "actual_end_pos": [ + -41840.0, + 7923.3975, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -41840.0, + 7923.3975, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + -0.0 + ], + "expected_end_pos": [ + -41790.0, + 8010.0, + 200.0 + ], + "actual_end_pos": [ + -41790.0, + 8010.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -41790.0, + 8010.0, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + -0.0 + ], + "expected_end_pos": [ + -41790.0, + 8010.0, + 200.0 + ], + "actual_end_pos": [ + -41790.0, + 8010.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -41790.0, + 8010.0, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -41790.0, + 8010.0, + 200.0 + ], + "actual_end_pos": [ + -41790.0, + 8010.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260407_174321__traj_001855_meta.json b/inverse_easy/run_20260407_174321__traj_001855_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e3e2da3433a39ce5327e71ae7280565bfe841900 --- /dev/null +++ b/inverse_easy/run_20260407_174321__traj_001855_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 1855, + "episode_id": 0, + "state_id": 1360, + "sample_index": 1360, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -40790.0, + -18990.0, + 200.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "move_right", + "turn_left", + "move_backward", + "move_backward", + "move_left", + "turn_left", + "move_left", + "no_op", + "move_backward", + "move_right", + "move_forward", + "move_right", + "move_right", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "move_right", + "no_op", + "no_op", + "move_left", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_left", + "move_left", + "move_backward", + "move_left", + "move_forward", + "no_op", + "move_right", + "turn_right", + "move_right", + "move_forward", + "move_forward", + "turn_right", + "move_left", + "move_left" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -40790.0, + -18990.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -40790.0, + -18890.0, + 200.0 + ], + "actual_end_pos": [ + -40790.0, + -18890.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -40790.0, + -18890.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -40790.0, + -18790.0, + 200.0 + ], + "actual_end_pos": [ + -40790.0, + -18790.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -40790.0, + -18790.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -40790.0, + -18790.0, + 200.0 + ], + "actual_end_pos": [ + -40790.0, + -18790.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -40790.0, + -18790.0, + 200.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -40886.5926, + -18764.1181, + 200.0 + ], + "actual_end_pos": [ + -40886.5926, + -18764.1181, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -40886.5926, + -18764.1181, + 200.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -40983.1852, + -18738.2362, + 200.0 + ], + "actual_end_pos": [ + -40983.1852, + -18738.2362, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -40983.1852, + -18738.2362, + 200.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -41009.0671, + -18834.8288, + 200.0 + ], + "actual_end_pos": [ + -41009.0671, + -18834.8288, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -41009.0671, + -18834.8288, + 200.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -41009.0671, + -18834.8288, + 200.0 + ], + "actual_end_pos": [ + -41009.0671, + -18834.8288, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -41009.0671, + -18834.8288, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -41059.0671, + -18921.4313, + 200.0 + ], + "actual_end_pos": [ + -41059.0671, + -18921.4313, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -41059.0671, + -18921.4313, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -41059.0671, + -18921.4313, + 200.0 + ], + "actual_end_pos": [ + -41059.0671, + -18921.4313, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -41059.0671, + -18921.4313, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -41145.6696, + -18871.4313, + 200.0 + ], + "actual_end_pos": [ + -41145.6696, + -18871.4313, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -41145.6696, + -18871.4313, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -41095.6696, + -18784.8288, + 200.0 + ], + "actual_end_pos": [ + -41095.6696, + -18784.8288, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -41095.6696, + -18784.8288, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -41009.0671, + -18834.8288, + 200.0 + ], + "actual_end_pos": [ + -41009.0671, + -18834.8288, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -41009.0671, + -18834.8288, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -40959.0671, + -18748.2262, + 200.0 + ], + "actual_end_pos": [ + -40959.0671, + -18748.2262, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -40959.0671, + -18748.2262, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -40909.0671, + -18661.6237, + 200.0 + ], + "actual_end_pos": [ + -40909.0671, + -18661.6237, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -40909.0671, + -18661.6237, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -40822.4645, + -18711.6237, + 200.0 + ], + "actual_end_pos": [ + -40822.4645, + -18711.6237, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -40822.4645, + -18711.6237, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -40735.862, + -18761.6237, + 200.0 + ], + "actual_end_pos": [ + -40735.862, + -18761.6237, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -40735.862, + -18761.6237, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -40649.2594, + -18811.6237, + 200.0 + ], + "actual_end_pos": [ + -40649.2594, + -18811.6237, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -40649.2594, + -18811.6237, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -40562.6569, + -18861.6237, + 200.0 + ], + "actual_end_pos": [ + -40562.6569, + -18861.6237, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -40562.6569, + -18861.6237, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -40512.6569, + -18775.0212, + 200.0 + ], + "actual_end_pos": [ + -40512.6569, + -18775.0212, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -40512.6569, + -18775.0212, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -40512.6569, + -18775.0212, + 200.0 + ], + "actual_end_pos": [ + -40512.6569, + -18775.0212, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -40512.6569, + -18775.0212, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -40512.6569, + -18775.0212, + 200.0 + ], + "actual_end_pos": [ + -40512.6569, + -18775.0212, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -40512.6569, + -18775.0212, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -40562.6569, + -18861.6237, + 200.0 + ], + "actual_end_pos": [ + -40562.6569, + -18861.6237, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -40562.6569, + -18861.6237, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -40649.2594, + -18811.6237, + 200.0 + ], + "actual_end_pos": [ + -40649.2594, + -18811.6237, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -40649.2594, + -18811.6237, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -40735.862, + -18761.6237, + 200.0 + ], + "actual_end_pos": [ + -40735.862, + -18761.6237, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -40735.862, + -18761.6237, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -40822.4645, + -18711.6237, + 200.0 + ], + "actual_end_pos": [ + -40822.4645, + -18711.6237, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -40822.4645, + -18711.6237, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -40909.0671, + -18661.6237, + 200.0 + ], + "actual_end_pos": [ + -40909.0671, + -18661.6237, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -40909.0671, + -18661.6237, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -40959.0671, + -18748.2262, + 200.0 + ], + "actual_end_pos": [ + -40959.0671, + -18748.2262, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -40959.0671, + -18748.2262, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -41009.0671, + -18834.8288, + 200.0 + ], + "actual_end_pos": [ + -41009.0671, + -18834.8288, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -41009.0671, + -18834.8288, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -41095.6696, + -18784.8288, + 200.0 + ], + "actual_end_pos": [ + -41095.6696, + -18784.8288, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -41095.6696, + -18784.8288, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -41145.6696, + -18871.4313, + 200.0 + ], + "actual_end_pos": [ + -41145.6696, + -18871.4313, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -41145.6696, + -18871.4313, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -41059.0671, + -18921.4313, + 200.0 + ], + "actual_end_pos": [ + -41059.0671, + -18921.4313, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -41059.0671, + -18921.4313, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -41059.0671, + -18921.4313, + 200.0 + ], + "actual_end_pos": [ + -41059.0671, + -18921.4313, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -41059.0671, + -18921.4313, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -41009.0671, + -18834.8288, + 200.0 + ], + "actual_end_pos": [ + -41009.0671, + -18834.8288, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -41009.0671, + -18834.8288, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -41009.0671, + -18834.8288, + 200.0 + ], + "actual_end_pos": [ + -41009.0671, + -18834.8288, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -41009.0671, + -18834.8288, + 200.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -40983.1852, + -18738.2362, + 200.0 + ], + "actual_end_pos": [ + -40983.1852, + -18738.2362, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -40983.1852, + -18738.2362, + 200.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -40886.5926, + -18764.1181, + 200.0 + ], + "actual_end_pos": [ + -40886.5926, + -18764.1181, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -40886.5926, + -18764.1181, + 200.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -40790.0, + -18790.0, + 200.0 + ], + "actual_end_pos": [ + -40790.0, + -18790.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -40790.0, + -18790.0, + 200.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -40790.0, + -18790.0, + 200.0 + ], + "actual_end_pos": [ + -40790.0, + -18790.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -40790.0, + -18790.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -40790.0, + -18890.0, + 200.0 + ], + "actual_end_pos": [ + -40790.0, + -18890.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -40790.0, + -18890.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -40790.0, + -18990.0, + 200.0 + ], + "actual_end_pos": [ + -40790.0, + -18990.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260407_174321__traj_002179_meta.json b/inverse_easy/run_20260407_174321__traj_002179_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9fd7ebbe8f7ce833e36a6dcc44e8e8f0709ed388 --- /dev/null +++ b/inverse_easy/run_20260407_174321__traj_002179_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 2179, + "episode_id": 0, + "state_id": 1603, + "sample_index": 1603, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -40790.0, + 15010.0, + 200.0 + ], + "rotation": [ + 0.0, + 135.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_right", + "turn_right", + "move_right", + "move_forward", + "move_forward", + "move_left", + "move_forward", + "move_right", + "move_forward", + "move_left", + "move_left", + "move_forward", + "move_right", + "look_down", + "move_left", + "look_up", + "move_right", + "turn_left", + "turn_left", + "no_op", + "no_op", + "turn_right", + "turn_right", + "move_left", + "look_down", + "move_right", + "look_up", + "move_left", + "move_backward", + "move_right", + "move_right", + "move_backward", + "move_left", + "move_backward", + "move_right", + "move_backward", + "move_backward", + "move_left", + "turn_left", + "turn_left" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -40790.0, + 15010.0, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -40790.0, + 15010.0, + 200.0 + ], + "actual_end_pos": [ + -40790.0, + 15010.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -40790.0, + 15010.0, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -40790.0, + 15010.0, + 200.0 + ], + "actual_end_pos": [ + -40790.0, + 15010.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -40790.0, + 15010.0, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -40815.8819, + 14913.4074, + 200.0 + ], + "actual_end_pos": [ + -40815.8819, + 14913.4074, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -40815.8819, + 14913.4074, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -40912.4745, + 14939.2893, + 200.0 + ], + "actual_end_pos": [ + -40912.4745, + 14939.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -40912.4745, + 14939.2893, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -41009.0671, + 14965.1712, + 200.0 + ], + "actual_end_pos": [ + -41009.0671, + 14965.1712, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -41009.0671, + 14965.1712, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -40983.1852, + 15061.7638, + 200.0 + ], + "actual_end_pos": [ + -40983.1852, + 15061.7638, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -40983.1852, + 15061.7638, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -41079.7777, + 15087.6457, + 200.0 + ], + "actual_end_pos": [ + -41079.7777, + 15087.6457, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -41079.7777, + 15087.6457, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -41105.6597, + 14991.0531, + 200.0 + ], + "actual_end_pos": [ + -41105.6597, + 14991.0531, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -41105.6597, + 14991.0531, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -41202.2522, + 15016.935, + 200.0 + ], + "actual_end_pos": [ + -41202.2522, + 15016.935, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -41202.2522, + 15016.935, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -41176.3703, + 15113.5276, + 200.0 + ], + "actual_end_pos": [ + -41176.3703, + 15113.5276, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -41176.3703, + 15113.5276, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -41150.4884, + 15210.1202, + 200.0 + ], + "actual_end_pos": [ + -41150.4884, + 15210.1202, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -41150.4884, + 15210.1202, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -41247.081, + 15236.0021, + 200.0 + ], + "actual_end_pos": [ + -41247.081, + 15236.0021, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -41247.081, + 15236.0021, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -41272.9629, + 15139.4095, + 200.0 + ], + "actual_end_pos": [ + -41272.9629, + 15139.4095, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -41272.9629, + 15139.4095, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -41272.9629, + 15139.4095, + 200.0 + ], + "actual_end_pos": [ + -41272.9629, + 15139.4095, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -41272.9629, + 15139.4095, + 200.0 + ], + "start_rot": [ + -7.5, + 165.0, + -0.0 + ], + "expected_end_pos": [ + -41247.081, + 15236.0021, + 200.0 + ], + "actual_end_pos": [ + -41247.081, + 15236.0021, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -41247.081, + 15236.0021, + 200.0 + ], + "start_rot": [ + -7.5, + 165.0, + -0.0 + ], + "expected_end_pos": [ + -41247.081, + 15236.0021, + 200.0 + ], + "actual_end_pos": [ + -41247.081, + 15236.0021, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -41247.081, + 15236.0021, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -41272.9629, + 15139.4095, + 200.0 + ], + "actual_end_pos": [ + -41272.9629, + 15139.4095, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -41272.9629, + 15139.4095, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -41272.9629, + 15139.4095, + 200.0 + ], + "actual_end_pos": [ + -41272.9629, + 15139.4095, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -41272.9629, + 15139.4095, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -41272.9629, + 15139.4095, + 200.0 + ], + "actual_end_pos": [ + -41272.9629, + 15139.4095, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -41272.9629, + 15139.4095, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -41272.9629, + 15139.4095, + 200.0 + ], + "actual_end_pos": [ + -41272.9629, + 15139.4095, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -41272.9629, + 15139.4095, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -41272.9629, + 15139.4095, + 200.0 + ], + "actual_end_pos": [ + -41272.9629, + 15139.4095, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -41272.9629, + 15139.4095, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -41272.9629, + 15139.4095, + 200.0 + ], + "actual_end_pos": [ + -41272.9629, + 15139.4095, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -41272.9629, + 15139.4095, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -41272.9629, + 15139.4095, + 200.0 + ], + "actual_end_pos": [ + -41272.9629, + 15139.4095, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -41272.9629, + 15139.4095, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -41247.081, + 15236.0021, + 200.0 + ], + "actual_end_pos": [ + -41247.081, + 15236.0021, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -41247.081, + 15236.0021, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -41247.081, + 15236.0021, + 200.0 + ], + "actual_end_pos": [ + -41247.081, + 15236.0021, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -41247.081, + 15236.0021, + 200.0 + ], + "start_rot": [ + -7.5, + 165.0, + -0.0 + ], + "expected_end_pos": [ + -41272.9629, + 15139.4095, + 200.0 + ], + "actual_end_pos": [ + -41272.9629, + 15139.4095, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -41272.9629, + 15139.4095, + 200.0 + ], + "start_rot": [ + -7.5, + 165.0, + -0.0 + ], + "expected_end_pos": [ + -41272.9629, + 15139.4095, + 200.0 + ], + "actual_end_pos": [ + -41272.9629, + 15139.4095, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -41272.9629, + 15139.4095, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -41247.081, + 15236.0021, + 200.0 + ], + "actual_end_pos": [ + -41247.081, + 15236.0021, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -41247.081, + 15236.0021, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -41150.4884, + 15210.1202, + 200.0 + ], + "actual_end_pos": [ + -41150.4884, + 15210.1202, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -41150.4884, + 15210.1202, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -41176.3703, + 15113.5276, + 200.0 + ], + "actual_end_pos": [ + -41176.3703, + 15113.5276, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -41176.3703, + 15113.5276, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -41202.2522, + 15016.935, + 200.0 + ], + "actual_end_pos": [ + -41202.2522, + 15016.935, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -41202.2522, + 15016.935, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -41105.6597, + 14991.0531, + 200.0 + ], + "actual_end_pos": [ + -41105.6597, + 14991.0531, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -41105.6597, + 14991.0531, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -41079.7777, + 15087.6457, + 200.0 + ], + "actual_end_pos": [ + -41079.7777, + 15087.6457, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -41079.7777, + 15087.6457, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -40983.1852, + 15061.7638, + 200.0 + ], + "actual_end_pos": [ + -40983.1852, + 15061.7638, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -40983.1852, + 15061.7638, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -41009.0671, + 14965.1712, + 200.0 + ], + "actual_end_pos": [ + -41009.0671, + 14965.1712, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -41009.0671, + 14965.1712, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -40912.4745, + 14939.2893, + 200.0 + ], + "actual_end_pos": [ + -40912.4745, + 14939.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -40912.4745, + 14939.2893, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -40815.8819, + 14913.4074, + 200.0 + ], + "actual_end_pos": [ + -40815.8819, + 14913.4074, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -40815.8819, + 14913.4074, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -40790.0, + 15010.0, + 200.0 + ], + "actual_end_pos": [ + -40790.0, + 15010.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -40790.0, + 15010.0, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -40790.0, + 15010.0, + 200.0 + ], + "actual_end_pos": [ + -40790.0, + 15010.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -40790.0, + 15010.0, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -40790.0, + 15010.0, + 200.0 + ], + "actual_end_pos": [ + -40790.0, + 15010.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260407_174321__traj_002348_meta.json b/inverse_easy/run_20260407_174321__traj_002348_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6c41f01aba9d4a3e827cf98dee41c342b1e8c87b --- /dev/null +++ b/inverse_easy/run_20260407_174321__traj_002348_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 2348, + "episode_id": 0, + "state_id": 1733, + "sample_index": 1733, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -39790.0, + -5990.0, + 200.0 + ], + "rotation": [ + 0.0, + 225.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "turn_right", + "move_right", + "move_right", + "turn_left", + "move_forward", + "move_right", + "move_forward", + "move_right", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "move_right", + "move_left", + "move_backward", + "move_left", + "move_backward", + "turn_right", + "move_left", + "move_left", + "turn_left", + "move_forward" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -39790.0, + -5990.0, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -39719.2893, + -5919.2893, + 200.0 + ], + "actual_end_pos": [ + -39719.2893, + -5919.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -39719.2893, + -5919.2893, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -39719.2893, + -5919.2893, + 200.0 + ], + "actual_end_pos": [ + -39719.2893, + -5919.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -39719.2893, + -5919.2893, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -39632.6868, + -5969.2893, + 200.0 + ], + "actual_end_pos": [ + -39632.6868, + -5969.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -39632.6868, + -5969.2893, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -39546.0842, + -6019.2893, + 200.0 + ], + "actual_end_pos": [ + -39546.0842, + -6019.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -39546.0842, + -6019.2893, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -39546.0842, + -6019.2893, + 200.0 + ], + "actual_end_pos": [ + -39546.0842, + -6019.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -39546.0842, + -6019.2893, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -39616.7949, + -6090.0, + 200.0 + ], + "actual_end_pos": [ + -39616.7949, + -6090.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -39616.7949, + -6090.0, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -39546.0842, + -6160.7107, + 200.0 + ], + "actual_end_pos": [ + -39546.0842, + -6160.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -39546.0842, + -6160.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -39616.7949, + -6231.4214, + 200.0 + ], + "actual_end_pos": [ + -39616.7949, + -6231.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -39616.7949, + -6231.4214, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -39546.0842, + -6302.132, + 200.0 + ], + "actual_end_pos": [ + -39546.0842, + -6302.132, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -39546.0842, + -6302.132, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -39616.7949, + -6231.4214, + 200.0 + ], + "actual_end_pos": [ + -39616.7949, + -6231.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -39616.7949, + -6231.4214, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -39616.7949, + -6231.4214, + 200.0 + ], + "actual_end_pos": [ + -39616.7949, + -6231.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -39616.7949, + -6231.4214, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -39616.7949, + -6231.4214, + 200.0 + ], + "actual_end_pos": [ + -39616.7949, + -6231.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -39616.7949, + -6231.4214, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -39616.7949, + -6231.4214, + 200.0 + ], + "actual_end_pos": [ + -39616.7949, + -6231.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -39616.7949, + -6231.4214, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -39616.7949, + -6231.4214, + 200.0 + ], + "actual_end_pos": [ + -39616.7949, + -6231.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -39616.7949, + -6231.4214, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -39616.7949, + -6231.4214, + 200.0 + ], + "actual_end_pos": [ + -39616.7949, + -6231.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -39616.7949, + -6231.4214, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -39616.7949, + -6231.4214, + 200.0 + ], + "actual_end_pos": [ + -39616.7949, + -6231.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -39616.7949, + -6231.4214, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -39616.7949, + -6231.4214, + 200.0 + ], + "actual_end_pos": [ + -39616.7949, + -6231.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -39616.7949, + -6231.4214, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -39616.7949, + -6231.4214, + 200.0 + ], + "actual_end_pos": [ + -39616.7949, + -6231.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -39616.7949, + -6231.4214, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -39616.7949, + -6231.4214, + 200.0 + ], + "actual_end_pos": [ + -39616.7949, + -6231.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -39616.7949, + -6231.4214, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -39616.7949, + -6231.4214, + 200.0 + ], + "actual_end_pos": [ + -39616.7949, + -6231.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -39616.7949, + -6231.4214, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -39616.7949, + -6231.4214, + 200.0 + ], + "actual_end_pos": [ + -39616.7949, + -6231.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -39616.7949, + -6231.4214, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -39616.7949, + -6231.4214, + 200.0 + ], + "actual_end_pos": [ + -39616.7949, + -6231.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -39616.7949, + -6231.4214, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -39616.7949, + -6231.4214, + 200.0 + ], + "actual_end_pos": [ + -39616.7949, + -6231.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -39616.7949, + -6231.4214, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -39616.7949, + -6231.4214, + 200.0 + ], + "actual_end_pos": [ + -39616.7949, + -6231.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -39616.7949, + -6231.4214, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -39616.7949, + -6231.4214, + 200.0 + ], + "actual_end_pos": [ + -39616.7949, + -6231.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -39616.7949, + -6231.4214, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -39616.7949, + -6231.4214, + 200.0 + ], + "actual_end_pos": [ + -39616.7949, + -6231.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -39616.7949, + -6231.4214, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -39616.7949, + -6231.4214, + 200.0 + ], + "actual_end_pos": [ + -39616.7949, + -6231.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -39616.7949, + -6231.4214, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -39616.7949, + -6231.4214, + 200.0 + ], + "actual_end_pos": [ + -39616.7949, + -6231.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -39616.7949, + -6231.4214, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -39616.7949, + -6231.4214, + 200.0 + ], + "actual_end_pos": [ + -39616.7949, + -6231.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -39616.7949, + -6231.4214, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -39616.7949, + -6231.4214, + 200.0 + ], + "actual_end_pos": [ + -39616.7949, + -6231.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -39616.7949, + -6231.4214, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -39546.0842, + -6302.132, + 200.0 + ], + "actual_end_pos": [ + -39546.0842, + -6302.132, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -39546.0842, + -6302.132, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -39616.7949, + -6231.4214, + 200.0 + ], + "actual_end_pos": [ + -39616.7949, + -6231.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -39616.7949, + -6231.4214, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -39546.0842, + -6160.7107, + 200.0 + ], + "actual_end_pos": [ + -39546.0842, + -6160.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -39546.0842, + -6160.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -39616.7949, + -6090.0, + 200.0 + ], + "actual_end_pos": [ + -39616.7949, + -6090.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -39616.7949, + -6090.0, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -39546.0842, + -6019.2893, + 200.0 + ], + "actual_end_pos": [ + -39546.0842, + -6019.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -39546.0842, + -6019.2893, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -39546.0842, + -6019.2893, + 200.0 + ], + "actual_end_pos": [ + -39546.0842, + -6019.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -39546.0842, + -6019.2893, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -39632.6868, + -5969.2893, + 200.0 + ], + "actual_end_pos": [ + -39632.6868, + -5969.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -39632.6868, + -5969.2893, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -39719.2893, + -5919.2893, + 200.0 + ], + "actual_end_pos": [ + -39719.2893, + -5919.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -39719.2893, + -5919.2893, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -39719.2893, + -5919.2893, + 200.0 + ], + "actual_end_pos": [ + -39719.2893, + -5919.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -39719.2893, + -5919.2893, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -39790.0, + -5990.0, + 200.0 + ], + "actual_end_pos": [ + -39790.0, + -5990.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260407_174321__traj_002355_meta.json b/inverse_easy/run_20260407_174321__traj_002355_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1bbb6d8c242232ad546df47a93b63e5f1c895f7f --- /dev/null +++ b/inverse_easy/run_20260407_174321__traj_002355_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 2355, + "episode_id": 0, + "state_id": 1738, + "sample_index": 1738, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -39790.0, + -4990.0, + 200.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_right", + "move_backward", + "move_left", + "move_left", + "turn_right", + "look_down", + "look_down", + "move_forward", + "move_left", + "turn_left", + "move_backward", + "turn_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "move_left", + "turn_left", + "move_forward", + "turn_right", + "move_right", + "move_backward", + "look_up", + "look_up", + "turn_left", + "move_right", + "move_right", + "move_forward", + "turn_left" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -39790.0, + -4990.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -39790.0, + -4990.0, + 200.0 + ], + "actual_end_pos": [ + -39790.0, + -4990.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -39790.0, + -4990.0, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -39764.1181, + -5086.5926, + 200.0 + ], + "actual_end_pos": [ + -39764.1181, + -5086.5926, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -39764.1181, + -5086.5926, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -39667.5255, + -5060.7107, + 200.0 + ], + "actual_end_pos": [ + -39667.5255, + -5060.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -39667.5255, + -5060.7107, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -39570.9329, + -5034.8288, + 200.0 + ], + "actual_end_pos": [ + -39570.9329, + -5034.8288, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -39570.9329, + -5034.8288, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -39570.9329, + -5034.8288, + 200.0 + ], + "actual_end_pos": [ + -39570.9329, + -5034.8288, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -39570.9329, + -5034.8288, + 200.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -39570.9329, + -5034.8288, + 200.0 + ], + "actual_end_pos": [ + -39570.9329, + -5034.8288, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -39570.9329, + -5034.8288, + 200.0 + ], + "start_rot": [ + -7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -39570.9329, + -5034.8288, + 200.0 + ], + "actual_end_pos": [ + -39570.9329, + -5034.8288, + 200.0 + ], + "actual_end_rot": [ + -15.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -39570.9329, + -5034.8288, + 200.0 + ], + "start_rot": [ + -15.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -39619.2292, + -4951.1771, + 174.1181 + ], + "actual_end_pos": [ + -39619.2292, + -4951.1771, + 174.1181 + ], + "actual_end_rot": [ + -15.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -39619.2292, + -4951.1771, + 174.1181 + ], + "start_rot": [ + -15.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -39532.6267, + -4901.1771, + 174.1181 + ], + "actual_end_pos": [ + -39532.6267, + -4901.1771, + 174.1181 + ], + "actual_end_rot": [ + -15.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -39532.6267, + -4901.1771, + 174.1181 + ], + "start_rot": [ + -15.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -39532.6267, + -4901.1771, + 174.1181 + ], + "actual_end_pos": [ + -39532.6267, + -4901.1771, + 174.1181 + ], + "actual_end_rot": [ + -15.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -39532.6267, + -4901.1771, + 174.1181 + ], + "start_rot": [ + -15.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -39507.6267, + -4994.4784, + 200.0 + ], + "actual_end_pos": [ + -39507.6267, + -4994.4784, + 200.0 + ], + "actual_end_rot": [ + -15.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -39507.6267, + -4994.4784, + 200.0 + ], + "start_rot": [ + -15.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -39507.6267, + -4994.4784, + 200.0 + ], + "actual_end_pos": [ + -39507.6267, + -4994.4784, + 200.0 + ], + "actual_end_rot": [ + -15.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -39507.6267, + -4994.4784, + 200.0 + ], + "start_rot": [ + -15.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -39594.2292, + -5044.4784, + 200.0 + ], + "actual_end_pos": [ + -39594.2292, + -5044.4784, + 200.0 + ], + "actual_end_rot": [ + -15.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -39594.2292, + -5044.4784, + 200.0 + ], + "start_rot": [ + -15.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -39594.2292, + -5044.4784, + 200.0 + ], + "actual_end_pos": [ + -39594.2292, + -5044.4784, + 200.0 + ], + "actual_end_rot": [ + -15.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -39594.2292, + -5044.4784, + 200.0 + ], + "start_rot": [ + -15.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -39594.2292, + -5044.4784, + 200.0 + ], + "actual_end_pos": [ + -39594.2292, + -5044.4784, + 200.0 + ], + "actual_end_rot": [ + -15.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -39594.2292, + -5044.4784, + 200.0 + ], + "start_rot": [ + -15.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -39594.2292, + -5044.4784, + 200.0 + ], + "actual_end_pos": [ + -39594.2292, + -5044.4784, + 200.0 + ], + "actual_end_rot": [ + -15.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -39594.2292, + -5044.4784, + 200.0 + ], + "start_rot": [ + -15.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -39594.2292, + -5044.4784, + 200.0 + ], + "actual_end_pos": [ + -39594.2292, + -5044.4784, + 200.0 + ], + "actual_end_rot": [ + -15.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -39594.2292, + -5044.4784, + 200.0 + ], + "start_rot": [ + -15.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -39594.2292, + -5044.4784, + 200.0 + ], + "actual_end_pos": [ + -39594.2292, + -5044.4784, + 200.0 + ], + "actual_end_rot": [ + -15.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -39594.2292, + -5044.4784, + 200.0 + ], + "start_rot": [ + -15.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -39594.2292, + -5044.4784, + 200.0 + ], + "actual_end_pos": [ + -39594.2292, + -5044.4784, + 200.0 + ], + "actual_end_rot": [ + -15.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -39594.2292, + -5044.4784, + 200.0 + ], + "start_rot": [ + -15.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -39594.2292, + -5044.4784, + 200.0 + ], + "actual_end_pos": [ + -39594.2292, + -5044.4784, + 200.0 + ], + "actual_end_rot": [ + -15.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -39594.2292, + -5044.4784, + 200.0 + ], + "start_rot": [ + -15.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -39594.2292, + -5044.4784, + 200.0 + ], + "actual_end_pos": [ + -39594.2292, + -5044.4784, + 200.0 + ], + "actual_end_rot": [ + -15.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -39594.2292, + -5044.4784, + 200.0 + ], + "start_rot": [ + -15.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -39594.2292, + -5044.4784, + 200.0 + ], + "actual_end_pos": [ + -39594.2292, + -5044.4784, + 200.0 + ], + "actual_end_rot": [ + -15.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -39594.2292, + -5044.4784, + 200.0 + ], + "start_rot": [ + -15.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -39594.2292, + -5044.4784, + 200.0 + ], + "actual_end_pos": [ + -39594.2292, + -5044.4784, + 200.0 + ], + "actual_end_rot": [ + -15.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -39594.2292, + -5044.4784, + 200.0 + ], + "start_rot": [ + -15.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -39594.2292, + -5044.4784, + 200.0 + ], + "actual_end_pos": [ + -39594.2292, + -5044.4784, + 200.0 + ], + "actual_end_rot": [ + -15.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -39594.2292, + -5044.4784, + 200.0 + ], + "start_rot": [ + -15.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -39594.2292, + -5044.4784, + 200.0 + ], + "actual_end_pos": [ + -39594.2292, + -5044.4784, + 200.0 + ], + "actual_end_rot": [ + -15.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -39594.2292, + -5044.4784, + 200.0 + ], + "start_rot": [ + -15.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -39594.2292, + -5044.4784, + 200.0 + ], + "actual_end_pos": [ + -39594.2292, + -5044.4784, + 200.0 + ], + "actual_end_rot": [ + -15.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -39594.2292, + -5044.4784, + 200.0 + ], + "start_rot": [ + -15.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -39594.2292, + -5044.4784, + 200.0 + ], + "actual_end_pos": [ + -39594.2292, + -5044.4784, + 200.0 + ], + "actual_end_rot": [ + -15.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -39594.2292, + -5044.4784, + 200.0 + ], + "start_rot": [ + -15.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -39507.6267, + -4994.4784, + 200.0 + ], + "actual_end_pos": [ + -39507.6267, + -4994.4784, + 200.0 + ], + "actual_end_rot": [ + -15.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -39507.6267, + -4994.4784, + 200.0 + ], + "start_rot": [ + -15.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -39507.6267, + -4994.4784, + 200.0 + ], + "actual_end_pos": [ + -39507.6267, + -4994.4784, + 200.0 + ], + "actual_end_rot": [ + -15.0, + 105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -39507.6267, + -4994.4784, + 200.0 + ], + "start_rot": [ + -15.0, + 105.0, + -0.0 + ], + "expected_end_pos": [ + -39532.6267, + -4901.1771, + 174.1181 + ], + "actual_end_pos": [ + -39532.6267, + -4901.1771, + 174.1181 + ], + "actual_end_rot": [ + -15.0, + 105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -39532.6267, + -4901.1771, + 174.1181 + ], + "start_rot": [ + -15.0, + 105.0, + -0.0 + ], + "expected_end_pos": [ + -39532.6267, + -4901.1771, + 174.1181 + ], + "actual_end_pos": [ + -39532.6267, + -4901.1771, + 174.1181 + ], + "actual_end_rot": [ + -15.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -39532.6267, + -4901.1771, + 174.1181 + ], + "start_rot": [ + -15.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -39619.2292, + -4951.1771, + 174.1181 + ], + "actual_end_pos": [ + -39619.2292, + -4951.1771, + 174.1181 + ], + "actual_end_rot": [ + -15.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -39619.2292, + -4951.1771, + 174.1181 + ], + "start_rot": [ + -15.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -39570.9329, + -5034.8288, + 200.0 + ], + "actual_end_pos": [ + -39570.9329, + -5034.8288, + 200.0 + ], + "actual_end_rot": [ + -15.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -39570.9329, + -5034.8288, + 200.0 + ], + "start_rot": [ + -15.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -39570.9329, + -5034.8288, + 200.0 + ], + "actual_end_pos": [ + -39570.9329, + -5034.8288, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -39570.9329, + -5034.8288, + 200.0 + ], + "start_rot": [ + -7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -39570.9329, + -5034.8288, + 200.0 + ], + "actual_end_pos": [ + -39570.9329, + -5034.8288, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -39570.9329, + -5034.8288, + 200.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -39570.9329, + -5034.8288, + 200.0 + ], + "actual_end_pos": [ + -39570.9329, + -5034.8288, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -39570.9329, + -5034.8288, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -39667.5255, + -5060.7107, + 200.0 + ], + "actual_end_pos": [ + -39667.5255, + -5060.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -39667.5255, + -5060.7107, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -39764.1181, + -5086.5926, + 200.0 + ], + "actual_end_pos": [ + -39764.1181, + -5086.5926, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -39764.1181, + -5086.5926, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -39790.0, + -4990.0, + 200.0 + ], + "actual_end_pos": [ + -39790.0, + -4990.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -39790.0, + -4990.0, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -39790.0, + -4990.0, + 200.0 + ], + "actual_end_pos": [ + -39790.0, + -4990.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260407_174321__traj_002454_meta.json b/inverse_easy/run_20260407_174321__traj_002454_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c9b4a6bc3bc7c24d02f57f572dbeb681c5c84ab2 --- /dev/null +++ b/inverse_easy/run_20260407_174321__traj_002454_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 2454, + "episode_id": 0, + "state_id": 1814, + "sample_index": 1814, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -39790.0, + 8010.0, + 200.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "move_backward", + "move_backward", + "move_left", + "move_left", + "move_forward", + "move_right", + "look_down", + "move_right", + "look_up", + "move_right", + "move_right", + "move_right", + "look_down", + "look_down", + "move_right", + "turn_left", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "move_left", + "turn_right", + "move_left", + "look_up", + "look_up", + "move_left", + "move_left", + "move_left", + "look_down", + "move_left", + "look_up", + "move_left", + "move_backward", + "move_right", + "move_right", + "move_forward", + "move_forward", + "move_right" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -39790.0, + 8010.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -39890.0, + 8010.0, + 200.0 + ], + "actual_end_pos": [ + -39890.0, + 8010.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -39890.0, + 8010.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -39890.0, + 8110.0, + 200.0 + ], + "actual_end_pos": [ + -39890.0, + 8110.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -39890.0, + 8110.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -39890.0, + 8210.0, + 200.0 + ], + "actual_end_pos": [ + -39890.0, + 8210.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -39890.0, + 8210.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -39990.0, + 8210.0, + 200.0 + ], + "actual_end_pos": [ + -39990.0, + 8210.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -39990.0, + 8210.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -40090.0, + 8210.0, + 200.0 + ], + "actual_end_pos": [ + -40090.0, + 8210.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -40090.0, + 8210.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -40090.0, + 8110.0, + 200.0 + ], + "actual_end_pos": [ + -40090.0, + 8110.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -40090.0, + 8110.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -39990.0, + 8110.0, + 200.0 + ], + "actual_end_pos": [ + -39990.0, + 8110.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -39990.0, + 8110.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -39990.0, + 8110.0, + 200.0 + ], + "actual_end_pos": [ + -39990.0, + 8110.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -39990.0, + 8110.0, + 200.0 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -39890.0, + 8110.0, + 200.0 + ], + "actual_end_pos": [ + -39890.0, + 8110.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -39890.0, + 8110.0, + 200.0 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -39890.0, + 8110.0, + 200.0 + ], + "actual_end_pos": [ + -39890.0, + 8110.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -39890.0, + 8110.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -39790.0, + 8110.0, + 200.0 + ], + "actual_end_pos": [ + -39790.0, + 8110.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -39790.0, + 8110.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -39690.0, + 8110.0, + 200.0 + ], + "actual_end_pos": [ + -39690.0, + 8110.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -39690.0, + 8110.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -39590.0, + 8110.0, + 200.0 + ], + "actual_end_pos": [ + -39590.0, + 8110.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -39590.0, + 8110.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -39590.0, + 8110.0, + 200.0 + ], + "actual_end_pos": [ + -39590.0, + 8110.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -39590.0, + 8110.0, + 200.0 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -39590.0, + 8110.0, + 200.0 + ], + "actual_end_pos": [ + -39590.0, + 8110.0, + 200.0 + ], + "actual_end_rot": [ + -15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -39590.0, + 8110.0, + 200.0 + ], + "start_rot": [ + -15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -39490.0, + 8110.0, + 200.0 + ], + "actual_end_pos": [ + -39490.0, + 8110.0, + 200.0 + ], + "actual_end_rot": [ + -15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -39490.0, + 8110.0, + 200.0 + ], + "start_rot": [ + -15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -39490.0, + 8110.0, + 200.0 + ], + "actual_end_pos": [ + -39490.0, + 8110.0, + 200.0 + ], + "actual_end_rot": [ + -15.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -39490.0, + 8110.0, + 200.0 + ], + "start_rot": [ + -15.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -39393.4074, + 8084.1181, + 200.0 + ], + "actual_end_pos": [ + -39393.4074, + 8084.1181, + 200.0 + ], + "actual_end_rot": [ + -15.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -39393.4074, + 8084.1181, + 200.0 + ], + "start_rot": [ + -15.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -39393.4074, + 8084.1181, + 200.0 + ], + "actual_end_pos": [ + -39393.4074, + 8084.1181, + 200.0 + ], + "actual_end_rot": [ + -15.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -39393.4074, + 8084.1181, + 200.0 + ], + "start_rot": [ + -15.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -39393.4074, + 8084.1181, + 200.0 + ], + "actual_end_pos": [ + -39393.4074, + 8084.1181, + 200.0 + ], + "actual_end_rot": [ + -15.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -39393.4074, + 8084.1181, + 200.0 + ], + "start_rot": [ + -15.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -39393.4074, + 8084.1181, + 200.0 + ], + "actual_end_pos": [ + -39393.4074, + 8084.1181, + 200.0 + ], + "actual_end_rot": [ + -15.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -39393.4074, + 8084.1181, + 200.0 + ], + "start_rot": [ + -15.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -39393.4074, + 8084.1181, + 200.0 + ], + "actual_end_pos": [ + -39393.4074, + 8084.1181, + 200.0 + ], + "actual_end_rot": [ + -15.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -39393.4074, + 8084.1181, + 200.0 + ], + "start_rot": [ + -15.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -39490.0, + 8110.0, + 200.0 + ], + "actual_end_pos": [ + -39490.0, + 8110.0, + 200.0 + ], + "actual_end_rot": [ + -15.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -39490.0, + 8110.0, + 200.0 + ], + "start_rot": [ + -15.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -39490.0, + 8110.0, + 200.0 + ], + "actual_end_pos": [ + -39490.0, + 8110.0, + 200.0 + ], + "actual_end_rot": [ + -15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -39490.0, + 8110.0, + 200.0 + ], + "start_rot": [ + -15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -39590.0, + 8110.0, + 200.0 + ], + "actual_end_pos": [ + -39590.0, + 8110.0, + 200.0 + ], + "actual_end_rot": [ + -15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -39590.0, + 8110.0, + 200.0 + ], + "start_rot": [ + -15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -39590.0, + 8110.0, + 200.0 + ], + "actual_end_pos": [ + -39590.0, + 8110.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -39590.0, + 8110.0, + 200.0 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -39590.0, + 8110.0, + 200.0 + ], + "actual_end_pos": [ + -39590.0, + 8110.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -39590.0, + 8110.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -39690.0, + 8110.0, + 200.0 + ], + "actual_end_pos": [ + -39690.0, + 8110.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -39690.0, + 8110.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -39790.0, + 8110.0, + 200.0 + ], + "actual_end_pos": [ + -39790.0, + 8110.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -39790.0, + 8110.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -39890.0, + 8110.0, + 200.0 + ], + "actual_end_pos": [ + -39890.0, + 8110.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -39890.0, + 8110.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -39890.0, + 8110.0, + 200.0 + ], + "actual_end_pos": [ + -39890.0, + 8110.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -39890.0, + 8110.0, + 200.0 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -39990.0, + 8110.0, + 200.0 + ], + "actual_end_pos": [ + -39990.0, + 8110.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -39990.0, + 8110.0, + 200.0 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -39990.0, + 8110.0, + 200.0 + ], + "actual_end_pos": [ + -39990.0, + 8110.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -39990.0, + 8110.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -40090.0, + 8110.0, + 200.0 + ], + "actual_end_pos": [ + -40090.0, + 8110.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -40090.0, + 8110.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -40090.0, + 8210.0, + 200.0 + ], + "actual_end_pos": [ + -40090.0, + 8210.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -40090.0, + 8210.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -39990.0, + 8210.0, + 200.0 + ], + "actual_end_pos": [ + -39990.0, + 8210.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -39990.0, + 8210.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -39890.0, + 8210.0, + 200.0 + ], + "actual_end_pos": [ + -39890.0, + 8210.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -39890.0, + 8210.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -39890.0, + 8110.0, + 200.0 + ], + "actual_end_pos": [ + -39890.0, + 8110.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -39890.0, + 8110.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -39890.0, + 8010.0, + 200.0 + ], + "actual_end_pos": [ + -39890.0, + 8010.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -39890.0, + 8010.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -39790.0, + 8010.0, + 200.0 + ], + "actual_end_pos": [ + -39790.0, + 8010.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260407_174321__traj_003201_meta.json b/inverse_easy/run_20260407_174321__traj_003201_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5541104956e1233127bca443ebf8dfea46fddd4e --- /dev/null +++ b/inverse_easy/run_20260407_174321__traj_003201_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 3201, + "episode_id": 0, + "state_id": 2366, + "sample_index": 2366, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -37790.0, + 10010.0, + 200.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_left", + "move_forward", + "move_right", + "move_backward", + "move_right", + "turn_left", + "move_forward", + "look_up", + "turn_left", + "move_forward", + "turn_left", + "turn_left", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "move_left", + "turn_right", + "turn_right", + "move_backward", + "turn_right", + "look_down", + "move_backward", + "turn_right", + "move_left", + "move_forward", + "move_left", + "move_backward", + "move_right", + "move_forward" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -37790.0, + 10010.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -37790.0, + 10110.0, + 200.0 + ], + "actual_end_pos": [ + -37790.0, + 10110.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -37790.0, + 10110.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -37890.0, + 10110.0, + 200.0 + ], + "actual_end_pos": [ + -37890.0, + 10110.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -37890.0, + 10110.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -37890.0, + 10010.0, + 200.0 + ], + "actual_end_pos": [ + -37890.0, + 10010.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -37890.0, + 10010.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -37790.0, + 10010.0, + 200.0 + ], + "actual_end_pos": [ + -37790.0, + 10010.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -37790.0, + 10010.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -37790.0, + 10110.0, + 200.0 + ], + "actual_end_pos": [ + -37790.0, + 10110.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -37790.0, + 10110.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -37690.0, + 10110.0, + 200.0 + ], + "actual_end_pos": [ + -37690.0, + 10110.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -37690.0, + 10110.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -37690.0, + 10110.0, + 200.0 + ], + "actual_end_pos": [ + -37690.0, + 10110.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -37690.0, + 10110.0, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -37715.8819, + 10013.4074, + 200.0 + ], + "actual_end_pos": [ + -37715.8819, + 10013.4074, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -37715.8819, + 10013.4074, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -37715.8819, + 10013.4074, + 200.0 + ], + "actual_end_pos": [ + -37715.8819, + 10013.4074, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -37715.8819, + 10013.4074, + 200.0 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -37715.8819, + 10013.4074, + 200.0 + ], + "actual_end_pos": [ + -37715.8819, + 10013.4074, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -37715.8819, + 10013.4074, + 200.0 + ], + "start_rot": [ + 7.5, + -120.0, + -0.0 + ], + "expected_end_pos": [ + -37765.4541, + 9927.5458, + 213.0526 + ], + "actual_end_pos": [ + -37765.4541, + 9927.5458, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -37765.4541, + 9927.5458, + 213.0526 + ], + "start_rot": [ + 7.5, + -120.0, + -0.0 + ], + "expected_end_pos": [ + -37765.4541, + 9927.5458, + 213.0526 + ], + "actual_end_pos": [ + -37765.4541, + 9927.5458, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -37765.4541, + 9927.5458, + 213.0526 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -37765.4541, + 9927.5458, + 213.0526 + ], + "actual_end_pos": [ + -37765.4541, + 9927.5458, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -37765.4541, + 9927.5458, + 213.0526 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -37715.4541, + 9840.9432, + 213.0526 + ], + "actual_end_pos": [ + -37715.4541, + 9840.9432, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -37715.4541, + 9840.9432, + 213.0526 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -37715.4541, + 9840.9432, + 213.0526 + ], + "actual_end_pos": [ + -37715.4541, + 9840.9432, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -37715.4541, + 9840.9432, + 213.0526 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -37715.4541, + 9840.9432, + 213.0526 + ], + "actual_end_pos": [ + -37715.4541, + 9840.9432, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -37715.4541, + 9840.9432, + 213.0526 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -37715.4541, + 9840.9432, + 213.0526 + ], + "actual_end_pos": [ + -37715.4541, + 9840.9432, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -37715.4541, + 9840.9432, + 213.0526 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -37715.4541, + 9840.9432, + 213.0526 + ], + "actual_end_pos": [ + -37715.4541, + 9840.9432, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -37715.4541, + 9840.9432, + 213.0526 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -37715.4541, + 9840.9432, + 213.0526 + ], + "actual_end_pos": [ + -37715.4541, + 9840.9432, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -37715.4541, + 9840.9432, + 213.0526 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -37715.4541, + 9840.9432, + 213.0526 + ], + "actual_end_pos": [ + -37715.4541, + 9840.9432, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -37715.4541, + 9840.9432, + 213.0526 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -37715.4541, + 9840.9432, + 213.0526 + ], + "actual_end_pos": [ + -37715.4541, + 9840.9432, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -37715.4541, + 9840.9432, + 213.0526 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -37715.4541, + 9840.9432, + 213.0526 + ], + "actual_end_pos": [ + -37715.4541, + 9840.9432, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -37715.4541, + 9840.9432, + 213.0526 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -37715.4541, + 9840.9432, + 213.0526 + ], + "actual_end_pos": [ + -37715.4541, + 9840.9432, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -37715.4541, + 9840.9432, + 213.0526 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -37715.4541, + 9840.9432, + 213.0526 + ], + "actual_end_pos": [ + -37715.4541, + 9840.9432, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -37715.4541, + 9840.9432, + 213.0526 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -37715.4541, + 9840.9432, + 213.0526 + ], + "actual_end_pos": [ + -37715.4541, + 9840.9432, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -37715.4541, + 9840.9432, + 213.0526 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -37715.4541, + 9840.9432, + 213.0526 + ], + "actual_end_pos": [ + -37715.4541, + 9840.9432, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -37715.4541, + 9840.9432, + 213.0526 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -37765.4541, + 9927.5458, + 213.0526 + ], + "actual_end_pos": [ + -37765.4541, + 9927.5458, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -37765.4541, + 9927.5458, + 213.0526 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -37765.4541, + 9927.5458, + 213.0526 + ], + "actual_end_pos": [ + -37765.4541, + 9927.5458, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -37765.4541, + 9927.5458, + 213.0526 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -37765.4541, + 9927.5458, + 213.0526 + ], + "actual_end_pos": [ + -37765.4541, + 9927.5458, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -37765.4541, + 9927.5458, + 213.0526 + ], + "start_rot": [ + 7.5, + -120.0, + -0.0 + ], + "expected_end_pos": [ + -37715.8819, + 10013.4074, + 200.0 + ], + "actual_end_pos": [ + -37715.8819, + 10013.4074, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -37715.8819, + 10013.4074, + 200.0 + ], + "start_rot": [ + 7.5, + -120.0, + -0.0 + ], + "expected_end_pos": [ + -37715.8819, + 10013.4074, + 200.0 + ], + "actual_end_pos": [ + -37715.8819, + 10013.4074, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -37715.8819, + 10013.4074, + 200.0 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -37715.8819, + 10013.4074, + 200.0 + ], + "actual_end_pos": [ + -37715.8819, + 10013.4074, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -37715.8819, + 10013.4074, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -37690.0, + 10110.0, + 200.0 + ], + "actual_end_pos": [ + -37690.0, + 10110.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -37690.0, + 10110.0, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -37690.0, + 10110.0, + 200.0 + ], + "actual_end_pos": [ + -37690.0, + 10110.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -37690.0, + 10110.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -37790.0, + 10110.0, + 200.0 + ], + "actual_end_pos": [ + -37790.0, + 10110.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -37790.0, + 10110.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -37790.0, + 10010.0, + 200.0 + ], + "actual_end_pos": [ + -37790.0, + 10010.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -37790.0, + 10010.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -37890.0, + 10010.0, + 200.0 + ], + "actual_end_pos": [ + -37890.0, + 10010.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -37890.0, + 10010.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -37890.0, + 10110.0, + 200.0 + ], + "actual_end_pos": [ + -37890.0, + 10110.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -37890.0, + 10110.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -37790.0, + 10110.0, + 200.0 + ], + "actual_end_pos": [ + -37790.0, + 10110.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -37790.0, + 10110.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -37790.0, + 10010.0, + 200.0 + ], + "actual_end_pos": [ + -37790.0, + 10010.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260408_000744__traj_000014_meta.json b/inverse_easy/run_20260408_000744__traj_000014_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..36e2bb8ff9cff5e0e20ddd561f75b9ba709c3a08 --- /dev/null +++ b/inverse_easy/run_20260408_000744__traj_000014_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 14, + "episode_id": 0, + "state_id": 10, + "sample_index": 10, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -500.0, + -4360.0, + 400.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "move_right", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "move_left", + "move_forward", + "move_right", + "move_right", + "move_forward", + "move_forward", + "move_right", + "move_backward", + "move_right", + "move_right", + "move_right", + "move_right", + "move_right", + "no_op", + "no_op", + "move_left", + "move_left", + "move_left", + "move_left", + "move_left", + "move_forward", + "move_left", + "move_backward", + "move_backward", + "move_left", + "move_left", + "move_backward", + "move_right", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_left", + "move_left" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -500.0, + -4360.0, + 400.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -600.0, + -4360.0, + 400.0 + ], + "actual_end_pos": [ + -600.0, + -4360.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -600.0, + -4360.0, + 400.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -700.0, + -4360.0, + 400.0 + ], + "actual_end_pos": [ + -700.0, + -4360.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -700.0, + -4360.0, + 400.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -700.0, + -4260.0, + 400.0 + ], + "actual_end_pos": [ + -700.0, + -4260.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -700.0, + -4260.0, + 400.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -700.0, + -4160.0, + 400.0 + ], + "actual_end_pos": [ + -700.0, + -4160.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -700.0, + -4160.0, + 400.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -700.0, + -4060.0, + 400.0 + ], + "actual_end_pos": [ + -700.0, + -4060.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -700.0, + -4060.0, + 400.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -700.0, + -3960.0, + 400.0 + ], + "actual_end_pos": [ + -700.0, + -3960.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -700.0, + -3960.0, + 400.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -600.0, + -3960.0, + 400.0 + ], + "actual_end_pos": [ + -600.0, + -3960.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -600.0, + -3960.0, + 400.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -600.0, + -3860.0, + 400.0 + ], + "actual_end_pos": [ + -600.0, + -3860.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -600.0, + -3860.0, + 400.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -700.0, + -3860.0, + 400.0 + ], + "actual_end_pos": [ + -700.0, + -3860.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -700.0, + -3860.0, + 400.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -800.0, + -3860.0, + 400.0 + ], + "actual_end_pos": [ + -800.0, + -3860.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -800.0, + -3860.0, + 400.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -800.0, + -3760.0, + 400.0 + ], + "actual_end_pos": [ + -800.0, + -3760.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -800.0, + -3760.0, + 400.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -800.0, + -3660.0, + 400.0 + ], + "actual_end_pos": [ + -800.0, + -3660.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -800.0, + -3660.0, + 400.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -900.0, + -3660.0, + 400.0 + ], + "actual_end_pos": [ + -900.0, + -3660.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -900.0, + -3660.0, + 400.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -900.0, + -3760.0, + 400.0 + ], + "actual_end_pos": [ + -900.0, + -3760.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -900.0, + -3760.0, + 400.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1000.0, + -3760.0, + 400.0 + ], + "actual_end_pos": [ + -1000.0, + -3760.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1000.0, + -3760.0, + 400.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1100.0, + -3760.0, + 400.0 + ], + "actual_end_pos": [ + -1100.0, + -3760.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1100.0, + -3760.0, + 400.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1200.0, + -3760.0, + 400.0 + ], + "actual_end_pos": [ + -1200.0, + -3760.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1200.0, + -3760.0, + 400.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1300.0, + -3760.0, + 400.0 + ], + "actual_end_pos": [ + -1300.0, + -3760.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1300.0, + -3760.0, + 400.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1400.0, + -3760.0, + 400.0 + ], + "actual_end_pos": [ + -1400.0, + -3760.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1400.0, + -3760.0, + 400.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1400.0, + -3760.0, + 400.0 + ], + "actual_end_pos": [ + -1400.0, + -3760.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1400.0, + -3760.0, + 400.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1400.0, + -3760.0, + 400.0 + ], + "actual_end_pos": [ + -1400.0, + -3760.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1400.0, + -3760.0, + 400.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1300.0, + -3760.0, + 400.0 + ], + "actual_end_pos": [ + -1300.0, + -3760.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1300.0, + -3760.0, + 400.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1200.0, + -3760.0, + 400.0 + ], + "actual_end_pos": [ + -1200.0, + -3760.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1200.0, + -3760.0, + 400.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1100.0, + -3760.0, + 400.0 + ], + "actual_end_pos": [ + -1100.0, + -3760.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1100.0, + -3760.0, + 400.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1000.0, + -3760.0, + 400.0 + ], + "actual_end_pos": [ + -1000.0, + -3760.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1000.0, + -3760.0, + 400.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -900.0, + -3760.0, + 400.0 + ], + "actual_end_pos": [ + -900.0, + -3760.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -900.0, + -3760.0, + 400.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -900.0, + -3660.0, + 400.0 + ], + "actual_end_pos": [ + -900.0, + -3660.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -900.0, + -3660.0, + 400.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -800.0, + -3660.0, + 400.0 + ], + "actual_end_pos": [ + -800.0, + -3660.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -800.0, + -3660.0, + 400.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -800.0, + -3760.0, + 400.0 + ], + "actual_end_pos": [ + -800.0, + -3760.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -800.0, + -3760.0, + 400.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -800.0, + -3860.0, + 400.0 + ], + "actual_end_pos": [ + -800.0, + -3860.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -800.0, + -3860.0, + 400.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -700.0, + -3860.0, + 400.0 + ], + "actual_end_pos": [ + -700.0, + -3860.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -700.0, + -3860.0, + 400.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -600.0, + -3860.0, + 400.0 + ], + "actual_end_pos": [ + -600.0, + -3860.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -600.0, + -3860.0, + 400.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -600.0, + -3960.0, + 400.0 + ], + "actual_end_pos": [ + -600.0, + -3960.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -600.0, + -3960.0, + 400.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -700.0, + -3960.0, + 400.0 + ], + "actual_end_pos": [ + -700.0, + -3960.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -700.0, + -3960.0, + 400.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -700.0, + -4060.0, + 400.0 + ], + "actual_end_pos": [ + -700.0, + -4060.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -700.0, + -4060.0, + 400.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -700.0, + -4160.0, + 400.0 + ], + "actual_end_pos": [ + -700.0, + -4160.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -700.0, + -4160.0, + 400.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -700.0, + -4260.0, + 400.0 + ], + "actual_end_pos": [ + -700.0, + -4260.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -700.0, + -4260.0, + 400.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -700.0, + -4360.0, + 400.0 + ], + "actual_end_pos": [ + -700.0, + -4360.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -700.0, + -4360.0, + 400.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -600.0, + -4360.0, + 400.0 + ], + "actual_end_pos": [ + -600.0, + -4360.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -600.0, + -4360.0, + 400.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -500.0, + -4360.0, + 400.0 + ], + "actual_end_pos": [ + -500.0, + -4360.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260408_000744__traj_000251_meta.json b/inverse_easy/run_20260408_000744__traj_000251_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b09b177880b23ec3201f170161325657c02b462a --- /dev/null +++ b/inverse_easy/run_20260408_000744__traj_000251_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 251, + "episode_id": 0, + "state_id": 188, + "sample_index": 188, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 400.0, + -7060.0, + 400.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "look_down", + "move_forward", + "turn_left", + "turn_left", + "turn_left", + "move_left", + "move_forward", + "move_right", + "look_up", + "turn_right", + "move_left", + "move_left", + "move_backward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "move_forward", + "move_right", + "move_right", + "turn_left", + "look_down", + "move_left", + "move_backward", + "move_right", + "turn_right", + "turn_right", + "turn_right", + "move_backward", + "look_up", + "move_backward" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 400.0, + -7060.0, + 400.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 300.0, + -7060.0, + 400.0 + ], + "actual_end_pos": [ + 300.0, + -7060.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 300.0, + -7060.0, + 400.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 300.0, + -7060.0, + 400.0 + ], + "actual_end_pos": [ + 300.0, + -7060.0, + 400.0 + ], + "actual_end_rot": [ + -7.5, + 180.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 300.0, + -7060.0, + 400.0 + ], + "start_rot": [ + -7.5, + 180.0, + -0.0 + ], + "expected_end_pos": [ + 200.8555, + -7060.0, + 386.9474 + ], + "actual_end_pos": [ + 200.8555, + -7060.0, + 386.9474 + ], + "actual_end_rot": [ + -7.5, + 180.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 200.8555, + -7060.0, + 386.9474 + ], + "start_rot": [ + -7.5, + 180.0, + -0.0 + ], + "expected_end_pos": [ + 200.8555, + -7060.0, + 386.9474 + ], + "actual_end_pos": [ + 200.8555, + -7060.0, + 386.9474 + ], + "actual_end_rot": [ + -7.5, + 165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 200.8555, + -7060.0, + 386.9474 + ], + "start_rot": [ + -7.5, + 165.0, + -0.0 + ], + "expected_end_pos": [ + 200.8555, + -7060.0, + 386.9474 + ], + "actual_end_pos": [ + 200.8555, + -7060.0, + 386.9474 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 200.8555, + -7060.0, + 386.9474 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 200.8555, + -7060.0, + 386.9474 + ], + "actual_end_pos": [ + 200.8555, + -7060.0, + 386.9474 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 200.8555, + -7060.0, + 386.9474 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 271.5662, + -6989.2893, + 386.9474 + ], + "actual_end_pos": [ + 271.5662, + -6989.2893, + 386.9474 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 271.5662, + -6989.2893, + 386.9474 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 201.4605, + -6919.1836, + 373.8948 + ], + "actual_end_pos": [ + 201.4605, + -6919.1836, + 373.8948 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 201.4605, + -6919.1836, + 373.8948 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 130.7498, + -6989.8943, + 373.8948 + ], + "actual_end_pos": [ + 130.7498, + -6989.8943, + 373.8948 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 130.7498, + -6989.8943, + 373.8948 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 130.7498, + -6989.8943, + 373.8948 + ], + "actual_end_pos": [ + 130.7498, + -6989.8943, + 373.8948 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 130.7498, + -6989.8943, + 373.8948 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 130.7498, + -6989.8943, + 373.8948 + ], + "actual_end_pos": [ + 130.7498, + -6989.8943, + 373.8948 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 130.7498, + -6989.8943, + 373.8948 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 180.7498, + -6903.2917, + 373.8948 + ], + "actual_end_pos": [ + 180.7498, + -6903.2917, + 373.8948 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 180.7498, + -6903.2917, + 373.8948 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 230.7498, + -6816.6892, + 373.8948 + ], + "actual_end_pos": [ + 230.7498, + -6816.6892, + 373.8948 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 230.7498, + -6816.6892, + 373.8948 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 317.3523, + -6866.6892, + 373.8948 + ], + "actual_end_pos": [ + 317.3523, + -6866.6892, + 373.8948 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 317.3523, + -6866.6892, + 373.8948 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 317.3523, + -6866.6892, + 373.8948 + ], + "actual_end_pos": [ + 317.3523, + -6866.6892, + 373.8948 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 317.3523, + -6866.6892, + 373.8948 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 317.3523, + -6866.6892, + 373.8948 + ], + "actual_end_pos": [ + 317.3523, + -6866.6892, + 373.8948 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 317.3523, + -6866.6892, + 373.8948 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 317.3523, + -6866.6892, + 373.8948 + ], + "actual_end_pos": [ + 317.3523, + -6866.6892, + 373.8948 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 317.3523, + -6866.6892, + 373.8948 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 317.3523, + -6866.6892, + 373.8948 + ], + "actual_end_pos": [ + 317.3523, + -6866.6892, + 373.8948 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 317.3523, + -6866.6892, + 373.8948 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 317.3523, + -6866.6892, + 373.8948 + ], + "actual_end_pos": [ + 317.3523, + -6866.6892, + 373.8948 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 317.3523, + -6866.6892, + 373.8948 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 317.3523, + -6866.6892, + 373.8948 + ], + "actual_end_pos": [ + 317.3523, + -6866.6892, + 373.8948 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 317.3523, + -6866.6892, + 373.8948 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 317.3523, + -6866.6892, + 373.8948 + ], + "actual_end_pos": [ + 317.3523, + -6866.6892, + 373.8948 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 317.3523, + -6866.6892, + 373.8948 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 317.3523, + -6866.6892, + 373.8948 + ], + "actual_end_pos": [ + 317.3523, + -6866.6892, + 373.8948 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 317.3523, + -6866.6892, + 373.8948 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 317.3523, + -6866.6892, + 373.8948 + ], + "actual_end_pos": [ + 317.3523, + -6866.6892, + 373.8948 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 317.3523, + -6866.6892, + 373.8948 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 317.3523, + -6866.6892, + 373.8948 + ], + "actual_end_pos": [ + 317.3523, + -6866.6892, + 373.8948 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 317.3523, + -6866.6892, + 373.8948 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 317.3523, + -6866.6892, + 373.8948 + ], + "actual_end_pos": [ + 317.3523, + -6866.6892, + 373.8948 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 317.3523, + -6866.6892, + 373.8948 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 317.3523, + -6866.6892, + 373.8948 + ], + "actual_end_pos": [ + 317.3523, + -6866.6892, + 373.8948 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 317.3523, + -6866.6892, + 373.8948 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 230.7498, + -6816.6892, + 373.8948 + ], + "actual_end_pos": [ + 230.7498, + -6816.6892, + 373.8948 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 230.7498, + -6816.6892, + 373.8948 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 180.7498, + -6903.2917, + 373.8948 + ], + "actual_end_pos": [ + 180.7498, + -6903.2917, + 373.8948 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 180.7498, + -6903.2917, + 373.8948 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 130.7498, + -6989.8943, + 373.8948 + ], + "actual_end_pos": [ + 130.7498, + -6989.8943, + 373.8948 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 130.7498, + -6989.8943, + 373.8948 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 130.7498, + -6989.8943, + 373.8948 + ], + "actual_end_pos": [ + 130.7498, + -6989.8943, + 373.8948 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 130.7498, + -6989.8943, + 373.8948 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 130.7498, + -6989.8943, + 373.8948 + ], + "actual_end_pos": [ + 130.7498, + -6989.8943, + 373.8948 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 130.7498, + -6989.8943, + 373.8948 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 201.4605, + -6919.1836, + 373.8948 + ], + "actual_end_pos": [ + 201.4605, + -6919.1836, + 373.8948 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 201.4605, + -6919.1836, + 373.8948 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 271.5662, + -6989.2893, + 386.9474 + ], + "actual_end_pos": [ + 271.5662, + -6989.2893, + 386.9474 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 271.5662, + -6989.2893, + 386.9474 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 200.8555, + -7060.0, + 386.9474 + ], + "actual_end_pos": [ + 200.8555, + -7060.0, + 386.9474 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 200.8555, + -7060.0, + 386.9474 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 200.8555, + -7060.0, + 386.9474 + ], + "actual_end_pos": [ + 200.8555, + -7060.0, + 386.9474 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 200.8555, + -7060.0, + 386.9474 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 200.8555, + -7060.0, + 386.9474 + ], + "actual_end_pos": [ + 200.8555, + -7060.0, + 386.9474 + ], + "actual_end_rot": [ + -7.5, + 165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 200.8555, + -7060.0, + 386.9474 + ], + "start_rot": [ + -7.5, + 165.0, + -0.0 + ], + "expected_end_pos": [ + 200.8555, + -7060.0, + 386.9474 + ], + "actual_end_pos": [ + 200.8555, + -7060.0, + 386.9474 + ], + "actual_end_rot": [ + -7.5, + 180.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 200.8555, + -7060.0, + 386.9474 + ], + "start_rot": [ + -7.5, + 180.0, + -0.0 + ], + "expected_end_pos": [ + 300.0, + -7060.0, + 400.0 + ], + "actual_end_pos": [ + 300.0, + -7060.0, + 400.0 + ], + "actual_end_rot": [ + -7.5, + 180.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 300.0, + -7060.0, + 400.0 + ], + "start_rot": [ + -7.5, + 180.0, + -0.0 + ], + "expected_end_pos": [ + 300.0, + -7060.0, + 400.0 + ], + "actual_end_pos": [ + 300.0, + -7060.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 300.0, + -7060.0, + 400.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 400.0, + -7060.0, + 400.0 + ], + "actual_end_pos": [ + 400.0, + -7060.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260408_000744__traj_000613_meta.json b/inverse_easy/run_20260408_000744__traj_000613_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..346da0c47a1d109da5c74e46ecff26b3446dd88a --- /dev/null +++ b/inverse_easy/run_20260408_000744__traj_000613_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 613, + "episode_id": 0, + "state_id": 452, + "sample_index": 452, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 1300.0, + -5260.0, + 400.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_right", + "turn_right", + "move_forward", + "move_right", + "move_right", + "move_right", + "no_op", + "move_forward", + "move_right", + "move_forward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "move_backward", + "move_left", + "move_backward", + "no_op", + "move_left", + "move_left", + "move_left", + "move_backward", + "turn_left", + "turn_left" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1300.0, + -5260.0, + 400.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 1300.0, + -5260.0, + 400.0 + ], + "actual_end_pos": [ + 1300.0, + -5260.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1300.0, + -5260.0, + 400.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 1300.0, + -5260.0, + 400.0 + ], + "actual_end_pos": [ + 1300.0, + -5260.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1300.0, + -5260.0, + 400.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 1213.3975, + -5310.0, + 400.0 + ], + "actual_end_pos": [ + 1213.3975, + -5310.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1213.3975, + -5310.0, + 400.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 1263.3975, + -5396.6025, + 400.0 + ], + "actual_end_pos": [ + 1263.3975, + -5396.6025, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1263.3975, + -5396.6025, + 400.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 1313.3975, + -5483.2051, + 400.0 + ], + "actual_end_pos": [ + 1313.3975, + -5483.2051, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1313.3975, + -5483.2051, + 400.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 1363.3975, + -5569.8076, + 400.0 + ], + "actual_end_pos": [ + 1363.3975, + -5569.8076, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1363.3975, + -5569.8076, + 400.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 1363.3975, + -5569.8076, + 400.0 + ], + "actual_end_pos": [ + 1363.3975, + -5569.8076, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1363.3975, + -5569.8076, + 400.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 1276.7949, + -5619.8076, + 400.0 + ], + "actual_end_pos": [ + 1276.7949, + -5619.8076, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1276.7949, + -5619.8076, + 400.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 1326.7949, + -5706.4102, + 400.0 + ], + "actual_end_pos": [ + 1326.7949, + -5706.4102, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1326.7949, + -5706.4102, + 400.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 1240.1924, + -5756.4102, + 400.0 + ], + "actual_end_pos": [ + 1240.1924, + -5756.4102, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1240.1924, + -5756.4102, + 400.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 1240.1924, + -5756.4102, + 400.0 + ], + "actual_end_pos": [ + 1240.1924, + -5756.4102, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1240.1924, + -5756.4102, + 400.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 1240.1924, + -5756.4102, + 400.0 + ], + "actual_end_pos": [ + 1240.1924, + -5756.4102, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1240.1924, + -5756.4102, + 400.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 1240.1924, + -5756.4102, + 400.0 + ], + "actual_end_pos": [ + 1240.1924, + -5756.4102, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1240.1924, + -5756.4102, + 400.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 1240.1924, + -5756.4102, + 400.0 + ], + "actual_end_pos": [ + 1240.1924, + -5756.4102, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1240.1924, + -5756.4102, + 400.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 1240.1924, + -5756.4102, + 400.0 + ], + "actual_end_pos": [ + 1240.1924, + -5756.4102, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1240.1924, + -5756.4102, + 400.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 1240.1924, + -5756.4102, + 400.0 + ], + "actual_end_pos": [ + 1240.1924, + -5756.4102, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1240.1924, + -5756.4102, + 400.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 1240.1924, + -5756.4102, + 400.0 + ], + "actual_end_pos": [ + 1240.1924, + -5756.4102, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1240.1924, + -5756.4102, + 400.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 1240.1924, + -5756.4102, + 400.0 + ], + "actual_end_pos": [ + 1240.1924, + -5756.4102, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1240.1924, + -5756.4102, + 400.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 1240.1924, + -5756.4102, + 400.0 + ], + "actual_end_pos": [ + 1240.1924, + -5756.4102, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1240.1924, + -5756.4102, + 400.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 1240.1924, + -5756.4102, + 400.0 + ], + "actual_end_pos": [ + 1240.1924, + -5756.4102, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1240.1924, + -5756.4102, + 400.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 1240.1924, + -5756.4102, + 400.0 + ], + "actual_end_pos": [ + 1240.1924, + -5756.4102, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1240.1924, + -5756.4102, + 400.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 1240.1924, + -5756.4102, + 400.0 + ], + "actual_end_pos": [ + 1240.1924, + -5756.4102, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1240.1924, + -5756.4102, + 400.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 1240.1924, + -5756.4102, + 400.0 + ], + "actual_end_pos": [ + 1240.1924, + -5756.4102, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1240.1924, + -5756.4102, + 400.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 1240.1924, + -5756.4102, + 400.0 + ], + "actual_end_pos": [ + 1240.1924, + -5756.4102, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1240.1924, + -5756.4102, + 400.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 1240.1924, + -5756.4102, + 400.0 + ], + "actual_end_pos": [ + 1240.1924, + -5756.4102, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1240.1924, + -5756.4102, + 400.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 1240.1924, + -5756.4102, + 400.0 + ], + "actual_end_pos": [ + 1240.1924, + -5756.4102, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1240.1924, + -5756.4102, + 400.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 1240.1924, + -5756.4102, + 400.0 + ], + "actual_end_pos": [ + 1240.1924, + -5756.4102, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1240.1924, + -5756.4102, + 400.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 1240.1924, + -5756.4102, + 400.0 + ], + "actual_end_pos": [ + 1240.1924, + -5756.4102, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1240.1924, + -5756.4102, + 400.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 1240.1924, + -5756.4102, + 400.0 + ], + "actual_end_pos": [ + 1240.1924, + -5756.4102, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1240.1924, + -5756.4102, + 400.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 1240.1924, + -5756.4102, + 400.0 + ], + "actual_end_pos": [ + 1240.1924, + -5756.4102, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1240.1924, + -5756.4102, + 400.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 1326.7949, + -5706.4102, + 400.0 + ], + "actual_end_pos": [ + 1326.7949, + -5706.4102, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1326.7949, + -5706.4102, + 400.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 1276.7949, + -5619.8076, + 400.0 + ], + "actual_end_pos": [ + 1276.7949, + -5619.8076, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1276.7949, + -5619.8076, + 400.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 1363.3975, + -5569.8076, + 400.0 + ], + "actual_end_pos": [ + 1363.3975, + -5569.8076, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 1363.3975, + -5569.8076, + 400.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 1363.3975, + -5569.8076, + 400.0 + ], + "actual_end_pos": [ + 1363.3975, + -5569.8076, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1363.3975, + -5569.8076, + 400.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 1313.3975, + -5483.2051, + 400.0 + ], + "actual_end_pos": [ + 1313.3975, + -5483.2051, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1313.3975, + -5483.2051, + 400.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 1263.3975, + -5396.6025, + 400.0 + ], + "actual_end_pos": [ + 1263.3975, + -5396.6025, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1263.3975, + -5396.6025, + 400.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 1213.3975, + -5310.0, + 400.0 + ], + "actual_end_pos": [ + 1213.3975, + -5310.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 1213.3975, + -5310.0, + 400.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 1300.0, + -5260.0, + 400.0 + ], + "actual_end_pos": [ + 1300.0, + -5260.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1300.0, + -5260.0, + 400.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 1300.0, + -5260.0, + 400.0 + ], + "actual_end_pos": [ + 1300.0, + -5260.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1300.0, + -5260.0, + 400.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 1300.0, + -5260.0, + 400.0 + ], + "actual_end_pos": [ + 1300.0, + -5260.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260408_000744__traj_000811_meta.json b/inverse_easy/run_20260408_000744__traj_000811_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e127617ed7ef055943bd1182812564b32acafa58 --- /dev/null +++ b/inverse_easy/run_20260408_000744__traj_000811_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 811, + "episode_id": 0, + "state_id": 603, + "sample_index": 603, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 2200.0, + -6760.0, + 400.0 + ], + "rotation": [ + 0.0, + 135.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_left", + "look_down", + "turn_right", + "move_left", + "turn_right", + "move_right", + "turn_right", + "move_forward", + "move_forward", + "no_op", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "move_right", + "no_op", + "move_backward", + "move_backward", + "turn_left", + "move_left", + "turn_left", + "move_right", + "turn_left", + "look_up", + "turn_right" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2200.0, + -6760.0, + 400.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 2200.0, + -6760.0, + 400.0 + ], + "actual_end_pos": [ + 2200.0, + -6760.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 2200.0, + -6760.0, + 400.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 2200.0, + -6760.0, + 400.0 + ], + "actual_end_pos": [ + 2200.0, + -6760.0, + 400.0 + ], + "actual_end_rot": [ + -7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2200.0, + -6760.0, + 400.0 + ], + "start_rot": [ + -7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 2200.0, + -6760.0, + 400.0 + ], + "actual_end_pos": [ + 2200.0, + -6760.0, + 400.0 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2200.0, + -6760.0, + 400.0 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 2270.7107, + -6689.2893, + 400.0 + ], + "actual_end_pos": [ + 2270.7107, + -6689.2893, + 400.0 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2270.7107, + -6689.2893, + 400.0 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 2270.7107, + -6689.2893, + 400.0 + ], + "actual_end_pos": [ + 2270.7107, + -6689.2893, + 400.0 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2270.7107, + -6689.2893, + 400.0 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 2220.7107, + -6775.8919, + 400.0 + ], + "actual_end_pos": [ + 2220.7107, + -6775.8919, + 400.0 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2220.7107, + -6775.8919, + 400.0 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 2220.7107, + -6775.8919, + 400.0 + ], + "actual_end_pos": [ + 2220.7107, + -6775.8919, + 400.0 + ], + "actual_end_rot": [ + -7.5, + 165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2220.7107, + -6775.8919, + 400.0 + ], + "start_rot": [ + -7.5, + 165.0, + -0.0 + ], + "expected_end_pos": [ + 2124.9445, + -6750.2314, + 386.9474 + ], + "actual_end_pos": [ + 2124.9445, + -6750.2314, + 386.9474 + ], + "actual_end_rot": [ + -7.5, + 165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2124.9445, + -6750.2314, + 386.9474 + ], + "start_rot": [ + -7.5, + 165.0, + -0.0 + ], + "expected_end_pos": [ + 2029.1782, + -6724.5709, + 373.8948 + ], + "actual_end_pos": [ + 2029.1782, + -6724.5709, + 373.8948 + ], + "actual_end_rot": [ + -7.5, + 165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2029.1782, + -6724.5709, + 373.8948 + ], + "start_rot": [ + -7.5, + 165.0, + -0.0 + ], + "expected_end_pos": [ + 2029.1782, + -6724.5709, + 373.8948 + ], + "actual_end_pos": [ + 2029.1782, + -6724.5709, + 373.8948 + ], + "actual_end_rot": [ + -7.5, + 165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2029.1782, + -6724.5709, + 373.8948 + ], + "start_rot": [ + -7.5, + 165.0, + -0.0 + ], + "expected_end_pos": [ + 2055.0601, + -6627.9783, + 373.8948 + ], + "actual_end_pos": [ + 2055.0601, + -6627.9783, + 373.8948 + ], + "actual_end_rot": [ + -7.5, + 165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2055.0601, + -6627.9783, + 373.8948 + ], + "start_rot": [ + -7.5, + 165.0, + -0.0 + ], + "expected_end_pos": [ + 2055.0601, + -6627.9783, + 373.8948 + ], + "actual_end_pos": [ + 2055.0601, + -6627.9783, + 373.8948 + ], + "actual_end_rot": [ + -7.5, + 165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2055.0601, + -6627.9783, + 373.8948 + ], + "start_rot": [ + -7.5, + 165.0, + -0.0 + ], + "expected_end_pos": [ + 2055.0601, + -6627.9783, + 373.8948 + ], + "actual_end_pos": [ + 2055.0601, + -6627.9783, + 373.8948 + ], + "actual_end_rot": [ + -7.5, + 165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2055.0601, + -6627.9783, + 373.8948 + ], + "start_rot": [ + -7.5, + 165.0, + -0.0 + ], + "expected_end_pos": [ + 2055.0601, + -6627.9783, + 373.8948 + ], + "actual_end_pos": [ + 2055.0601, + -6627.9783, + 373.8948 + ], + "actual_end_rot": [ + -7.5, + 165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2055.0601, + -6627.9783, + 373.8948 + ], + "start_rot": [ + -7.5, + 165.0, + -0.0 + ], + "expected_end_pos": [ + 2055.0601, + -6627.9783, + 373.8948 + ], + "actual_end_pos": [ + 2055.0601, + -6627.9783, + 373.8948 + ], + "actual_end_rot": [ + -7.5, + 165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2055.0601, + -6627.9783, + 373.8948 + ], + "start_rot": [ + -7.5, + 165.0, + -0.0 + ], + "expected_end_pos": [ + 2055.0601, + -6627.9783, + 373.8948 + ], + "actual_end_pos": [ + 2055.0601, + -6627.9783, + 373.8948 + ], + "actual_end_rot": [ + -7.5, + 165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2055.0601, + -6627.9783, + 373.8948 + ], + "start_rot": [ + -7.5, + 165.0, + -0.0 + ], + "expected_end_pos": [ + 2055.0601, + -6627.9783, + 373.8948 + ], + "actual_end_pos": [ + 2055.0601, + -6627.9783, + 373.8948 + ], + "actual_end_rot": [ + -7.5, + 165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2055.0601, + -6627.9783, + 373.8948 + ], + "start_rot": [ + -7.5, + 165.0, + -0.0 + ], + "expected_end_pos": [ + 2055.0601, + -6627.9783, + 373.8948 + ], + "actual_end_pos": [ + 2055.0601, + -6627.9783, + 373.8948 + ], + "actual_end_rot": [ + -7.5, + 165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2055.0601, + -6627.9783, + 373.8948 + ], + "start_rot": [ + -7.5, + 165.0, + -0.0 + ], + "expected_end_pos": [ + 2055.0601, + -6627.9783, + 373.8948 + ], + "actual_end_pos": [ + 2055.0601, + -6627.9783, + 373.8948 + ], + "actual_end_rot": [ + -7.5, + 165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2055.0601, + -6627.9783, + 373.8948 + ], + "start_rot": [ + -7.5, + 165.0, + -0.0 + ], + "expected_end_pos": [ + 2055.0601, + -6627.9783, + 373.8948 + ], + "actual_end_pos": [ + 2055.0601, + -6627.9783, + 373.8948 + ], + "actual_end_rot": [ + -7.5, + 165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2055.0601, + -6627.9783, + 373.8948 + ], + "start_rot": [ + -7.5, + 165.0, + -0.0 + ], + "expected_end_pos": [ + 2055.0601, + -6627.9783, + 373.8948 + ], + "actual_end_pos": [ + 2055.0601, + -6627.9783, + 373.8948 + ], + "actual_end_rot": [ + -7.5, + 165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2055.0601, + -6627.9783, + 373.8948 + ], + "start_rot": [ + -7.5, + 165.0, + -0.0 + ], + "expected_end_pos": [ + 2055.0601, + -6627.9783, + 373.8948 + ], + "actual_end_pos": [ + 2055.0601, + -6627.9783, + 373.8948 + ], + "actual_end_rot": [ + -7.5, + 165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2055.0601, + -6627.9783, + 373.8948 + ], + "start_rot": [ + -7.5, + 165.0, + -0.0 + ], + "expected_end_pos": [ + 2055.0601, + -6627.9783, + 373.8948 + ], + "actual_end_pos": [ + 2055.0601, + -6627.9783, + 373.8948 + ], + "actual_end_rot": [ + -7.5, + 165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2055.0601, + -6627.9783, + 373.8948 + ], + "start_rot": [ + -7.5, + 165.0, + -0.0 + ], + "expected_end_pos": [ + 2055.0601, + -6627.9783, + 373.8948 + ], + "actual_end_pos": [ + 2055.0601, + -6627.9783, + 373.8948 + ], + "actual_end_rot": [ + -7.5, + 165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2055.0601, + -6627.9783, + 373.8948 + ], + "start_rot": [ + -7.5, + 165.0, + -0.0 + ], + "expected_end_pos": [ + 2055.0601, + -6627.9783, + 373.8948 + ], + "actual_end_pos": [ + 2055.0601, + -6627.9783, + 373.8948 + ], + "actual_end_rot": [ + -7.5, + 165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2055.0601, + -6627.9783, + 373.8948 + ], + "start_rot": [ + -7.5, + 165.0, + -0.0 + ], + "expected_end_pos": [ + 2055.0601, + -6627.9783, + 373.8948 + ], + "actual_end_pos": [ + 2055.0601, + -6627.9783, + 373.8948 + ], + "actual_end_rot": [ + -7.5, + 165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2055.0601, + -6627.9783, + 373.8948 + ], + "start_rot": [ + -7.5, + 165.0, + -0.0 + ], + "expected_end_pos": [ + 2055.0601, + -6627.9783, + 373.8948 + ], + "actual_end_pos": [ + 2055.0601, + -6627.9783, + 373.8948 + ], + "actual_end_rot": [ + -7.5, + 165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2055.0601, + -6627.9783, + 373.8948 + ], + "start_rot": [ + -7.5, + 165.0, + -0.0 + ], + "expected_end_pos": [ + 2055.0601, + -6627.9783, + 373.8948 + ], + "actual_end_pos": [ + 2055.0601, + -6627.9783, + 373.8948 + ], + "actual_end_rot": [ + -7.5, + 165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2055.0601, + -6627.9783, + 373.8948 + ], + "start_rot": [ + -7.5, + 165.0, + -0.0 + ], + "expected_end_pos": [ + 2055.0601, + -6627.9783, + 373.8948 + ], + "actual_end_pos": [ + 2055.0601, + -6627.9783, + 373.8948 + ], + "actual_end_rot": [ + -7.5, + 165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2055.0601, + -6627.9783, + 373.8948 + ], + "start_rot": [ + -7.5, + 165.0, + -0.0 + ], + "expected_end_pos": [ + 2029.1782, + -6724.5709, + 373.8948 + ], + "actual_end_pos": [ + 2029.1782, + -6724.5709, + 373.8948 + ], + "actual_end_rot": [ + -7.5, + 165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2029.1782, + -6724.5709, + 373.8948 + ], + "start_rot": [ + -7.5, + 165.0, + -0.0 + ], + "expected_end_pos": [ + 2029.1782, + -6724.5709, + 373.8948 + ], + "actual_end_pos": [ + 2029.1782, + -6724.5709, + 373.8948 + ], + "actual_end_rot": [ + -7.5, + 165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2029.1782, + -6724.5709, + 373.8948 + ], + "start_rot": [ + -7.5, + 165.0, + -0.0 + ], + "expected_end_pos": [ + 2124.9445, + -6750.2314, + 386.9474 + ], + "actual_end_pos": [ + 2124.9445, + -6750.2314, + 386.9474 + ], + "actual_end_rot": [ + -7.5, + 165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2124.9445, + -6750.2314, + 386.9474 + ], + "start_rot": [ + -7.5, + 165.0, + -0.0 + ], + "expected_end_pos": [ + 2220.7107, + -6775.8919, + 400.0 + ], + "actual_end_pos": [ + 2220.7107, + -6775.8919, + 400.0 + ], + "actual_end_rot": [ + -7.5, + 165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2220.7107, + -6775.8919, + 400.0 + ], + "start_rot": [ + -7.5, + 165.0, + -0.0 + ], + "expected_end_pos": [ + 2220.7107, + -6775.8919, + 400.0 + ], + "actual_end_pos": [ + 2220.7107, + -6775.8919, + 400.0 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2220.7107, + -6775.8919, + 400.0 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 2270.7107, + -6689.2893, + 400.0 + ], + "actual_end_pos": [ + 2270.7107, + -6689.2893, + 400.0 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2270.7107, + -6689.2893, + 400.0 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 2270.7107, + -6689.2893, + 400.0 + ], + "actual_end_pos": [ + 2270.7107, + -6689.2893, + 400.0 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2270.7107, + -6689.2893, + 400.0 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 2200.0, + -6760.0, + 400.0 + ], + "actual_end_pos": [ + 2200.0, + -6760.0, + 400.0 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2200.0, + -6760.0, + 400.0 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 2200.0, + -6760.0, + 400.0 + ], + "actual_end_pos": [ + 2200.0, + -6760.0, + 400.0 + ], + "actual_end_rot": [ + -7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 2200.0, + -6760.0, + 400.0 + ], + "start_rot": [ + -7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 2200.0, + -6760.0, + 400.0 + ], + "actual_end_pos": [ + 2200.0, + -6760.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2200.0, + -6760.0, + 400.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 2200.0, + -6760.0, + 400.0 + ], + "actual_end_pos": [ + 2200.0, + -6760.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260408_000744__traj_000932_meta.json b/inverse_easy/run_20260408_000744__traj_000932_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ff89030b05acaf31d029795d3e8f46cdaf5b2e73 --- /dev/null +++ b/inverse_easy/run_20260408_000744__traj_000932_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 932, + "episode_id": 0, + "state_id": 691, + "sample_index": 691, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 2800.0, + -5560.0, + 400.0 + ], + "rotation": [ + 0.0, + 135.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_left", + "move_backward", + "move_left", + "move_left", + "move_forward", + "move_forward", + "turn_right", + "look_down", + "move_left", + "turn_right", + "move_right", + "turn_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "turn_right", + "move_left", + "turn_left", + "move_right", + "look_up", + "turn_left", + "move_backward", + "move_backward", + "move_right", + "move_right", + "move_forward", + "turn_right" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2800.0, + -5560.0, + 400.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 2800.0, + -5560.0, + 400.0 + ], + "actual_end_pos": [ + 2800.0, + -5560.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2800.0, + -5560.0, + 400.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 2850.0, + -5646.6025, + 400.0 + ], + "actual_end_pos": [ + 2850.0, + -5646.6025, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2850.0, + -5646.6025, + 400.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 2936.6025, + -5596.6025, + 400.0 + ], + "actual_end_pos": [ + 2936.6025, + -5596.6025, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2936.6025, + -5596.6025, + 400.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 3023.2051, + -5546.6025, + 400.0 + ], + "actual_end_pos": [ + 3023.2051, + -5546.6025, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 3023.2051, + -5546.6025, + 400.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 2973.2051, + -5460.0, + 400.0 + ], + "actual_end_pos": [ + 2973.2051, + -5460.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2973.2051, + -5460.0, + 400.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 2923.2051, + -5373.3975, + 400.0 + ], + "actual_end_pos": [ + 2923.2051, + -5373.3975, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2923.2051, + -5373.3975, + 400.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 2923.2051, + -5373.3975, + 400.0 + ], + "actual_end_pos": [ + 2923.2051, + -5373.3975, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 2923.2051, + -5373.3975, + 400.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 2923.2051, + -5373.3975, + 400.0 + ], + "actual_end_pos": [ + 2923.2051, + -5373.3975, + 400.0 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2923.2051, + -5373.3975, + 400.0 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 2993.9158, + -5302.6868, + 400.0 + ], + "actual_end_pos": [ + 2993.9158, + -5302.6868, + 400.0 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2993.9158, + -5302.6868, + 400.0 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 2993.9158, + -5302.6868, + 400.0 + ], + "actual_end_pos": [ + 2993.9158, + -5302.6868, + 400.0 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2993.9158, + -5302.6868, + 400.0 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 2943.9158, + -5389.2893, + 400.0 + ], + "actual_end_pos": [ + 2943.9158, + -5389.2893, + 400.0 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2943.9158, + -5389.2893, + 400.0 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 2943.9158, + -5389.2893, + 400.0 + ], + "actual_end_pos": [ + 2943.9158, + -5389.2893, + 400.0 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2943.9158, + -5389.2893, + 400.0 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 2943.9158, + -5389.2893, + 400.0 + ], + "actual_end_pos": [ + 2943.9158, + -5389.2893, + 400.0 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2943.9158, + -5389.2893, + 400.0 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 2943.9158, + -5389.2893, + 400.0 + ], + "actual_end_pos": [ + 2943.9158, + -5389.2893, + 400.0 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2943.9158, + -5389.2893, + 400.0 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 2943.9158, + -5389.2893, + 400.0 + ], + "actual_end_pos": [ + 2943.9158, + -5389.2893, + 400.0 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2943.9158, + -5389.2893, + 400.0 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 2943.9158, + -5389.2893, + 400.0 + ], + "actual_end_pos": [ + 2943.9158, + -5389.2893, + 400.0 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2943.9158, + -5389.2893, + 400.0 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 2943.9158, + -5389.2893, + 400.0 + ], + "actual_end_pos": [ + 2943.9158, + -5389.2893, + 400.0 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2943.9158, + -5389.2893, + 400.0 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 2943.9158, + -5389.2893, + 400.0 + ], + "actual_end_pos": [ + 2943.9158, + -5389.2893, + 400.0 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2943.9158, + -5389.2893, + 400.0 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 2943.9158, + -5389.2893, + 400.0 + ], + "actual_end_pos": [ + 2943.9158, + -5389.2893, + 400.0 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2943.9158, + -5389.2893, + 400.0 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 2943.9158, + -5389.2893, + 400.0 + ], + "actual_end_pos": [ + 2943.9158, + -5389.2893, + 400.0 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2943.9158, + -5389.2893, + 400.0 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 2943.9158, + -5389.2893, + 400.0 + ], + "actual_end_pos": [ + 2943.9158, + -5389.2893, + 400.0 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2943.9158, + -5389.2893, + 400.0 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 2943.9158, + -5389.2893, + 400.0 + ], + "actual_end_pos": [ + 2943.9158, + -5389.2893, + 400.0 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2943.9158, + -5389.2893, + 400.0 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 2943.9158, + -5389.2893, + 400.0 + ], + "actual_end_pos": [ + 2943.9158, + -5389.2893, + 400.0 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2943.9158, + -5389.2893, + 400.0 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 2943.9158, + -5389.2893, + 400.0 + ], + "actual_end_pos": [ + 2943.9158, + -5389.2893, + 400.0 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2943.9158, + -5389.2893, + 400.0 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 2943.9158, + -5389.2893, + 400.0 + ], + "actual_end_pos": [ + 2943.9158, + -5389.2893, + 400.0 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2943.9158, + -5389.2893, + 400.0 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 2943.9158, + -5389.2893, + 400.0 + ], + "actual_end_pos": [ + 2943.9158, + -5389.2893, + 400.0 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2943.9158, + -5389.2893, + 400.0 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 2943.9158, + -5389.2893, + 400.0 + ], + "actual_end_pos": [ + 2943.9158, + -5389.2893, + 400.0 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2943.9158, + -5389.2893, + 400.0 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 2943.9158, + -5389.2893, + 400.0 + ], + "actual_end_pos": [ + 2943.9158, + -5389.2893, + 400.0 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2943.9158, + -5389.2893, + 400.0 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 2943.9158, + -5389.2893, + 400.0 + ], + "actual_end_pos": [ + 2943.9158, + -5389.2893, + 400.0 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2943.9158, + -5389.2893, + 400.0 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 2993.9158, + -5302.6868, + 400.0 + ], + "actual_end_pos": [ + 2993.9158, + -5302.6868, + 400.0 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2993.9158, + -5302.6868, + 400.0 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 2993.9158, + -5302.6868, + 400.0 + ], + "actual_end_pos": [ + 2993.9158, + -5302.6868, + 400.0 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2993.9158, + -5302.6868, + 400.0 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 2923.2051, + -5373.3975, + 400.0 + ], + "actual_end_pos": [ + 2923.2051, + -5373.3975, + 400.0 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 2923.2051, + -5373.3975, + 400.0 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 2923.2051, + -5373.3975, + 400.0 + ], + "actual_end_pos": [ + 2923.2051, + -5373.3975, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2923.2051, + -5373.3975, + 400.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 2923.2051, + -5373.3975, + 400.0 + ], + "actual_end_pos": [ + 2923.2051, + -5373.3975, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2923.2051, + -5373.3975, + 400.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 2973.2051, + -5460.0, + 400.0 + ], + "actual_end_pos": [ + 2973.2051, + -5460.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2973.2051, + -5460.0, + 400.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 3023.2051, + -5546.6025, + 400.0 + ], + "actual_end_pos": [ + 3023.2051, + -5546.6025, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3023.2051, + -5546.6025, + 400.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 2936.6025, + -5596.6025, + 400.0 + ], + "actual_end_pos": [ + 2936.6025, + -5596.6025, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2936.6025, + -5596.6025, + 400.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 2850.0, + -5646.6025, + 400.0 + ], + "actual_end_pos": [ + 2850.0, + -5646.6025, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2850.0, + -5646.6025, + 400.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 2800.0, + -5560.0, + 400.0 + ], + "actual_end_pos": [ + 2800.0, + -5560.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2800.0, + -5560.0, + 400.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 2800.0, + -5560.0, + 400.0 + ], + "actual_end_pos": [ + 2800.0, + -5560.0, + 400.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260408_115548__traj_000306_meta.json b/inverse_easy/run_20260408_115548__traj_000306_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e80e1a23aeee12478be7c836e056d28e5b658b0f --- /dev/null +++ b/inverse_easy/run_20260408_115548__traj_000306_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 306, + "episode_id": 0, + "state_id": 230, + "sample_index": 230, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 170.0, + -7050.0, + 2000.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_forward", + "turn_left", + "look_up", + "look_up", + "move_left", + "move_forward", + "move_right", + "turn_right", + "move_left", + "move_left", + "turn_left", + "move_right", + "move_forward", + "turn_right", + "look_up", + "turn_left", + "move_right", + "turn_left", + "no_op", + "no_op", + "turn_right", + "move_left", + "turn_right", + "look_down", + "turn_left", + "move_backward", + "move_left", + "turn_right", + "move_right", + "move_right", + "turn_left", + "move_left", + "move_backward", + "move_right", + "look_down", + "look_down", + "turn_right", + "move_backward", + "move_backward" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 170.0, + -7050.0, + 2000.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 170.0, + -7150.0, + 2000.0 + ], + "actual_end_pos": [ + 170.0, + -7150.0, + 2000.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 170.0, + -7150.0, + 2000.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 170.0, + -7250.0, + 2000.0 + ], + "actual_end_pos": [ + 170.0, + -7250.0, + 2000.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 170.0, + -7250.0, + 2000.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 170.0, + -7250.0, + 2000.0 + ], + "actual_end_pos": [ + 170.0, + -7250.0, + 2000.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 170.0, + -7250.0, + 2000.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 170.0, + -7250.0, + 2000.0 + ], + "actual_end_pos": [ + 170.0, + -7250.0, + 2000.0 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 170.0, + -7250.0, + 2000.0 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 170.0, + -7250.0, + 2000.0 + ], + "actual_end_pos": [ + 170.0, + -7250.0, + 2000.0 + ], + "actual_end_rot": [ + 15.0, + -105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 170.0, + -7250.0, + 2000.0 + ], + "start_rot": [ + 15.0, + -105.0, + -0.0 + ], + "expected_end_pos": [ + 73.4074, + -7224.1181, + 2000.0 + ], + "actual_end_pos": [ + 73.4074, + -7224.1181, + 2000.0 + ], + "actual_end_rot": [ + 15.0, + -105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 73.4074, + -7224.1181, + 2000.0 + ], + "start_rot": [ + 15.0, + -105.0, + -0.0 + ], + "expected_end_pos": [ + 48.4074, + -7317.4194, + 2025.8819 + ], + "actual_end_pos": [ + 48.4074, + -7317.4194, + 2025.8819 + ], + "actual_end_rot": [ + 15.0, + -105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 48.4074, + -7317.4194, + 2025.8819 + ], + "start_rot": [ + 15.0, + -105.0, + -0.0 + ], + "expected_end_pos": [ + 145.0, + -7343.3013, + 2025.8819 + ], + "actual_end_pos": [ + 145.0, + -7343.3013, + 2025.8819 + ], + "actual_end_rot": [ + 15.0, + -105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 145.0, + -7343.3013, + 2025.8819 + ], + "start_rot": [ + 15.0, + -105.0, + -0.0 + ], + "expected_end_pos": [ + 145.0, + -7343.3013, + 2025.8819 + ], + "actual_end_pos": [ + 145.0, + -7343.3013, + 2025.8819 + ], + "actual_end_rot": [ + 15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 145.0, + -7343.3013, + 2025.8819 + ], + "start_rot": [ + 15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 45.0, + -7343.3013, + 2025.8819 + ], + "actual_end_pos": [ + 45.0, + -7343.3013, + 2025.8819 + ], + "actual_end_rot": [ + 15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 45.0, + -7343.3013, + 2025.8819 + ], + "start_rot": [ + 15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -55.0, + -7343.3013, + 2025.8819 + ], + "actual_end_pos": [ + -55.0, + -7343.3013, + 2025.8819 + ], + "actual_end_rot": [ + 15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -55.0, + -7343.3013, + 2025.8819 + ], + "start_rot": [ + 15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -55.0, + -7343.3013, + 2025.8819 + ], + "actual_end_pos": [ + -55.0, + -7343.3013, + 2025.8819 + ], + "actual_end_rot": [ + 15.0, + -105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -55.0, + -7343.3013, + 2025.8819 + ], + "start_rot": [ + 15.0, + -105.0, + -0.0 + ], + "expected_end_pos": [ + 41.5926, + -7369.1832, + 2025.8819 + ], + "actual_end_pos": [ + 41.5926, + -7369.1832, + 2025.8819 + ], + "actual_end_rot": [ + 15.0, + -105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 41.5926, + -7369.1832, + 2025.8819 + ], + "start_rot": [ + 15.0, + -105.0, + -0.0 + ], + "expected_end_pos": [ + 16.5926, + -7462.4844, + 2051.7638 + ], + "actual_end_pos": [ + 16.5926, + -7462.4844, + 2051.7638 + ], + "actual_end_rot": [ + 15.0, + -105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 16.5926, + -7462.4844, + 2051.7638 + ], + "start_rot": [ + 15.0, + -105.0, + -0.0 + ], + "expected_end_pos": [ + 16.5926, + -7462.4844, + 2051.7638 + ], + "actual_end_pos": [ + 16.5926, + -7462.4844, + 2051.7638 + ], + "actual_end_rot": [ + 15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 16.5926, + -7462.4844, + 2051.7638 + ], + "start_rot": [ + 15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 16.5926, + -7462.4844, + 2051.7638 + ], + "actual_end_pos": [ + 16.5926, + -7462.4844, + 2051.7638 + ], + "actual_end_rot": [ + 22.5, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 16.5926, + -7462.4844, + 2051.7638 + ], + "start_rot": [ + 22.5, + -90.0, + -0.0 + ], + "expected_end_pos": [ + 16.5926, + -7462.4844, + 2051.7638 + ], + "actual_end_pos": [ + 16.5926, + -7462.4844, + 2051.7638 + ], + "actual_end_rot": [ + 22.5, + -105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 16.5926, + -7462.4844, + 2051.7638 + ], + "start_rot": [ + 22.5, + -105.0, + -0.0 + ], + "expected_end_pos": [ + 113.1852, + -7488.3663, + 2051.7638 + ], + "actual_end_pos": [ + 113.1852, + -7488.3663, + 2051.7638 + ], + "actual_end_rot": [ + 22.5, + -105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 113.1852, + -7488.3663, + 2051.7638 + ], + "start_rot": [ + 22.5, + -105.0, + -0.0 + ], + "expected_end_pos": [ + 113.1852, + -7488.3663, + 2051.7638 + ], + "actual_end_pos": [ + 113.1852, + -7488.3663, + 2051.7638 + ], + "actual_end_rot": [ + 22.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 113.1852, + -7488.3663, + 2051.7638 + ], + "start_rot": [ + 22.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 113.1852, + -7488.3663, + 2051.7638 + ], + "actual_end_pos": [ + 113.1852, + -7488.3663, + 2051.7638 + ], + "actual_end_rot": [ + 22.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 113.1852, + -7488.3663, + 2051.7638 + ], + "start_rot": [ + 22.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 113.1852, + -7488.3663, + 2051.7638 + ], + "actual_end_pos": [ + 113.1852, + -7488.3663, + 2051.7638 + ], + "actual_end_rot": [ + 22.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 113.1852, + -7488.3663, + 2051.7638 + ], + "start_rot": [ + 22.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 113.1852, + -7488.3663, + 2051.7638 + ], + "actual_end_pos": [ + 113.1852, + -7488.3663, + 2051.7638 + ], + "actual_end_rot": [ + 22.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 113.1852, + -7488.3663, + 2051.7638 + ], + "start_rot": [ + 22.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 16.5926, + -7462.4844, + 2051.7638 + ], + "actual_end_pos": [ + 16.5926, + -7462.4844, + 2051.7638 + ], + "actual_end_rot": [ + 22.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 16.5926, + -7462.4844, + 2051.7638 + ], + "start_rot": [ + 22.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 16.5926, + -7462.4844, + 2051.7638 + ], + "actual_end_pos": [ + 16.5926, + -7462.4844, + 2051.7638 + ], + "actual_end_rot": [ + 22.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 16.5926, + -7462.4844, + 2051.7638 + ], + "start_rot": [ + 22.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 16.5926, + -7462.4844, + 2051.7638 + ], + "actual_end_pos": [ + 16.5926, + -7462.4844, + 2051.7638 + ], + "actual_end_rot": [ + 15.0, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 16.5926, + -7462.4844, + 2051.7638 + ], + "start_rot": [ + 15.0, + -90.0, + -0.0 + ], + "expected_end_pos": [ + 16.5926, + -7462.4844, + 2051.7638 + ], + "actual_end_pos": [ + 16.5926, + -7462.4844, + 2051.7638 + ], + "actual_end_rot": [ + 15.0, + -105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 16.5926, + -7462.4844, + 2051.7638 + ], + "start_rot": [ + 15.0, + -105.0, + -0.0 + ], + "expected_end_pos": [ + 41.5926, + -7369.1832, + 2025.8819 + ], + "actual_end_pos": [ + 41.5926, + -7369.1832, + 2025.8819 + ], + "actual_end_rot": [ + 15.0, + -105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 41.5926, + -7369.1832, + 2025.8819 + ], + "start_rot": [ + 15.0, + -105.0, + -0.0 + ], + "expected_end_pos": [ + -55.0, + -7343.3013, + 2025.8819 + ], + "actual_end_pos": [ + -55.0, + -7343.3013, + 2025.8819 + ], + "actual_end_rot": [ + 15.0, + -105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -55.0, + -7343.3013, + 2025.8819 + ], + "start_rot": [ + 15.0, + -105.0, + -0.0 + ], + "expected_end_pos": [ + -55.0, + -7343.3013, + 2025.8819 + ], + "actual_end_pos": [ + -55.0, + -7343.3013, + 2025.8819 + ], + "actual_end_rot": [ + 15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -55.0, + -7343.3013, + 2025.8819 + ], + "start_rot": [ + 15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 45.0, + -7343.3013, + 2025.8819 + ], + "actual_end_pos": [ + 45.0, + -7343.3013, + 2025.8819 + ], + "actual_end_rot": [ + 15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 45.0, + -7343.3013, + 2025.8819 + ], + "start_rot": [ + 15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 145.0, + -7343.3013, + 2025.8819 + ], + "actual_end_pos": [ + 145.0, + -7343.3013, + 2025.8819 + ], + "actual_end_rot": [ + 15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 145.0, + -7343.3013, + 2025.8819 + ], + "start_rot": [ + 15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 145.0, + -7343.3013, + 2025.8819 + ], + "actual_end_pos": [ + 145.0, + -7343.3013, + 2025.8819 + ], + "actual_end_rot": [ + 15.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 145.0, + -7343.3013, + 2025.8819 + ], + "start_rot": [ + 15.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 48.4074, + -7317.4194, + 2025.8819 + ], + "actual_end_pos": [ + 48.4074, + -7317.4194, + 2025.8819 + ], + "actual_end_rot": [ + 15.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 48.4074, + -7317.4194, + 2025.8819 + ], + "start_rot": [ + 15.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 73.4074, + -7224.1181, + 2000.0 + ], + "actual_end_pos": [ + 73.4074, + -7224.1181, + 2000.0 + ], + "actual_end_rot": [ + 15.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 73.4074, + -7224.1181, + 2000.0 + ], + "start_rot": [ + 15.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 170.0, + -7250.0, + 2000.0 + ], + "actual_end_pos": [ + 170.0, + -7250.0, + 2000.0 + ], + "actual_end_rot": [ + 15.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 170.0, + -7250.0, + 2000.0 + ], + "start_rot": [ + 15.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 170.0, + -7250.0, + 2000.0 + ], + "actual_end_pos": [ + 170.0, + -7250.0, + 2000.0 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 170.0, + -7250.0, + 2000.0 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 170.0, + -7250.0, + 2000.0 + ], + "actual_end_pos": [ + 170.0, + -7250.0, + 2000.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 170.0, + -7250.0, + 2000.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 170.0, + -7250.0, + 2000.0 + ], + "actual_end_pos": [ + 170.0, + -7250.0, + 2000.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 170.0, + -7250.0, + 2000.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 170.0, + -7150.0, + 2000.0 + ], + "actual_end_pos": [ + 170.0, + -7150.0, + 2000.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 170.0, + -7150.0, + 2000.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 170.0, + -7050.0, + 2000.0 + ], + "actual_end_pos": [ + 170.0, + -7050.0, + 2000.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260408_115548__traj_000363_meta.json b/inverse_easy/run_20260408_115548__traj_000363_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..41b731909c174d72daaf4e24b441465380757595 --- /dev/null +++ b/inverse_easy/run_20260408_115548__traj_000363_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 363, + "episode_id": 0, + "state_id": 276, + "sample_index": 276, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 170.0, + -5850.0, + 2000.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_right", + "move_backward", + "move_right", + "turn_right", + "look_up", + "turn_right", + "move_forward", + "move_left", + "turn_left", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "move_backward", + "move_left", + "move_backward", + "turn_left", + "turn_left", + "move_forward", + "move_forward", + "move_backward", + "move_backward", + "turn_right", + "turn_right", + "move_forward", + "move_right", + "move_forward", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "turn_right", + "move_right", + "move_backward", + "turn_left", + "look_down", + "turn_left", + "move_left", + "move_forward", + "turn_left" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 170.0, + -5850.0, + 2000.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 170.0, + -5850.0, + 2000.0 + ], + "actual_end_pos": [ + 170.0, + -5850.0, + 2000.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 170.0, + -5850.0, + 2000.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 266.5926, + -5824.1181, + 2000.0 + ], + "actual_end_pos": [ + 266.5926, + -5824.1181, + 2000.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 266.5926, + -5824.1181, + 2000.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 292.4745, + -5920.7107, + 2000.0 + ], + "actual_end_pos": [ + 292.4745, + -5920.7107, + 2000.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 292.4745, + -5920.7107, + 2000.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 292.4745, + -5920.7107, + 2000.0 + ], + "actual_end_pos": [ + 292.4745, + -5920.7107, + 2000.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 292.4745, + -5920.7107, + 2000.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 292.4745, + -5920.7107, + 2000.0 + ], + "actual_end_pos": [ + 292.4745, + -5920.7107, + 2000.0 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 292.4745, + -5920.7107, + 2000.0 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 292.4745, + -5920.7107, + 2000.0 + ], + "actual_end_pos": [ + 292.4745, + -5920.7107, + 2000.0 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 292.4745, + -5920.7107, + 2000.0 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 222.3688, + -5990.8164, + 2013.0526 + ], + "actual_end_pos": [ + 222.3688, + -5990.8164, + 2013.0526 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 222.3688, + -5990.8164, + 2013.0526 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 151.6581, + -5920.1057, + 2013.0526 + ], + "actual_end_pos": [ + 151.6581, + -5920.1057, + 2013.0526 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 151.6581, + -5920.1057, + 2013.0526 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 151.6581, + -5920.1057, + 2013.0526 + ], + "actual_end_pos": [ + 151.6581, + -5920.1057, + 2013.0526 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 151.6581, + -5920.1057, + 2013.0526 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 151.6581, + -5920.1057, + 2013.0526 + ], + "actual_end_pos": [ + 151.6581, + -5920.1057, + 2013.0526 + ], + "actual_end_rot": [ + 7.5, + -165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 151.6581, + -5920.1057, + 2013.0526 + ], + "start_rot": [ + 7.5, + -165.0, + -0.0 + ], + "expected_end_pos": [ + 151.6581, + -5920.1057, + 2013.0526 + ], + "actual_end_pos": [ + 151.6581, + -5920.1057, + 2013.0526 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 151.6581, + -5920.1057, + 2013.0526 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 250.8026, + -5920.1057, + 2000.0 + ], + "actual_end_pos": [ + 250.8026, + -5920.1057, + 2000.0 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 250.8026, + -5920.1057, + 2000.0 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 349.947, + -5920.1057, + 1986.9474 + ], + "actual_end_pos": [ + 349.947, + -5920.1057, + 1986.9474 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 349.947, + -5920.1057, + 1986.9474 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 449.0915, + -5920.1057, + 1973.8948 + ], + "actual_end_pos": [ + 449.0915, + -5920.1057, + 1973.8948 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 449.0915, + -5920.1057, + 1973.8948 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 449.0915, + -5820.1057, + 1973.8948 + ], + "actual_end_pos": [ + 449.0915, + -5820.1057, + 1973.8948 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 449.0915, + -5820.1057, + 1973.8948 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 548.236, + -5820.1057, + 1960.8421 + ], + "actual_end_pos": [ + 548.236, + -5820.1057, + 1960.8421 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 548.236, + -5820.1057, + 1960.8421 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 548.236, + -5820.1057, + 1960.8421 + ], + "actual_end_pos": [ + 548.236, + -5820.1057, + 1960.8421 + ], + "actual_end_rot": [ + 7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 548.236, + -5820.1057, + 1960.8421 + ], + "start_rot": [ + 7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 548.236, + -5820.1057, + 1960.8421 + ], + "actual_end_pos": [ + 548.236, + -5820.1057, + 1960.8421 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 548.236, + -5820.1057, + 1960.8421 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 462.3744, + -5770.5335, + 1973.8948 + ], + "actual_end_pos": [ + 462.3744, + -5770.5335, + 1973.8948 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 462.3744, + -5770.5335, + 1973.8948 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 376.5127, + -5720.9613, + 1986.9474 + ], + "actual_end_pos": [ + 376.5127, + -5720.9613, + 1986.9474 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 376.5127, + -5720.9613, + 1986.9474 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 462.3744, + -5770.5335, + 1973.8948 + ], + "actual_end_pos": [ + 462.3744, + -5770.5335, + 1973.8948 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 462.3744, + -5770.5335, + 1973.8948 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 548.236, + -5820.1057, + 1960.8421 + ], + "actual_end_pos": [ + 548.236, + -5820.1057, + 1960.8421 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 548.236, + -5820.1057, + 1960.8421 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 548.236, + -5820.1057, + 1960.8421 + ], + "actual_end_pos": [ + 548.236, + -5820.1057, + 1960.8421 + ], + "actual_end_rot": [ + 7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 548.236, + -5820.1057, + 1960.8421 + ], + "start_rot": [ + 7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 548.236, + -5820.1057, + 1960.8421 + ], + "actual_end_pos": [ + 548.236, + -5820.1057, + 1960.8421 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 548.236, + -5820.1057, + 1960.8421 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 449.0915, + -5820.1057, + 1973.8948 + ], + "actual_end_pos": [ + 449.0915, + -5820.1057, + 1973.8948 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 449.0915, + -5820.1057, + 1973.8948 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 449.0915, + -5920.1057, + 1973.8948 + ], + "actual_end_pos": [ + 449.0915, + -5920.1057, + 1973.8948 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 449.0915, + -5920.1057, + 1973.8948 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 349.947, + -5920.1057, + 1986.9474 + ], + "actual_end_pos": [ + 349.947, + -5920.1057, + 1986.9474 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 349.947, + -5920.1057, + 1986.9474 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 250.8026, + -5920.1057, + 2000.0 + ], + "actual_end_pos": [ + 250.8026, + -5920.1057, + 2000.0 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 250.8026, + -5920.1057, + 2000.0 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 151.6581, + -5920.1057, + 2013.0526 + ], + "actual_end_pos": [ + 151.6581, + -5920.1057, + 2013.0526 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 151.6581, + -5920.1057, + 2013.0526 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 151.6581, + -5920.1057, + 2013.0526 + ], + "actual_end_pos": [ + 151.6581, + -5920.1057, + 2013.0526 + ], + "actual_end_rot": [ + 7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 151.6581, + -5920.1057, + 2013.0526 + ], + "start_rot": [ + 7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 151.6581, + -5920.1057, + 2013.0526 + ], + "actual_end_pos": [ + 151.6581, + -5920.1057, + 2013.0526 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 151.6581, + -5920.1057, + 2013.0526 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 151.6581, + -5920.1057, + 2013.0526 + ], + "actual_end_pos": [ + 151.6581, + -5920.1057, + 2013.0526 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 151.6581, + -5920.1057, + 2013.0526 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 222.3688, + -5990.8164, + 2013.0526 + ], + "actual_end_pos": [ + 222.3688, + -5990.8164, + 2013.0526 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 222.3688, + -5990.8164, + 2013.0526 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 292.4745, + -5920.7107, + 2000.0 + ], + "actual_end_pos": [ + 292.4745, + -5920.7107, + 2000.0 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 292.4745, + -5920.7107, + 2000.0 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 292.4745, + -5920.7107, + 2000.0 + ], + "actual_end_pos": [ + 292.4745, + -5920.7107, + 2000.0 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 292.4745, + -5920.7107, + 2000.0 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 292.4745, + -5920.7107, + 2000.0 + ], + "actual_end_pos": [ + 292.4745, + -5920.7107, + 2000.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 292.4745, + -5920.7107, + 2000.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 292.4745, + -5920.7107, + 2000.0 + ], + "actual_end_pos": [ + 292.4745, + -5920.7107, + 2000.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 292.4745, + -5920.7107, + 2000.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 266.5926, + -5824.1181, + 2000.0 + ], + "actual_end_pos": [ + 266.5926, + -5824.1181, + 2000.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 266.5926, + -5824.1181, + 2000.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 170.0, + -5850.0, + 2000.0 + ], + "actual_end_pos": [ + 170.0, + -5850.0, + 2000.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 170.0, + -5850.0, + 2000.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 170.0, + -5850.0, + 2000.0 + ], + "actual_end_pos": [ + 170.0, + -5850.0, + 2000.0 + ], + "actual_end_rot": [ + 0.0, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260408_180248__traj_000226_meta.json b/inverse_easy/run_20260408_180248__traj_000226_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..524221546e21b06cbdf985c0357699637d427273 --- /dev/null +++ b/inverse_easy/run_20260408_180248__traj_000226_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 226, + "episode_id": 0, + "state_id": 169, + "sample_index": 169, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -3660.0, + -13170.0, + 200.0 + ], + "rotation": [ + 0.0, + 45.0, + 0.0 + ] + }, + "action_sequence": [ + "look_down", + "look_down", + "move_right", + "move_forward", + "move_forward", + "move_right", + "turn_right", + "move_backward", + "turn_right", + "move_forward", + "turn_left", + "move_right", + "move_backward", + "move_right", + "move_forward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "move_backward", + "move_left", + "move_forward", + "move_left", + "turn_right", + "move_backward", + "turn_left", + "move_forward", + "turn_left", + "move_left", + "move_backward", + "move_backward", + "move_left", + "look_up", + "look_up" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -3660.0, + -13170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3660.0, + -13170.0, + 200.0 + ], + "actual_end_pos": [ + -3660.0, + -13170.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -3660.0, + -13170.0, + 200.0 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -3660.0, + -13170.0, + 200.0 + ], + "actual_end_pos": [ + -3660.0, + -13170.0, + 200.0 + ], + "actual_end_rot": [ + -15.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3660.0, + -13170.0, + 200.0 + ], + "start_rot": [ + -15.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + -3730.7107, + -13099.2893, + 200.0 + ], + "actual_end_pos": [ + -3730.7107, + -13099.2893, + 200.0 + ], + "actual_end_rot": [ + -15.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3730.7107, + -13099.2893, + 200.0 + ], + "start_rot": [ + -15.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + -3662.4094, + -13030.9881, + 174.1181 + ], + "actual_end_pos": [ + -3662.4094, + -13030.9881, + 174.1181 + ], + "actual_end_rot": [ + -15.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3662.4094, + -13030.9881, + 174.1181 + ], + "start_rot": [ + -15.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + -3594.1081, + -12962.6868, + 148.2362 + ], + "actual_end_pos": [ + -3594.1081, + -12962.6868, + 148.2362 + ], + "actual_end_rot": [ + -15.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3594.1081, + -12962.6868, + 148.2362 + ], + "start_rot": [ + -15.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + -3664.8188, + -12891.9761, + 148.2362 + ], + "actual_end_pos": [ + -3664.8188, + -12891.9761, + 148.2362 + ], + "actual_end_rot": [ + -15.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3664.8188, + -12891.9761, + 148.2362 + ], + "start_rot": [ + -15.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + -3664.8188, + -12891.9761, + 148.2362 + ], + "actual_end_pos": [ + -3664.8188, + -12891.9761, + 148.2362 + ], + "actual_end_rot": [ + -15.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3664.8188, + -12891.9761, + 148.2362 + ], + "start_rot": [ + -15.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -3713.1151, + -12975.6277, + 174.1181 + ], + "actual_end_pos": [ + -3713.1151, + -12975.6277, + 174.1181 + ], + "actual_end_rot": [ + -15.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3713.1151, + -12975.6277, + 174.1181 + ], + "start_rot": [ + -15.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -3713.1151, + -12975.6277, + 174.1181 + ], + "actual_end_pos": [ + -3713.1151, + -12975.6277, + 174.1181 + ], + "actual_end_rot": [ + -15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3713.1151, + -12975.6277, + 174.1181 + ], + "start_rot": [ + -15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -3688.1151, + -12882.3265, + 148.2362 + ], + "actual_end_pos": [ + -3688.1151, + -12882.3265, + 148.2362 + ], + "actual_end_rot": [ + -15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3688.1151, + -12882.3265, + 148.2362 + ], + "start_rot": [ + -15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -3688.1151, + -12882.3265, + 148.2362 + ], + "actual_end_pos": [ + -3688.1151, + -12882.3265, + 148.2362 + ], + "actual_end_rot": [ + -15.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3688.1151, + -12882.3265, + 148.2362 + ], + "start_rot": [ + -15.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -3774.7176, + -12832.3265, + 148.2362 + ], + "actual_end_pos": [ + -3774.7176, + -12832.3265, + 148.2362 + ], + "actual_end_rot": [ + -15.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3774.7176, + -12832.3265, + 148.2362 + ], + "start_rot": [ + -15.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -3823.0139, + -12915.9781, + 174.1181 + ], + "actual_end_pos": [ + -3823.0139, + -12915.9781, + 174.1181 + ], + "actual_end_rot": [ + -15.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3823.0139, + -12915.9781, + 174.1181 + ], + "start_rot": [ + -15.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -3909.6165, + -12865.9781, + 174.1181 + ], + "actual_end_pos": [ + -3909.6165, + -12865.9781, + 174.1181 + ], + "actual_end_rot": [ + -15.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3909.6165, + -12865.9781, + 174.1181 + ], + "start_rot": [ + -15.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -3861.3202, + -12782.3265, + 148.2362 + ], + "actual_end_pos": [ + -3861.3202, + -12782.3265, + 148.2362 + ], + "actual_end_rot": [ + -15.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3861.3202, + -12782.3265, + 148.2362 + ], + "start_rot": [ + -15.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -3861.3202, + -12782.3265, + 148.2362 + ], + "actual_end_pos": [ + -3861.3202, + -12782.3265, + 148.2362 + ], + "actual_end_rot": [ + -15.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3861.3202, + -12782.3265, + 148.2362 + ], + "start_rot": [ + -15.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -3861.3202, + -12782.3265, + 148.2362 + ], + "actual_end_pos": [ + -3861.3202, + -12782.3265, + 148.2362 + ], + "actual_end_rot": [ + -15.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3861.3202, + -12782.3265, + 148.2362 + ], + "start_rot": [ + -15.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -3861.3202, + -12782.3265, + 148.2362 + ], + "actual_end_pos": [ + -3861.3202, + -12782.3265, + 148.2362 + ], + "actual_end_rot": [ + -15.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3861.3202, + -12782.3265, + 148.2362 + ], + "start_rot": [ + -15.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -3861.3202, + -12782.3265, + 148.2362 + ], + "actual_end_pos": [ + -3861.3202, + -12782.3265, + 148.2362 + ], + "actual_end_rot": [ + -15.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3861.3202, + -12782.3265, + 148.2362 + ], + "start_rot": [ + -15.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -3861.3202, + -12782.3265, + 148.2362 + ], + "actual_end_pos": [ + -3861.3202, + -12782.3265, + 148.2362 + ], + "actual_end_rot": [ + -15.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3861.3202, + -12782.3265, + 148.2362 + ], + "start_rot": [ + -15.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -3861.3202, + -12782.3265, + 148.2362 + ], + "actual_end_pos": [ + -3861.3202, + -12782.3265, + 148.2362 + ], + "actual_end_rot": [ + -15.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3861.3202, + -12782.3265, + 148.2362 + ], + "start_rot": [ + -15.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -3861.3202, + -12782.3265, + 148.2362 + ], + "actual_end_pos": [ + -3861.3202, + -12782.3265, + 148.2362 + ], + "actual_end_rot": [ + -15.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3861.3202, + -12782.3265, + 148.2362 + ], + "start_rot": [ + -15.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -3861.3202, + -12782.3265, + 148.2362 + ], + "actual_end_pos": [ + -3861.3202, + -12782.3265, + 148.2362 + ], + "actual_end_rot": [ + -15.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3861.3202, + -12782.3265, + 148.2362 + ], + "start_rot": [ + -15.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -3861.3202, + -12782.3265, + 148.2362 + ], + "actual_end_pos": [ + -3861.3202, + -12782.3265, + 148.2362 + ], + "actual_end_rot": [ + -15.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3861.3202, + -12782.3265, + 148.2362 + ], + "start_rot": [ + -15.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -3861.3202, + -12782.3265, + 148.2362 + ], + "actual_end_pos": [ + -3861.3202, + -12782.3265, + 148.2362 + ], + "actual_end_rot": [ + -15.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3861.3202, + -12782.3265, + 148.2362 + ], + "start_rot": [ + -15.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -3909.6165, + -12865.9781, + 174.1181 + ], + "actual_end_pos": [ + -3909.6165, + -12865.9781, + 174.1181 + ], + "actual_end_rot": [ + -15.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3909.6165, + -12865.9781, + 174.1181 + ], + "start_rot": [ + -15.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -3823.0139, + -12915.9781, + 174.1181 + ], + "actual_end_pos": [ + -3823.0139, + -12915.9781, + 174.1181 + ], + "actual_end_rot": [ + -15.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3823.0139, + -12915.9781, + 174.1181 + ], + "start_rot": [ + -15.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -3774.7176, + -12832.3265, + 148.2362 + ], + "actual_end_pos": [ + -3774.7176, + -12832.3265, + 148.2362 + ], + "actual_end_rot": [ + -15.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3774.7176, + -12832.3265, + 148.2362 + ], + "start_rot": [ + -15.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -3688.1151, + -12882.3265, + 148.2362 + ], + "actual_end_pos": [ + -3688.1151, + -12882.3265, + 148.2362 + ], + "actual_end_rot": [ + -15.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -3688.1151, + -12882.3265, + 148.2362 + ], + "start_rot": [ + -15.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -3688.1151, + -12882.3265, + 148.2362 + ], + "actual_end_pos": [ + -3688.1151, + -12882.3265, + 148.2362 + ], + "actual_end_rot": [ + -15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3688.1151, + -12882.3265, + 148.2362 + ], + "start_rot": [ + -15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -3713.1151, + -12975.6277, + 174.1181 + ], + "actual_end_pos": [ + -3713.1151, + -12975.6277, + 174.1181 + ], + "actual_end_rot": [ + -15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3713.1151, + -12975.6277, + 174.1181 + ], + "start_rot": [ + -15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -3713.1151, + -12975.6277, + 174.1181 + ], + "actual_end_pos": [ + -3713.1151, + -12975.6277, + 174.1181 + ], + "actual_end_rot": [ + -15.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3713.1151, + -12975.6277, + 174.1181 + ], + "start_rot": [ + -15.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -3664.8188, + -12891.9761, + 148.2362 + ], + "actual_end_pos": [ + -3664.8188, + -12891.9761, + 148.2362 + ], + "actual_end_rot": [ + -15.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -3664.8188, + -12891.9761, + 148.2362 + ], + "start_rot": [ + -15.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -3664.8188, + -12891.9761, + 148.2362 + ], + "actual_end_pos": [ + -3664.8188, + -12891.9761, + 148.2362 + ], + "actual_end_rot": [ + -15.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3664.8188, + -12891.9761, + 148.2362 + ], + "start_rot": [ + -15.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + -3594.1081, + -12962.6868, + 148.2362 + ], + "actual_end_pos": [ + -3594.1081, + -12962.6868, + 148.2362 + ], + "actual_end_rot": [ + -15.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3594.1081, + -12962.6868, + 148.2362 + ], + "start_rot": [ + -15.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + -3662.4094, + -13030.9881, + 174.1181 + ], + "actual_end_pos": [ + -3662.4094, + -13030.9881, + 174.1181 + ], + "actual_end_rot": [ + -15.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3662.4094, + -13030.9881, + 174.1181 + ], + "start_rot": [ + -15.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + -3730.7107, + -13099.2893, + 200.0 + ], + "actual_end_pos": [ + -3730.7107, + -13099.2893, + 200.0 + ], + "actual_end_rot": [ + -15.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3730.7107, + -13099.2893, + 200.0 + ], + "start_rot": [ + -15.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + -3660.0, + -13170.0, + 200.0 + ], + "actual_end_pos": [ + -3660.0, + -13170.0, + 200.0 + ], + "actual_end_rot": [ + -15.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -3660.0, + -13170.0, + 200.0 + ], + "start_rot": [ + -15.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + -3660.0, + -13170.0, + 200.0 + ], + "actual_end_pos": [ + -3660.0, + -13170.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -3660.0, + -13170.0, + 200.0 + ], + "start_rot": [ + -7.5, + 45.0, + -0.0 + ], + "expected_end_pos": [ + -3660.0, + -13170.0, + 200.0 + ], + "actual_end_pos": [ + -3660.0, + -13170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260408_180248__traj_000247_meta.json b/inverse_easy/run_20260408_180248__traj_000247_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2ec63a6943e3dbeee72986177ea81fd845ebebff --- /dev/null +++ b/inverse_easy/run_20260408_180248__traj_000247_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 247, + "episode_id": 0, + "state_id": 186, + "sample_index": 186, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -3660.0, + -11170.0, + 200.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "move_left", + "move_left", + "move_forward", + "move_right", + "move_backward", + "move_backward", + "move_right", + "move_forward", + "move_forward", + "look_down", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "look_up", + "move_backward", + "move_backward", + "move_left", + "move_forward", + "move_forward", + "move_left", + "move_backward", + "move_right", + "move_right", + "move_backward", + "move_backward", + "move_backward", + "move_backward" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3660.0, + -11170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3660.0, + -11070.0, + 200.0 + ], + "actual_end_pos": [ + -3660.0, + -11070.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3660.0, + -11070.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3660.0, + -10970.0, + 200.0 + ], + "actual_end_pos": [ + -3660.0, + -10970.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3660.0, + -10970.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3660.0, + -10870.0, + 200.0 + ], + "actual_end_pos": [ + -3660.0, + -10870.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3660.0, + -10870.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3660.0, + -10770.0, + 200.0 + ], + "actual_end_pos": [ + -3660.0, + -10770.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3660.0, + -10770.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3560.0, + -10770.0, + 200.0 + ], + "actual_end_pos": [ + -3560.0, + -10770.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3560.0, + -10770.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3460.0, + -10770.0, + 200.0 + ], + "actual_end_pos": [ + -3460.0, + -10770.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3460.0, + -10770.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3460.0, + -10670.0, + 200.0 + ], + "actual_end_pos": [ + -3460.0, + -10670.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3460.0, + -10670.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3560.0, + -10670.0, + 200.0 + ], + "actual_end_pos": [ + -3560.0, + -10670.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3560.0, + -10670.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3560.0, + -10770.0, + 200.0 + ], + "actual_end_pos": [ + -3560.0, + -10770.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3560.0, + -10770.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3560.0, + -10870.0, + 200.0 + ], + "actual_end_pos": [ + -3560.0, + -10870.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3560.0, + -10870.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3660.0, + -10870.0, + 200.0 + ], + "actual_end_pos": [ + -3660.0, + -10870.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3660.0, + -10870.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3660.0, + -10770.0, + 200.0 + ], + "actual_end_pos": [ + -3660.0, + -10770.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3660.0, + -10770.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3660.0, + -10670.0, + 200.0 + ], + "actual_end_pos": [ + -3660.0, + -10670.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -3660.0, + -10670.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3660.0, + -10670.0, + 200.0 + ], + "actual_end_pos": [ + -3660.0, + -10670.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3660.0, + -10670.0, + 200.0 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3660.0, + -10670.0, + 200.0 + ], + "actual_end_pos": [ + -3660.0, + -10670.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3660.0, + -10670.0, + 200.0 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3660.0, + -10670.0, + 200.0 + ], + "actual_end_pos": [ + -3660.0, + -10670.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3660.0, + -10670.0, + 200.0 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3660.0, + -10670.0, + 200.0 + ], + "actual_end_pos": [ + -3660.0, + -10670.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3660.0, + -10670.0, + 200.0 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3660.0, + -10670.0, + 200.0 + ], + "actual_end_pos": [ + -3660.0, + -10670.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3660.0, + -10670.0, + 200.0 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3660.0, + -10670.0, + 200.0 + ], + "actual_end_pos": [ + -3660.0, + -10670.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3660.0, + -10670.0, + 200.0 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3660.0, + -10670.0, + 200.0 + ], + "actual_end_pos": [ + -3660.0, + -10670.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3660.0, + -10670.0, + 200.0 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3660.0, + -10670.0, + 200.0 + ], + "actual_end_pos": [ + -3660.0, + -10670.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3660.0, + -10670.0, + 200.0 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3660.0, + -10670.0, + 200.0 + ], + "actual_end_pos": [ + -3660.0, + -10670.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3660.0, + -10670.0, + 200.0 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3660.0, + -10670.0, + 200.0 + ], + "actual_end_pos": [ + -3660.0, + -10670.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3660.0, + -10670.0, + 200.0 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3660.0, + -10670.0, + 200.0 + ], + "actual_end_pos": [ + -3660.0, + -10670.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3660.0, + -10670.0, + 200.0 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3660.0, + -10670.0, + 200.0 + ], + "actual_end_pos": [ + -3660.0, + -10670.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -3660.0, + -10670.0, + 200.0 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3660.0, + -10670.0, + 200.0 + ], + "actual_end_pos": [ + -3660.0, + -10670.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -3660.0, + -10670.0, + 200.0 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3660.0, + -10670.0, + 200.0 + ], + "actual_end_pos": [ + -3660.0, + -10670.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3660.0, + -10670.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3660.0, + -10770.0, + 200.0 + ], + "actual_end_pos": [ + -3660.0, + -10770.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3660.0, + -10770.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3660.0, + -10870.0, + 200.0 + ], + "actual_end_pos": [ + -3660.0, + -10870.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3660.0, + -10870.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3560.0, + -10870.0, + 200.0 + ], + "actual_end_pos": [ + -3560.0, + -10870.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3560.0, + -10870.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3560.0, + -10770.0, + 200.0 + ], + "actual_end_pos": [ + -3560.0, + -10770.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -3560.0, + -10770.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3560.0, + -10670.0, + 200.0 + ], + "actual_end_pos": [ + -3560.0, + -10670.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -3560.0, + -10670.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3460.0, + -10670.0, + 200.0 + ], + "actual_end_pos": [ + -3460.0, + -10670.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3460.0, + -10670.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3460.0, + -10770.0, + 200.0 + ], + "actual_end_pos": [ + -3460.0, + -10770.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3460.0, + -10770.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3560.0, + -10770.0, + 200.0 + ], + "actual_end_pos": [ + -3560.0, + -10770.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -3560.0, + -10770.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3660.0, + -10770.0, + 200.0 + ], + "actual_end_pos": [ + -3660.0, + -10770.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3660.0, + -10770.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3660.0, + -10870.0, + 200.0 + ], + "actual_end_pos": [ + -3660.0, + -10870.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3660.0, + -10870.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3660.0, + -10970.0, + 200.0 + ], + "actual_end_pos": [ + -3660.0, + -10970.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3660.0, + -10970.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3660.0, + -11070.0, + 200.0 + ], + "actual_end_pos": [ + -3660.0, + -11070.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -3660.0, + -11070.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -3660.0, + -11170.0, + 200.0 + ], + "actual_end_pos": [ + -3660.0, + -11170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260408_180248__traj_000532_meta.json b/inverse_easy/run_20260408_180248__traj_000532_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d2d118f3d9fbc0ba07b4538497bff788af92f44a --- /dev/null +++ b/inverse_easy/run_20260408_180248__traj_000532_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 532, + "episode_id": 0, + "state_id": 400, + "sample_index": 400, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2660.0, + -21170.0, + 200.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_forward", + "turn_left", + "move_forward", + "move_right", + "move_forward", + "move_left", + "move_left", + "move_left", + "move_forward", + "move_forward", + "turn_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "turn_left", + "move_backward", + "move_backward", + "move_right", + "move_right", + "move_right", + "move_backward", + "move_left", + "move_backward", + "turn_right", + "move_backward", + "move_backward" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2660.0, + -21170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2560.0, + -21170.0, + 200.0 + ], + "actual_end_pos": [ + -2560.0, + -21170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2560.0, + -21170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2460.0, + -21170.0, + 200.0 + ], + "actual_end_pos": [ + -2460.0, + -21170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2460.0, + -21170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2460.0, + -21170.0, + 200.0 + ], + "actual_end_pos": [ + -2460.0, + -21170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2460.0, + -21170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2363.4074, + -21195.8819, + 200.0 + ], + "actual_end_pos": [ + -2363.4074, + -21195.8819, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2363.4074, + -21195.8819, + 200.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2337.5255, + -21099.2893, + 200.0 + ], + "actual_end_pos": [ + -2337.5255, + -21099.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2337.5255, + -21099.2893, + 200.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2240.9329, + -21125.1712, + 200.0 + ], + "actual_end_pos": [ + -2240.9329, + -21125.1712, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2240.9329, + -21125.1712, + 200.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2266.8148, + -21221.7638, + 200.0 + ], + "actual_end_pos": [ + -2266.8148, + -21221.7638, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2266.8148, + -21221.7638, + 200.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2292.6967, + -21318.3564, + 200.0 + ], + "actual_end_pos": [ + -2292.6967, + -21318.3564, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2292.6967, + -21318.3564, + 200.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2318.5786, + -21414.949, + 200.0 + ], + "actual_end_pos": [ + -2318.5786, + -21414.949, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2318.5786, + -21414.949, + 200.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2221.9861, + -21440.8309, + 200.0 + ], + "actual_end_pos": [ + -2221.9861, + -21440.8309, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2221.9861, + -21440.8309, + 200.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2125.3935, + -21466.7128, + 200.0 + ], + "actual_end_pos": [ + -2125.3935, + -21466.7128, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2125.3935, + -21466.7128, + 200.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2125.3935, + -21466.7128, + 200.0 + ], + "actual_end_pos": [ + -2125.3935, + -21466.7128, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2125.3935, + -21466.7128, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2125.3935, + -21466.7128, + 200.0 + ], + "actual_end_pos": [ + -2125.3935, + -21466.7128, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2125.3935, + -21466.7128, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2125.3935, + -21466.7128, + 200.0 + ], + "actual_end_pos": [ + -2125.3935, + -21466.7128, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2125.3935, + -21466.7128, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2125.3935, + -21466.7128, + 200.0 + ], + "actual_end_pos": [ + -2125.3935, + -21466.7128, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2125.3935, + -21466.7128, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2125.3935, + -21466.7128, + 200.0 + ], + "actual_end_pos": [ + -2125.3935, + -21466.7128, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2125.3935, + -21466.7128, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2125.3935, + -21466.7128, + 200.0 + ], + "actual_end_pos": [ + -2125.3935, + -21466.7128, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2125.3935, + -21466.7128, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2125.3935, + -21466.7128, + 200.0 + ], + "actual_end_pos": [ + -2125.3935, + -21466.7128, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2125.3935, + -21466.7128, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2125.3935, + -21466.7128, + 200.0 + ], + "actual_end_pos": [ + -2125.3935, + -21466.7128, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2125.3935, + -21466.7128, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2125.3935, + -21466.7128, + 200.0 + ], + "actual_end_pos": [ + -2125.3935, + -21466.7128, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2125.3935, + -21466.7128, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2125.3935, + -21466.7128, + 200.0 + ], + "actual_end_pos": [ + -2125.3935, + -21466.7128, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2125.3935, + -21466.7128, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2125.3935, + -21466.7128, + 200.0 + ], + "actual_end_pos": [ + -2125.3935, + -21466.7128, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2125.3935, + -21466.7128, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2125.3935, + -21466.7128, + 200.0 + ], + "actual_end_pos": [ + -2125.3935, + -21466.7128, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2125.3935, + -21466.7128, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2125.3935, + -21466.7128, + 200.0 + ], + "actual_end_pos": [ + -2125.3935, + -21466.7128, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2125.3935, + -21466.7128, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2125.3935, + -21466.7128, + 200.0 + ], + "actual_end_pos": [ + -2125.3935, + -21466.7128, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2125.3935, + -21466.7128, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2125.3935, + -21466.7128, + 200.0 + ], + "actual_end_pos": [ + -2125.3935, + -21466.7128, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2125.3935, + -21466.7128, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2125.3935, + -21466.7128, + 200.0 + ], + "actual_end_pos": [ + -2125.3935, + -21466.7128, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2125.3935, + -21466.7128, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2125.3935, + -21466.7128, + 200.0 + ], + "actual_end_pos": [ + -2125.3935, + -21466.7128, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2125.3935, + -21466.7128, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2125.3935, + -21466.7128, + 200.0 + ], + "actual_end_pos": [ + -2125.3935, + -21466.7128, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2125.3935, + -21466.7128, + 200.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2221.9861, + -21440.8309, + 200.0 + ], + "actual_end_pos": [ + -2221.9861, + -21440.8309, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2221.9861, + -21440.8309, + 200.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2318.5786, + -21414.949, + 200.0 + ], + "actual_end_pos": [ + -2318.5786, + -21414.949, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2318.5786, + -21414.949, + 200.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2292.6967, + -21318.3564, + 200.0 + ], + "actual_end_pos": [ + -2292.6967, + -21318.3564, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2292.6967, + -21318.3564, + 200.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2266.8148, + -21221.7638, + 200.0 + ], + "actual_end_pos": [ + -2266.8148, + -21221.7638, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2266.8148, + -21221.7638, + 200.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2240.9329, + -21125.1712, + 200.0 + ], + "actual_end_pos": [ + -2240.9329, + -21125.1712, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2240.9329, + -21125.1712, + 200.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2337.5255, + -21099.2893, + 200.0 + ], + "actual_end_pos": [ + -2337.5255, + -21099.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2337.5255, + -21099.2893, + 200.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2363.4074, + -21195.8819, + 200.0 + ], + "actual_end_pos": [ + -2363.4074, + -21195.8819, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2363.4074, + -21195.8819, + 200.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2460.0, + -21170.0, + 200.0 + ], + "actual_end_pos": [ + -2460.0, + -21170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2460.0, + -21170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -2460.0, + -21170.0, + 200.0 + ], + "actual_end_pos": [ + -2460.0, + -21170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2460.0, + -21170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2560.0, + -21170.0, + 200.0 + ], + "actual_end_pos": [ + -2560.0, + -21170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2560.0, + -21170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2660.0, + -21170.0, + 200.0 + ], + "actual_end_pos": [ + -2660.0, + -21170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260408_180248__traj_000681_meta.json b/inverse_easy/run_20260408_180248__traj_000681_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2b26e6f6db912a5223155cd8b3448c5fd312d5dd --- /dev/null +++ b/inverse_easy/run_20260408_180248__traj_000681_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 681, + "episode_id": 0, + "state_id": 506, + "sample_index": 506, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2660.0, + -5170.0, + 200.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_right", + "move_backward", + "move_left", + "move_forward", + "move_left", + "turn_right", + "turn_right", + "move_left", + "move_forward", + "move_left", + "move_forward", + "move_forward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "move_backward", + "move_backward", + "move_right", + "move_backward", + "move_right", + "turn_left", + "turn_left", + "move_right", + "move_backward", + "move_right", + "move_forward", + "turn_left" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2660.0, + -5170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2660.0, + -5170.0, + 200.0 + ], + "actual_end_pos": [ + -2660.0, + -5170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2660.0, + -5170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2634.1181, + -5266.5926, + 200.0 + ], + "actual_end_pos": [ + -2634.1181, + -5266.5926, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2634.1181, + -5266.5926, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2537.5255, + -5240.7107, + 200.0 + ], + "actual_end_pos": [ + -2537.5255, + -5240.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2537.5255, + -5240.7107, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2563.4074, + -5144.1181, + 200.0 + ], + "actual_end_pos": [ + -2563.4074, + -5144.1181, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2563.4074, + -5144.1181, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2466.8148, + -5118.2362, + 200.0 + ], + "actual_end_pos": [ + -2466.8148, + -5118.2362, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2466.8148, + -5118.2362, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2466.8148, + -5118.2362, + 200.0 + ], + "actual_end_pos": [ + -2466.8148, + -5118.2362, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2466.8148, + -5118.2362, + 200.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2466.8148, + -5118.2362, + 200.0 + ], + "actual_end_pos": [ + -2466.8148, + -5118.2362, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2466.8148, + -5118.2362, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2396.1042, + -5047.5255, + 200.0 + ], + "actual_end_pos": [ + -2396.1042, + -5047.5255, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2396.1042, + -5047.5255, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2466.8148, + -4976.8148, + 200.0 + ], + "actual_end_pos": [ + -2466.8148, + -4976.8148, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2466.8148, + -4976.8148, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2396.1042, + -4906.1042, + 200.0 + ], + "actual_end_pos": [ + -2396.1042, + -4906.1042, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2396.1042, + -4906.1042, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2466.8148, + -4835.3935, + 200.0 + ], + "actual_end_pos": [ + -2466.8148, + -4835.3935, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2466.8148, + -4835.3935, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2537.5255, + -4764.6828, + 200.0 + ], + "actual_end_pos": [ + -2537.5255, + -4764.6828, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2537.5255, + -4764.6828, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2537.5255, + -4764.6828, + 200.0 + ], + "actual_end_pos": [ + -2537.5255, + -4764.6828, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2537.5255, + -4764.6828, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2537.5255, + -4764.6828, + 200.0 + ], + "actual_end_pos": [ + -2537.5255, + -4764.6828, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2537.5255, + -4764.6828, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2537.5255, + -4764.6828, + 200.0 + ], + "actual_end_pos": [ + -2537.5255, + -4764.6828, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2537.5255, + -4764.6828, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2537.5255, + -4764.6828, + 200.0 + ], + "actual_end_pos": [ + -2537.5255, + -4764.6828, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2537.5255, + -4764.6828, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2537.5255, + -4764.6828, + 200.0 + ], + "actual_end_pos": [ + -2537.5255, + -4764.6828, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2537.5255, + -4764.6828, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2537.5255, + -4764.6828, + 200.0 + ], + "actual_end_pos": [ + -2537.5255, + -4764.6828, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2537.5255, + -4764.6828, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2537.5255, + -4764.6828, + 200.0 + ], + "actual_end_pos": [ + -2537.5255, + -4764.6828, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2537.5255, + -4764.6828, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2537.5255, + -4764.6828, + 200.0 + ], + "actual_end_pos": [ + -2537.5255, + -4764.6828, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2537.5255, + -4764.6828, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2537.5255, + -4764.6828, + 200.0 + ], + "actual_end_pos": [ + -2537.5255, + -4764.6828, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2537.5255, + -4764.6828, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2537.5255, + -4764.6828, + 200.0 + ], + "actual_end_pos": [ + -2537.5255, + -4764.6828, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2537.5255, + -4764.6828, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2537.5255, + -4764.6828, + 200.0 + ], + "actual_end_pos": [ + -2537.5255, + -4764.6828, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2537.5255, + -4764.6828, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2537.5255, + -4764.6828, + 200.0 + ], + "actual_end_pos": [ + -2537.5255, + -4764.6828, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2537.5255, + -4764.6828, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2537.5255, + -4764.6828, + 200.0 + ], + "actual_end_pos": [ + -2537.5255, + -4764.6828, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2537.5255, + -4764.6828, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2537.5255, + -4764.6828, + 200.0 + ], + "actual_end_pos": [ + -2537.5255, + -4764.6828, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2537.5255, + -4764.6828, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2537.5255, + -4764.6828, + 200.0 + ], + "actual_end_pos": [ + -2537.5255, + -4764.6828, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2537.5255, + -4764.6828, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2537.5255, + -4764.6828, + 200.0 + ], + "actual_end_pos": [ + -2537.5255, + -4764.6828, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2537.5255, + -4764.6828, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2466.8148, + -4835.3935, + 200.0 + ], + "actual_end_pos": [ + -2466.8148, + -4835.3935, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2466.8148, + -4835.3935, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2396.1042, + -4906.1042, + 200.0 + ], + "actual_end_pos": [ + -2396.1042, + -4906.1042, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2396.1042, + -4906.1042, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2466.8148, + -4976.8148, + 200.0 + ], + "actual_end_pos": [ + -2466.8148, + -4976.8148, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2466.8148, + -4976.8148, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2396.1042, + -5047.5255, + 200.0 + ], + "actual_end_pos": [ + -2396.1042, + -5047.5255, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2396.1042, + -5047.5255, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2466.8148, + -5118.2362, + 200.0 + ], + "actual_end_pos": [ + -2466.8148, + -5118.2362, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2466.8148, + -5118.2362, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2466.8148, + -5118.2362, + 200.0 + ], + "actual_end_pos": [ + -2466.8148, + -5118.2362, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2466.8148, + -5118.2362, + 200.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2466.8148, + -5118.2362, + 200.0 + ], + "actual_end_pos": [ + -2466.8148, + -5118.2362, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2466.8148, + -5118.2362, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2563.4074, + -5144.1181, + 200.0 + ], + "actual_end_pos": [ + -2563.4074, + -5144.1181, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2563.4074, + -5144.1181, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2537.5255, + -5240.7107, + 200.0 + ], + "actual_end_pos": [ + -2537.5255, + -5240.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2537.5255, + -5240.7107, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2634.1181, + -5266.5926, + 200.0 + ], + "actual_end_pos": [ + -2634.1181, + -5266.5926, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2634.1181, + -5266.5926, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2660.0, + -5170.0, + 200.0 + ], + "actual_end_pos": [ + -2660.0, + -5170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2660.0, + -5170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2660.0, + -5170.0, + 200.0 + ], + "actual_end_pos": [ + -2660.0, + -5170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260408_180248__traj_000947_meta.json b/inverse_easy/run_20260408_180248__traj_000947_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5247e192a2448e88de27bc8fb8b00a0d56564c88 --- /dev/null +++ b/inverse_easy/run_20260408_180248__traj_000947_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 947, + "episode_id": 0, + "state_id": 700, + "sample_index": 700, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -1660.0, + -16170.0, + 200.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "no_op", + "turn_right", + "move_forward", + "look_up", + "move_forward", + "move_forward", + "move_right", + "turn_left", + "move_right", + "move_right", + "no_op", + "look_up", + "move_forward", + "move_forward", + "turn_right", + "move_forward", + "move_right", + "turn_left", + "move_forward", + "move_backward", + "turn_right", + "move_left", + "move_backward", + "turn_left", + "move_backward", + "move_backward", + "look_down", + "no_op", + "move_left", + "move_left", + "turn_right", + "move_left", + "move_backward", + "move_backward", + "look_down", + "move_backward", + "turn_left", + "no_op", + "move_right" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1660.0, + -16170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1660.0, + -16070.0, + 200.0 + ], + "actual_end_pos": [ + -1660.0, + -16070.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1660.0, + -16070.0, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1660.0, + -16070.0, + 200.0 + ], + "actual_end_pos": [ + -1660.0, + -16070.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1660.0, + -16070.0, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1660.0, + -16070.0, + 200.0 + ], + "actual_end_pos": [ + -1660.0, + -16070.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1660.0, + -16070.0, + 200.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -1756.5926, + -16095.8819, + 200.0 + ], + "actual_end_pos": [ + -1756.5926, + -16095.8819, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -1756.5926, + -16095.8819, + 200.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -1756.5926, + -16095.8819, + 200.0 + ], + "actual_end_pos": [ + -1756.5926, + -16095.8819, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1756.5926, + -16095.8819, + 200.0 + ], + "start_rot": [ + 7.5, + -165.0, + -0.0 + ], + "expected_end_pos": [ + -1852.3588, + -16121.5424, + 213.0526 + ], + "actual_end_pos": [ + -1852.3588, + -16121.5424, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1852.3588, + -16121.5424, + 213.0526 + ], + "start_rot": [ + 7.5, + -165.0, + -0.0 + ], + "expected_end_pos": [ + -1948.125, + -16147.2029, + 226.1052 + ], + "actual_end_pos": [ + -1948.125, + -16147.2029, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1948.125, + -16147.2029, + 226.1052 + ], + "start_rot": [ + 7.5, + -165.0, + -0.0 + ], + "expected_end_pos": [ + -1922.2431, + -16243.7955, + 226.1052 + ], + "actual_end_pos": [ + -1922.2431, + -16243.7955, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1922.2431, + -16243.7955, + 226.1052 + ], + "start_rot": [ + 7.5, + -165.0, + -0.0 + ], + "expected_end_pos": [ + -1922.2431, + -16243.7955, + 226.1052 + ], + "actual_end_pos": [ + -1922.2431, + -16243.7955, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1922.2431, + -16243.7955, + 226.1052 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1922.2431, + -16343.7955, + 226.1052 + ], + "actual_end_pos": [ + -1922.2431, + -16343.7955, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1922.2431, + -16343.7955, + 226.1052 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1922.2431, + -16443.7955, + 226.1052 + ], + "actual_end_pos": [ + -1922.2431, + -16443.7955, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1922.2431, + -16443.7955, + 226.1052 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1922.2431, + -16443.7955, + 226.1052 + ], + "actual_end_pos": [ + -1922.2431, + -16443.7955, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -1922.2431, + -16443.7955, + 226.1052 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1922.2431, + -16443.7955, + 226.1052 + ], + "actual_end_pos": [ + -1922.2431, + -16443.7955, + 226.1052 + ], + "actual_end_rot": [ + 15.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1922.2431, + -16443.7955, + 226.1052 + ], + "start_rot": [ + 15.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2018.8357, + -16443.7955, + 251.9871 + ], + "actual_end_pos": [ + -2018.8357, + -16443.7955, + 251.9871 + ], + "actual_end_rot": [ + 15.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2018.8357, + -16443.7955, + 251.9871 + ], + "start_rot": [ + 15.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2115.4283, + -16443.7955, + 277.869 + ], + "actual_end_pos": [ + -2115.4283, + -16443.7955, + 277.869 + ], + "actual_end_rot": [ + 15.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2115.4283, + -16443.7955, + 277.869 + ], + "start_rot": [ + 15.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2115.4283, + -16443.7955, + 277.869 + ], + "actual_end_pos": [ + -2115.4283, + -16443.7955, + 277.869 + ], + "actual_end_rot": [ + 15.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2115.4283, + -16443.7955, + 277.869 + ], + "start_rot": [ + 15.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2208.7296, + -16468.7955, + 303.751 + ], + "actual_end_pos": [ + -2208.7296, + -16468.7955, + 303.751 + ], + "actual_end_rot": [ + 15.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2208.7296, + -16468.7955, + 303.751 + ], + "start_rot": [ + 15.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2182.8476, + -16565.388, + 303.751 + ], + "actual_end_pos": [ + -2182.8476, + -16565.388, + 303.751 + ], + "actual_end_rot": [ + 15.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2182.8476, + -16565.388, + 303.751 + ], + "start_rot": [ + 15.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2182.8476, + -16565.388, + 303.751 + ], + "actual_end_pos": [ + -2182.8476, + -16565.388, + 303.751 + ], + "actual_end_rot": [ + 15.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2182.8476, + -16565.388, + 303.751 + ], + "start_rot": [ + 15.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2279.4402, + -16565.388, + 329.6329 + ], + "actual_end_pos": [ + -2279.4402, + -16565.388, + 329.6329 + ], + "actual_end_rot": [ + 15.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2279.4402, + -16565.388, + 329.6329 + ], + "start_rot": [ + 15.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2182.8476, + -16565.388, + 303.751 + ], + "actual_end_pos": [ + -2182.8476, + -16565.388, + 303.751 + ], + "actual_end_rot": [ + 15.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2182.8476, + -16565.388, + 303.751 + ], + "start_rot": [ + 15.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2182.8476, + -16565.388, + 303.751 + ], + "actual_end_pos": [ + -2182.8476, + -16565.388, + 303.751 + ], + "actual_end_rot": [ + 15.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2182.8476, + -16565.388, + 303.751 + ], + "start_rot": [ + 15.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2208.7296, + -16468.7955, + 303.751 + ], + "actual_end_pos": [ + -2208.7296, + -16468.7955, + 303.751 + ], + "actual_end_rot": [ + 15.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2208.7296, + -16468.7955, + 303.751 + ], + "start_rot": [ + 15.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2115.4283, + -16443.7955, + 277.869 + ], + "actual_end_pos": [ + -2115.4283, + -16443.7955, + 277.869 + ], + "actual_end_rot": [ + 15.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2115.4283, + -16443.7955, + 277.869 + ], + "start_rot": [ + 15.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2115.4283, + -16443.7955, + 277.869 + ], + "actual_end_pos": [ + -2115.4283, + -16443.7955, + 277.869 + ], + "actual_end_rot": [ + 15.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2115.4283, + -16443.7955, + 277.869 + ], + "start_rot": [ + 15.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -2018.8357, + -16443.7955, + 251.9871 + ], + "actual_end_pos": [ + -2018.8357, + -16443.7955, + 251.9871 + ], + "actual_end_rot": [ + 15.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2018.8357, + -16443.7955, + 251.9871 + ], + "start_rot": [ + 15.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1922.2431, + -16443.7955, + 226.1052 + ], + "actual_end_pos": [ + -1922.2431, + -16443.7955, + 226.1052 + ], + "actual_end_rot": [ + 15.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -1922.2431, + -16443.7955, + 226.1052 + ], + "start_rot": [ + 15.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1922.2431, + -16443.7955, + 226.1052 + ], + "actual_end_pos": [ + -1922.2431, + -16443.7955, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1922.2431, + -16443.7955, + 226.1052 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1922.2431, + -16443.7955, + 226.1052 + ], + "actual_end_pos": [ + -1922.2431, + -16443.7955, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1922.2431, + -16443.7955, + 226.1052 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1922.2431, + -16343.7955, + 226.1052 + ], + "actual_end_pos": [ + -1922.2431, + -16343.7955, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1922.2431, + -16343.7955, + 226.1052 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1922.2431, + -16243.7955, + 226.1052 + ], + "actual_end_pos": [ + -1922.2431, + -16243.7955, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1922.2431, + -16243.7955, + 226.1052 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1922.2431, + -16243.7955, + 226.1052 + ], + "actual_end_pos": [ + -1922.2431, + -16243.7955, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1922.2431, + -16243.7955, + 226.1052 + ], + "start_rot": [ + 7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -1948.125, + -16147.2029, + 226.1052 + ], + "actual_end_pos": [ + -1948.125, + -16147.2029, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1948.125, + -16147.2029, + 226.1052 + ], + "start_rot": [ + 7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -1852.3588, + -16121.5424, + 213.0526 + ], + "actual_end_pos": [ + -1852.3588, + -16121.5424, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1852.3588, + -16121.5424, + 213.0526 + ], + "start_rot": [ + 7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -1756.5926, + -16095.8819, + 200.0 + ], + "actual_end_pos": [ + -1756.5926, + -16095.8819, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -1756.5926, + -16095.8819, + 200.0 + ], + "start_rot": [ + 7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -1756.5926, + -16095.8819, + 200.0 + ], + "actual_end_pos": [ + -1756.5926, + -16095.8819, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1756.5926, + -16095.8819, + 200.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -1660.0, + -16070.0, + 200.0 + ], + "actual_end_pos": [ + -1660.0, + -16070.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1660.0, + -16070.0, + 200.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -1660.0, + -16070.0, + 200.0 + ], + "actual_end_pos": [ + -1660.0, + -16070.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1660.0, + -16070.0, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1660.0, + -16070.0, + 200.0 + ], + "actual_end_pos": [ + -1660.0, + -16070.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1660.0, + -16070.0, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1660.0, + -16170.0, + 200.0 + ], + "actual_end_pos": [ + -1660.0, + -16170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260408_180248__traj_000975_meta.json b/inverse_easy/run_20260408_180248__traj_000975_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ff1c6c1013e9d5539bf2acbdae7afceca6b9814d --- /dev/null +++ b/inverse_easy/run_20260408_180248__traj_000975_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 975, + "episode_id": 0, + "state_id": 721, + "sample_index": 721, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -1660.0, + -12170.0, + 200.0 + ], + "rotation": [ + 0.0, + 45.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "move_left", + "look_down", + "move_backward", + "move_backward", + "look_down", + "move_right", + "move_forward", + "move_left", + "move_backward", + "move_right", + "turn_right", + "move_right", + "turn_right", + "move_left", + "move_left", + "move_left", + "turn_right", + "move_forward", + "turn_right", + "turn_left", + "move_backward", + "turn_left", + "move_right", + "move_right", + "move_right", + "turn_left", + "move_left", + "turn_left", + "move_left", + "move_forward", + "move_right", + "move_backward", + "move_left", + "look_up", + "move_forward", + "move_forward", + "look_up", + "move_right", + "move_right" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1660.0, + -12170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1589.2893, + -12240.7107, + 200.0 + ], + "actual_end_pos": [ + -1589.2893, + -12240.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1589.2893, + -12240.7107, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1518.5786, + -12311.4214, + 200.0 + ], + "actual_end_pos": [ + -1518.5786, + -12311.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -1518.5786, + -12311.4214, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1518.5786, + -12311.4214, + 200.0 + ], + "actual_end_pos": [ + -1518.5786, + -12311.4214, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1518.5786, + -12311.4214, + 200.0 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1588.6844, + -12381.5271, + 213.0526 + ], + "actual_end_pos": [ + -1588.6844, + -12381.5271, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1588.6844, + -12381.5271, + 213.0526 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1658.7901, + -12451.6328, + 226.1052 + ], + "actual_end_pos": [ + -1658.7901, + -12451.6328, + 226.1052 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -1658.7901, + -12451.6328, + 226.1052 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1658.7901, + -12451.6328, + 226.1052 + ], + "actual_end_pos": [ + -1658.7901, + -12451.6328, + 226.1052 + ], + "actual_end_rot": [ + -15.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1658.7901, + -12451.6328, + 226.1052 + ], + "start_rot": [ + -15.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + -1729.5008, + -12380.9222, + 226.1052 + ], + "actual_end_pos": [ + -1729.5008, + -12380.9222, + 226.1052 + ], + "actual_end_rot": [ + -15.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1729.5008, + -12380.9222, + 226.1052 + ], + "start_rot": [ + -15.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + -1661.1995, + -12312.6209, + 200.2233 + ], + "actual_end_pos": [ + -1661.1995, + -12312.6209, + 200.2233 + ], + "actual_end_rot": [ + -15.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1661.1995, + -12312.6209, + 200.2233 + ], + "start_rot": [ + -15.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + -1590.4889, + -12383.3316, + 200.2233 + ], + "actual_end_pos": [ + -1590.4889, + -12383.3316, + 200.2233 + ], + "actual_end_rot": [ + -15.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1590.4889, + -12383.3316, + 200.2233 + ], + "start_rot": [ + -15.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + -1658.7901, + -12451.6328, + 226.1052 + ], + "actual_end_pos": [ + -1658.7901, + -12451.6328, + 226.1052 + ], + "actual_end_rot": [ + -15.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1658.7901, + -12451.6328, + 226.1052 + ], + "start_rot": [ + -15.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + -1729.5008, + -12380.9222, + 226.1052 + ], + "actual_end_pos": [ + -1729.5008, + -12380.9222, + 226.1052 + ], + "actual_end_rot": [ + -15.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1729.5008, + -12380.9222, + 226.1052 + ], + "start_rot": [ + -15.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + -1729.5008, + -12380.9222, + 226.1052 + ], + "actual_end_pos": [ + -1729.5008, + -12380.9222, + 226.1052 + ], + "actual_end_rot": [ + -15.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1729.5008, + -12380.9222, + 226.1052 + ], + "start_rot": [ + -15.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -1816.1033, + -12330.9222, + 226.1052 + ], + "actual_end_pos": [ + -1816.1033, + -12330.9222, + 226.1052 + ], + "actual_end_rot": [ + -15.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1816.1033, + -12330.9222, + 226.1052 + ], + "start_rot": [ + -15.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -1816.1033, + -12330.9222, + 226.1052 + ], + "actual_end_pos": [ + -1816.1033, + -12330.9222, + 226.1052 + ], + "actual_end_rot": [ + -15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1816.1033, + -12330.9222, + 226.1052 + ], + "start_rot": [ + -15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1719.5108, + -12356.8041, + 226.1052 + ], + "actual_end_pos": [ + -1719.5108, + -12356.8041, + 226.1052 + ], + "actual_end_rot": [ + -15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1719.5108, + -12356.8041, + 226.1052 + ], + "start_rot": [ + -15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1622.9182, + -12382.686, + 226.1052 + ], + "actual_end_pos": [ + -1622.9182, + -12382.686, + 226.1052 + ], + "actual_end_rot": [ + -15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1622.9182, + -12382.686, + 226.1052 + ], + "start_rot": [ + -15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1526.3256, + -12408.5679, + 226.1052 + ], + "actual_end_pos": [ + -1526.3256, + -12408.5679, + 226.1052 + ], + "actual_end_rot": [ + -15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1526.3256, + -12408.5679, + 226.1052 + ], + "start_rot": [ + -15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1526.3256, + -12408.5679, + 226.1052 + ], + "actual_end_pos": [ + -1526.3256, + -12408.5679, + 226.1052 + ], + "actual_end_rot": [ + -15.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1526.3256, + -12408.5679, + 226.1052 + ], + "start_rot": [ + -15.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1526.3256, + -12311.9753, + 200.2233 + ], + "actual_end_pos": [ + -1526.3256, + -12311.9753, + 200.2233 + ], + "actual_end_rot": [ + -15.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1526.3256, + -12311.9753, + 200.2233 + ], + "start_rot": [ + -15.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1526.3256, + -12311.9753, + 200.2233 + ], + "actual_end_pos": [ + -1526.3256, + -12311.9753, + 200.2233 + ], + "actual_end_rot": [ + -15.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1526.3256, + -12311.9753, + 200.2233 + ], + "start_rot": [ + -15.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -1526.3256, + -12311.9753, + 200.2233 + ], + "actual_end_pos": [ + -1526.3256, + -12311.9753, + 200.2233 + ], + "actual_end_rot": [ + -15.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1526.3256, + -12311.9753, + 200.2233 + ], + "start_rot": [ + -15.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1526.3256, + -12408.5679, + 226.1052 + ], + "actual_end_pos": [ + -1526.3256, + -12408.5679, + 226.1052 + ], + "actual_end_rot": [ + -15.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1526.3256, + -12408.5679, + 226.1052 + ], + "start_rot": [ + -15.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1526.3256, + -12408.5679, + 226.1052 + ], + "actual_end_pos": [ + -1526.3256, + -12408.5679, + 226.1052 + ], + "actual_end_rot": [ + -15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1526.3256, + -12408.5679, + 226.1052 + ], + "start_rot": [ + -15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1622.9182, + -12382.686, + 226.1052 + ], + "actual_end_pos": [ + -1622.9182, + -12382.686, + 226.1052 + ], + "actual_end_rot": [ + -15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1622.9182, + -12382.686, + 226.1052 + ], + "start_rot": [ + -15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1719.5108, + -12356.8041, + 226.1052 + ], + "actual_end_pos": [ + -1719.5108, + -12356.8041, + 226.1052 + ], + "actual_end_rot": [ + -15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1719.5108, + -12356.8041, + 226.1052 + ], + "start_rot": [ + -15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1816.1033, + -12330.9222, + 226.1052 + ], + "actual_end_pos": [ + -1816.1033, + -12330.9222, + 226.1052 + ], + "actual_end_rot": [ + -15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1816.1033, + -12330.9222, + 226.1052 + ], + "start_rot": [ + -15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1816.1033, + -12330.9222, + 226.1052 + ], + "actual_end_pos": [ + -1816.1033, + -12330.9222, + 226.1052 + ], + "actual_end_rot": [ + -15.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1816.1033, + -12330.9222, + 226.1052 + ], + "start_rot": [ + -15.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -1729.5008, + -12380.9222, + 226.1052 + ], + "actual_end_pos": [ + -1729.5008, + -12380.9222, + 226.1052 + ], + "actual_end_rot": [ + -15.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1729.5008, + -12380.9222, + 226.1052 + ], + "start_rot": [ + -15.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -1729.5008, + -12380.9222, + 226.1052 + ], + "actual_end_pos": [ + -1729.5008, + -12380.9222, + 226.1052 + ], + "actual_end_rot": [ + -15.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1729.5008, + -12380.9222, + 226.1052 + ], + "start_rot": [ + -15.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1658.7901, + -12451.6328, + 226.1052 + ], + "actual_end_pos": [ + -1658.7901, + -12451.6328, + 226.1052 + ], + "actual_end_rot": [ + -15.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1658.7901, + -12451.6328, + 226.1052 + ], + "start_rot": [ + -15.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1590.4889, + -12383.3316, + 200.2233 + ], + "actual_end_pos": [ + -1590.4889, + -12383.3316, + 200.2233 + ], + "actual_end_rot": [ + -15.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1590.4889, + -12383.3316, + 200.2233 + ], + "start_rot": [ + -15.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1661.1995, + -12312.6209, + 200.2233 + ], + "actual_end_pos": [ + -1661.1995, + -12312.6209, + 200.2233 + ], + "actual_end_rot": [ + -15.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1661.1995, + -12312.6209, + 200.2233 + ], + "start_rot": [ + -15.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1729.5008, + -12380.9222, + 226.1052 + ], + "actual_end_pos": [ + -1729.5008, + -12380.9222, + 226.1052 + ], + "actual_end_rot": [ + -15.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1729.5008, + -12380.9222, + 226.1052 + ], + "start_rot": [ + -15.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1658.7901, + -12451.6328, + 226.1052 + ], + "actual_end_pos": [ + -1658.7901, + -12451.6328, + 226.1052 + ], + "actual_end_rot": [ + -15.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -1658.7901, + -12451.6328, + 226.1052 + ], + "start_rot": [ + -15.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1658.7901, + -12451.6328, + 226.1052 + ], + "actual_end_pos": [ + -1658.7901, + -12451.6328, + 226.1052 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1658.7901, + -12451.6328, + 226.1052 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1588.6844, + -12381.5271, + 213.0526 + ], + "actual_end_pos": [ + -1588.6844, + -12381.5271, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1588.6844, + -12381.5271, + 213.0526 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1518.5786, + -12311.4214, + 200.0 + ], + "actual_end_pos": [ + -1518.5786, + -12311.4214, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -1518.5786, + -12311.4214, + 200.0 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1518.5786, + -12311.4214, + 200.0 + ], + "actual_end_pos": [ + -1518.5786, + -12311.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1518.5786, + -12311.4214, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1589.2893, + -12240.7107, + 200.0 + ], + "actual_end_pos": [ + -1589.2893, + -12240.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1589.2893, + -12240.7107, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -1660.0, + -12170.0, + 200.0 + ], + "actual_end_pos": [ + -1660.0, + -12170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260408_180248__traj_001009_meta.json b/inverse_easy/run_20260408_180248__traj_001009_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5b10993461a9dd36353a640dbadbfd93716a46f8 --- /dev/null +++ b/inverse_easy/run_20260408_180248__traj_001009_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 1009, + "episode_id": 0, + "state_id": 747, + "sample_index": 747, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -1660.0, + -9170.0, + 200.0 + ], + "rotation": [ + 0.0, + 135.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "move_right", + "move_forward", + "move_right", + "move_right", + "move_right", + "turn_right", + "move_forward", + "move_right", + "move_forward", + "move_right", + "look_up", + "move_backward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "move_forward", + "look_down", + "move_left", + "move_backward", + "move_left", + "move_backward", + "turn_left", + "move_left", + "move_left", + "move_left", + "move_backward", + "move_left", + "move_left" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1660.0, + -9170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1730.7107, + -9240.7107, + 200.0 + ], + "actual_end_pos": [ + -1730.7107, + -9240.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1730.7107, + -9240.7107, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1801.4214, + -9311.4214, + 200.0 + ], + "actual_end_pos": [ + -1801.4214, + -9311.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1801.4214, + -9311.4214, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1872.132, + -9240.7107, + 200.0 + ], + "actual_end_pos": [ + -1872.132, + -9240.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1872.132, + -9240.7107, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1942.8427, + -9311.4214, + 200.0 + ], + "actual_end_pos": [ + -1942.8427, + -9311.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1942.8427, + -9311.4214, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2013.5534, + -9382.132, + 200.0 + ], + "actual_end_pos": [ + -2013.5534, + -9382.132, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2013.5534, + -9382.132, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2084.2641, + -9452.8427, + 200.0 + ], + "actual_end_pos": [ + -2084.2641, + -9452.8427, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2084.2641, + -9452.8427, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2084.2641, + -9452.8427, + 200.0 + ], + "actual_end_pos": [ + -2084.2641, + -9452.8427, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2084.2641, + -9452.8427, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2170.8666, + -9402.8427, + 200.0 + ], + "actual_end_pos": [ + -2170.8666, + -9402.8427, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2170.8666, + -9402.8427, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2220.8666, + -9489.4452, + 200.0 + ], + "actual_end_pos": [ + -2220.8666, + -9489.4452, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2220.8666, + -9489.4452, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2307.4692, + -9439.4452, + 200.0 + ], + "actual_end_pos": [ + -2307.4692, + -9439.4452, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2307.4692, + -9439.4452, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2357.4692, + -9526.0478, + 200.0 + ], + "actual_end_pos": [ + -2357.4692, + -9526.0478, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -2357.4692, + -9526.0478, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2357.4692, + -9526.0478, + 200.0 + ], + "actual_end_pos": [ + -2357.4692, + -9526.0478, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2357.4692, + -9526.0478, + 200.0 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2271.6075, + -9575.62, + 186.9474 + ], + "actual_end_pos": [ + -2271.6075, + -9575.62, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2271.6075, + -9575.62, + 186.9474 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2271.6075, + -9575.62, + 186.9474 + ], + "actual_end_pos": [ + -2271.6075, + -9575.62, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2271.6075, + -9575.62, + 186.9474 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2271.6075, + -9575.62, + 186.9474 + ], + "actual_end_pos": [ + -2271.6075, + -9575.62, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2271.6075, + -9575.62, + 186.9474 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2271.6075, + -9575.62, + 186.9474 + ], + "actual_end_pos": [ + -2271.6075, + -9575.62, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2271.6075, + -9575.62, + 186.9474 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2271.6075, + -9575.62, + 186.9474 + ], + "actual_end_pos": [ + -2271.6075, + -9575.62, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2271.6075, + -9575.62, + 186.9474 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2271.6075, + -9575.62, + 186.9474 + ], + "actual_end_pos": [ + -2271.6075, + -9575.62, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2271.6075, + -9575.62, + 186.9474 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2271.6075, + -9575.62, + 186.9474 + ], + "actual_end_pos": [ + -2271.6075, + -9575.62, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2271.6075, + -9575.62, + 186.9474 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2271.6075, + -9575.62, + 186.9474 + ], + "actual_end_pos": [ + -2271.6075, + -9575.62, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2271.6075, + -9575.62, + 186.9474 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2271.6075, + -9575.62, + 186.9474 + ], + "actual_end_pos": [ + -2271.6075, + -9575.62, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2271.6075, + -9575.62, + 186.9474 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2271.6075, + -9575.62, + 186.9474 + ], + "actual_end_pos": [ + -2271.6075, + -9575.62, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2271.6075, + -9575.62, + 186.9474 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2271.6075, + -9575.62, + 186.9474 + ], + "actual_end_pos": [ + -2271.6075, + -9575.62, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2271.6075, + -9575.62, + 186.9474 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2271.6075, + -9575.62, + 186.9474 + ], + "actual_end_pos": [ + -2271.6075, + -9575.62, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2271.6075, + -9575.62, + 186.9474 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2271.6075, + -9575.62, + 186.9474 + ], + "actual_end_pos": [ + -2271.6075, + -9575.62, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2271.6075, + -9575.62, + 186.9474 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2271.6075, + -9575.62, + 186.9474 + ], + "actual_end_pos": [ + -2271.6075, + -9575.62, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2271.6075, + -9575.62, + 186.9474 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2271.6075, + -9575.62, + 186.9474 + ], + "actual_end_pos": [ + -2271.6075, + -9575.62, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2271.6075, + -9575.62, + 186.9474 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2357.4692, + -9526.0478, + 200.0 + ], + "actual_end_pos": [ + -2357.4692, + -9526.0478, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -2357.4692, + -9526.0478, + 200.0 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2357.4692, + -9526.0478, + 200.0 + ], + "actual_end_pos": [ + -2357.4692, + -9526.0478, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2357.4692, + -9526.0478, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2307.4692, + -9439.4452, + 200.0 + ], + "actual_end_pos": [ + -2307.4692, + -9439.4452, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2307.4692, + -9439.4452, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2220.8666, + -9489.4452, + 200.0 + ], + "actual_end_pos": [ + -2220.8666, + -9489.4452, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2220.8666, + -9489.4452, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2170.8666, + -9402.8427, + 200.0 + ], + "actual_end_pos": [ + -2170.8666, + -9402.8427, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2170.8666, + -9402.8427, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2084.2641, + -9452.8427, + 200.0 + ], + "actual_end_pos": [ + -2084.2641, + -9452.8427, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2084.2641, + -9452.8427, + 200.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -2084.2641, + -9452.8427, + 200.0 + ], + "actual_end_pos": [ + -2084.2641, + -9452.8427, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2084.2641, + -9452.8427, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2013.5534, + -9382.132, + 200.0 + ], + "actual_end_pos": [ + -2013.5534, + -9382.132, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2013.5534, + -9382.132, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1942.8427, + -9311.4214, + 200.0 + ], + "actual_end_pos": [ + -1942.8427, + -9311.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1942.8427, + -9311.4214, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1872.132, + -9240.7107, + 200.0 + ], + "actual_end_pos": [ + -1872.132, + -9240.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1872.132, + -9240.7107, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1801.4214, + -9311.4214, + 200.0 + ], + "actual_end_pos": [ + -1801.4214, + -9311.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1801.4214, + -9311.4214, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1730.7107, + -9240.7107, + 200.0 + ], + "actual_end_pos": [ + -1730.7107, + -9240.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1730.7107, + -9240.7107, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1660.0, + -9170.0, + 200.0 + ], + "actual_end_pos": [ + -1660.0, + -9170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260408_180248__traj_001086_meta.json b/inverse_easy/run_20260408_180248__traj_001086_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f6d4cb1e36e10712302d89853170d52b486c0898 --- /dev/null +++ b/inverse_easy/run_20260408_180248__traj_001086_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 1086, + "episode_id": 0, + "state_id": 806, + "sample_index": 806, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -1660.0, + -2170.0, + 200.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_left", + "move_forward", + "move_right", + "move_forward", + "move_left", + "move_backward", + "move_right", + "move_forward", + "move_forward", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "move_left", + "move_backward", + "move_backward", + "move_left", + "move_forward", + "move_right", + "move_backward", + "move_left", + "move_backward", + "turn_right" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1660.0, + -2170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -1660.0, + -2170.0, + 200.0 + ], + "actual_end_pos": [ + -1660.0, + -2170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1660.0, + -2170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1685.8819, + -2266.5926, + 200.0 + ], + "actual_end_pos": [ + -1685.8819, + -2266.5926, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1685.8819, + -2266.5926, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1589.2893, + -2292.4745, + 200.0 + ], + "actual_end_pos": [ + -1589.2893, + -2292.4745, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1589.2893, + -2292.4745, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1615.1712, + -2389.0671, + 200.0 + ], + "actual_end_pos": [ + -1615.1712, + -2389.0671, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1615.1712, + -2389.0671, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1711.7638, + -2363.1852, + 200.0 + ], + "actual_end_pos": [ + -1711.7638, + -2363.1852, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1711.7638, + -2363.1852, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1685.8819, + -2266.5926, + 200.0 + ], + "actual_end_pos": [ + -1685.8819, + -2266.5926, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1685.8819, + -2266.5926, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1589.2893, + -2292.4745, + 200.0 + ], + "actual_end_pos": [ + -1589.2893, + -2292.4745, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1589.2893, + -2292.4745, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1615.1712, + -2389.0671, + 200.0 + ], + "actual_end_pos": [ + -1615.1712, + -2389.0671, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1615.1712, + -2389.0671, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1641.0531, + -2485.6597, + 200.0 + ], + "actual_end_pos": [ + -1641.0531, + -2485.6597, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1641.0531, + -2485.6597, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1544.4605, + -2511.5416, + 200.0 + ], + "actual_end_pos": [ + -1544.4605, + -2511.5416, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1544.4605, + -2511.5416, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1544.4605, + -2511.5416, + 200.0 + ], + "actual_end_pos": [ + -1544.4605, + -2511.5416, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1544.4605, + -2511.5416, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1544.4605, + -2511.5416, + 200.0 + ], + "actual_end_pos": [ + -1544.4605, + -2511.5416, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1544.4605, + -2511.5416, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1544.4605, + -2511.5416, + 200.0 + ], + "actual_end_pos": [ + -1544.4605, + -2511.5416, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1544.4605, + -2511.5416, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1544.4605, + -2511.5416, + 200.0 + ], + "actual_end_pos": [ + -1544.4605, + -2511.5416, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1544.4605, + -2511.5416, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1544.4605, + -2511.5416, + 200.0 + ], + "actual_end_pos": [ + -1544.4605, + -2511.5416, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1544.4605, + -2511.5416, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1544.4605, + -2511.5416, + 200.0 + ], + "actual_end_pos": [ + -1544.4605, + -2511.5416, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1544.4605, + -2511.5416, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1544.4605, + -2511.5416, + 200.0 + ], + "actual_end_pos": [ + -1544.4605, + -2511.5416, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1544.4605, + -2511.5416, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1544.4605, + -2511.5416, + 200.0 + ], + "actual_end_pos": [ + -1544.4605, + -2511.5416, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1544.4605, + -2511.5416, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1544.4605, + -2511.5416, + 200.0 + ], + "actual_end_pos": [ + -1544.4605, + -2511.5416, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1544.4605, + -2511.5416, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1544.4605, + -2511.5416, + 200.0 + ], + "actual_end_pos": [ + -1544.4605, + -2511.5416, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1544.4605, + -2511.5416, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1544.4605, + -2511.5416, + 200.0 + ], + "actual_end_pos": [ + -1544.4605, + -2511.5416, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1544.4605, + -2511.5416, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1544.4605, + -2511.5416, + 200.0 + ], + "actual_end_pos": [ + -1544.4605, + -2511.5416, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1544.4605, + -2511.5416, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1544.4605, + -2511.5416, + 200.0 + ], + "actual_end_pos": [ + -1544.4605, + -2511.5416, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1544.4605, + -2511.5416, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1544.4605, + -2511.5416, + 200.0 + ], + "actual_end_pos": [ + -1544.4605, + -2511.5416, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1544.4605, + -2511.5416, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1544.4605, + -2511.5416, + 200.0 + ], + "actual_end_pos": [ + -1544.4605, + -2511.5416, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1544.4605, + -2511.5416, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1544.4605, + -2511.5416, + 200.0 + ], + "actual_end_pos": [ + -1544.4605, + -2511.5416, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1544.4605, + -2511.5416, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1544.4605, + -2511.5416, + 200.0 + ], + "actual_end_pos": [ + -1544.4605, + -2511.5416, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1544.4605, + -2511.5416, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1544.4605, + -2511.5416, + 200.0 + ], + "actual_end_pos": [ + -1544.4605, + -2511.5416, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1544.4605, + -2511.5416, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1544.4605, + -2511.5416, + 200.0 + ], + "actual_end_pos": [ + -1544.4605, + -2511.5416, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1544.4605, + -2511.5416, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1544.4605, + -2511.5416, + 200.0 + ], + "actual_end_pos": [ + -1544.4605, + -2511.5416, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1544.4605, + -2511.5416, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1641.0531, + -2485.6597, + 200.0 + ], + "actual_end_pos": [ + -1641.0531, + -2485.6597, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1641.0531, + -2485.6597, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1615.1712, + -2389.0671, + 200.0 + ], + "actual_end_pos": [ + -1615.1712, + -2389.0671, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1615.1712, + -2389.0671, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1589.2893, + -2292.4745, + 200.0 + ], + "actual_end_pos": [ + -1589.2893, + -2292.4745, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1589.2893, + -2292.4745, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1685.8819, + -2266.5926, + 200.0 + ], + "actual_end_pos": [ + -1685.8819, + -2266.5926, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1685.8819, + -2266.5926, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1711.7638, + -2363.1852, + 200.0 + ], + "actual_end_pos": [ + -1711.7638, + -2363.1852, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1711.7638, + -2363.1852, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1615.1712, + -2389.0671, + 200.0 + ], + "actual_end_pos": [ + -1615.1712, + -2389.0671, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1615.1712, + -2389.0671, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1589.2893, + -2292.4745, + 200.0 + ], + "actual_end_pos": [ + -1589.2893, + -2292.4745, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1589.2893, + -2292.4745, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1685.8819, + -2266.5926, + 200.0 + ], + "actual_end_pos": [ + -1685.8819, + -2266.5926, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1685.8819, + -2266.5926, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1660.0, + -2170.0, + 200.0 + ], + "actual_end_pos": [ + -1660.0, + -2170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1660.0, + -2170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -1660.0, + -2170.0, + 200.0 + ], + "actual_end_pos": [ + -1660.0, + -2170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260408_180248__traj_001123_meta.json b/inverse_easy/run_20260408_180248__traj_001123_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..799cb1f16040697e345bd07b73316ccc39c088cc --- /dev/null +++ b/inverse_easy/run_20260408_180248__traj_001123_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 1123, + "episode_id": 0, + "state_id": 831, + "sample_index": 831, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -1660.0, + 830.0, + 200.0 + ], + "rotation": [ + 0.0, + 315.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "turn_right", + "move_forward", + "no_op", + "move_backward", + "no_op", + "move_forward", + "move_right", + "move_right", + "move_right", + "move_forward", + "move_left", + "no_op", + "no_op", + "move_forward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "move_backward", + "no_op", + "no_op", + "move_right", + "move_backward", + "move_left", + "move_left", + "move_left", + "move_backward", + "no_op", + "move_forward", + "no_op", + "move_backward", + "turn_left", + "move_left" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1660.0, + 830.0, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1589.2893, + 900.7107, + 200.0 + ], + "actual_end_pos": [ + -1589.2893, + 900.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1589.2893, + 900.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1589.2893, + 900.7107, + 200.0 + ], + "actual_end_pos": [ + -1589.2893, + 900.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1589.2893, + 900.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1502.6868, + 850.7107, + 200.0 + ], + "actual_end_pos": [ + -1502.6868, + 850.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1502.6868, + 850.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1502.6868, + 850.7107, + 200.0 + ], + "actual_end_pos": [ + -1502.6868, + 850.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1502.6868, + 850.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1589.2893, + 900.7107, + 200.0 + ], + "actual_end_pos": [ + -1589.2893, + 900.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1589.2893, + 900.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1589.2893, + 900.7107, + 200.0 + ], + "actual_end_pos": [ + -1589.2893, + 900.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1589.2893, + 900.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1502.6868, + 850.7107, + 200.0 + ], + "actual_end_pos": [ + -1502.6868, + 850.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1502.6868, + 850.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1452.6868, + 937.3132, + 200.0 + ], + "actual_end_pos": [ + -1452.6868, + 937.3132, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1452.6868, + 937.3132, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1402.6868, + 1023.9158, + 200.0 + ], + "actual_end_pos": [ + -1402.6868, + 1023.9158, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1402.6868, + 1023.9158, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1352.6868, + 1110.5183, + 200.0 + ], + "actual_end_pos": [ + -1352.6868, + 1110.5183, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1352.6868, + 1110.5183, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1266.0842, + 1060.5183, + 200.0 + ], + "actual_end_pos": [ + -1266.0842, + 1060.5183, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1266.0842, + 1060.5183, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1316.0842, + 973.9158, + 200.0 + ], + "actual_end_pos": [ + -1316.0842, + 973.9158, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1316.0842, + 973.9158, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1316.0842, + 973.9158, + 200.0 + ], + "actual_end_pos": [ + -1316.0842, + 973.9158, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1316.0842, + 973.9158, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1316.0842, + 973.9158, + 200.0 + ], + "actual_end_pos": [ + -1316.0842, + 973.9158, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1316.0842, + 973.9158, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1229.4817, + 923.9158, + 200.0 + ], + "actual_end_pos": [ + -1229.4817, + 923.9158, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1229.4817, + 923.9158, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1229.4817, + 923.9158, + 200.0 + ], + "actual_end_pos": [ + -1229.4817, + 923.9158, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1229.4817, + 923.9158, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1229.4817, + 923.9158, + 200.0 + ], + "actual_end_pos": [ + -1229.4817, + 923.9158, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1229.4817, + 923.9158, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1229.4817, + 923.9158, + 200.0 + ], + "actual_end_pos": [ + -1229.4817, + 923.9158, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1229.4817, + 923.9158, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1229.4817, + 923.9158, + 200.0 + ], + "actual_end_pos": [ + -1229.4817, + 923.9158, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1229.4817, + 923.9158, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1229.4817, + 923.9158, + 200.0 + ], + "actual_end_pos": [ + -1229.4817, + 923.9158, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1229.4817, + 923.9158, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1229.4817, + 923.9158, + 200.0 + ], + "actual_end_pos": [ + -1229.4817, + 923.9158, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1229.4817, + 923.9158, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1229.4817, + 923.9158, + 200.0 + ], + "actual_end_pos": [ + -1229.4817, + 923.9158, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1229.4817, + 923.9158, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1229.4817, + 923.9158, + 200.0 + ], + "actual_end_pos": [ + -1229.4817, + 923.9158, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1229.4817, + 923.9158, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1229.4817, + 923.9158, + 200.0 + ], + "actual_end_pos": [ + -1229.4817, + 923.9158, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1229.4817, + 923.9158, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1229.4817, + 923.9158, + 200.0 + ], + "actual_end_pos": [ + -1229.4817, + 923.9158, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1229.4817, + 923.9158, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1316.0842, + 973.9158, + 200.0 + ], + "actual_end_pos": [ + -1316.0842, + 973.9158, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1316.0842, + 973.9158, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1316.0842, + 973.9158, + 200.0 + ], + "actual_end_pos": [ + -1316.0842, + 973.9158, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1316.0842, + 973.9158, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1316.0842, + 973.9158, + 200.0 + ], + "actual_end_pos": [ + -1316.0842, + 973.9158, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1316.0842, + 973.9158, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1266.0842, + 1060.5183, + 200.0 + ], + "actual_end_pos": [ + -1266.0842, + 1060.5183, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1266.0842, + 1060.5183, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1352.6868, + 1110.5183, + 200.0 + ], + "actual_end_pos": [ + -1352.6868, + 1110.5183, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1352.6868, + 1110.5183, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1402.6868, + 1023.9158, + 200.0 + ], + "actual_end_pos": [ + -1402.6868, + 1023.9158, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1402.6868, + 1023.9158, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1452.6868, + 937.3132, + 200.0 + ], + "actual_end_pos": [ + -1452.6868, + 937.3132, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1452.6868, + 937.3132, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1502.6868, + 850.7107, + 200.0 + ], + "actual_end_pos": [ + -1502.6868, + 850.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1502.6868, + 850.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1589.2893, + 900.7107, + 200.0 + ], + "actual_end_pos": [ + -1589.2893, + 900.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1589.2893, + 900.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1589.2893, + 900.7107, + 200.0 + ], + "actual_end_pos": [ + -1589.2893, + 900.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1589.2893, + 900.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1502.6868, + 850.7107, + 200.0 + ], + "actual_end_pos": [ + -1502.6868, + 850.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1502.6868, + 850.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1502.6868, + 850.7107, + 200.0 + ], + "actual_end_pos": [ + -1502.6868, + 850.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1502.6868, + 850.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1589.2893, + 900.7107, + 200.0 + ], + "actual_end_pos": [ + -1589.2893, + 900.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1589.2893, + 900.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1589.2893, + 900.7107, + 200.0 + ], + "actual_end_pos": [ + -1589.2893, + 900.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1589.2893, + 900.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1660.0, + 830.0, + 200.0 + ], + "actual_end_pos": [ + -1660.0, + 830.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260408_180248__traj_001138_meta.json b/inverse_easy/run_20260408_180248__traj_001138_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fe23d39021780af140a1cee6e88ff1c4362aea25 --- /dev/null +++ b/inverse_easy/run_20260408_180248__traj_001138_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 1138, + "episode_id": 0, + "state_id": 844, + "sample_index": 844, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -660.0, + -38170.0, + 200.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_forward", + "move_forward", + "move_left", + "turn_left", + "move_forward", + "move_forward", + "move_right", + "move_forward", + "move_left", + "turn_right", + "move_right", + "no_op", + "move_left", + "move_forward", + "move_forward", + "move_forward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "move_backward", + "move_backward", + "move_backward", + "move_right", + "no_op", + "move_left", + "turn_left", + "move_right", + "move_backward", + "move_left", + "move_backward", + "move_backward", + "turn_right", + "move_right", + "move_backward", + "move_backward", + "move_backward" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -660.0, + -38170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -760.0, + -38170.0, + 200.0 + ], + "actual_end_pos": [ + -760.0, + -38170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -760.0, + -38170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -860.0, + -38170.0, + 200.0 + ], + "actual_end_pos": [ + -860.0, + -38170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -860.0, + -38170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -960.0, + -38170.0, + 200.0 + ], + "actual_end_pos": [ + -960.0, + -38170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -960.0, + -38170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -960.0, + -38070.0, + 200.0 + ], + "actual_end_pos": [ + -960.0, + -38070.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -960.0, + -38070.0, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -960.0, + -38070.0, + 200.0 + ], + "actual_end_pos": [ + -960.0, + -38070.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -960.0, + -38070.0, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -1056.5926, + -38044.1181, + 200.0 + ], + "actual_end_pos": [ + -1056.5926, + -38044.1181, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1056.5926, + -38044.1181, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -1153.1852, + -38018.2362, + 200.0 + ], + "actual_end_pos": [ + -1153.1852, + -38018.2362, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1153.1852, + -38018.2362, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -1179.0671, + -38114.8288, + 200.0 + ], + "actual_end_pos": [ + -1179.0671, + -38114.8288, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1179.0671, + -38114.8288, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -1275.6597, + -38088.9469, + 200.0 + ], + "actual_end_pos": [ + -1275.6597, + -38088.9469, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1275.6597, + -38088.9469, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -1249.7777, + -37992.3543, + 200.0 + ], + "actual_end_pos": [ + -1249.7777, + -37992.3543, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1249.7777, + -37992.3543, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -1249.7777, + -37992.3543, + 200.0 + ], + "actual_end_pos": [ + -1249.7777, + -37992.3543, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1249.7777, + -37992.3543, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1249.7777, + -38092.3543, + 200.0 + ], + "actual_end_pos": [ + -1249.7777, + -38092.3543, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1249.7777, + -38092.3543, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1249.7777, + -38092.3543, + 200.0 + ], + "actual_end_pos": [ + -1249.7777, + -38092.3543, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1249.7777, + -38092.3543, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1249.7777, + -37992.3543, + 200.0 + ], + "actual_end_pos": [ + -1249.7777, + -37992.3543, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1249.7777, + -37992.3543, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1349.7777, + -37992.3543, + 200.0 + ], + "actual_end_pos": [ + -1349.7777, + -37992.3543, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1349.7777, + -37992.3543, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1449.7777, + -37992.3543, + 200.0 + ], + "actual_end_pos": [ + -1449.7777, + -37992.3543, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1449.7777, + -37992.3543, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1549.7777, + -37992.3543, + 200.0 + ], + "actual_end_pos": [ + -1549.7777, + -37992.3543, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1549.7777, + -37992.3543, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1549.7777, + -37992.3543, + 200.0 + ], + "actual_end_pos": [ + -1549.7777, + -37992.3543, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1549.7777, + -37992.3543, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1549.7777, + -37992.3543, + 200.0 + ], + "actual_end_pos": [ + -1549.7777, + -37992.3543, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1549.7777, + -37992.3543, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1549.7777, + -37992.3543, + 200.0 + ], + "actual_end_pos": [ + -1549.7777, + -37992.3543, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1549.7777, + -37992.3543, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1549.7777, + -37992.3543, + 200.0 + ], + "actual_end_pos": [ + -1549.7777, + -37992.3543, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1549.7777, + -37992.3543, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1549.7777, + -37992.3543, + 200.0 + ], + "actual_end_pos": [ + -1549.7777, + -37992.3543, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1549.7777, + -37992.3543, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1549.7777, + -37992.3543, + 200.0 + ], + "actual_end_pos": [ + -1549.7777, + -37992.3543, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1549.7777, + -37992.3543, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1449.7777, + -37992.3543, + 200.0 + ], + "actual_end_pos": [ + -1449.7777, + -37992.3543, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1449.7777, + -37992.3543, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1349.7777, + -37992.3543, + 200.0 + ], + "actual_end_pos": [ + -1349.7777, + -37992.3543, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1349.7777, + -37992.3543, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1249.7777, + -37992.3543, + 200.0 + ], + "actual_end_pos": [ + -1249.7777, + -37992.3543, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1249.7777, + -37992.3543, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1249.7777, + -38092.3543, + 200.0 + ], + "actual_end_pos": [ + -1249.7777, + -38092.3543, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1249.7777, + -38092.3543, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1249.7777, + -38092.3543, + 200.0 + ], + "actual_end_pos": [ + -1249.7777, + -38092.3543, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1249.7777, + -38092.3543, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1249.7777, + -37992.3543, + 200.0 + ], + "actual_end_pos": [ + -1249.7777, + -37992.3543, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1249.7777, + -37992.3543, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1249.7777, + -37992.3543, + 200.0 + ], + "actual_end_pos": [ + -1249.7777, + -37992.3543, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1249.7777, + -37992.3543, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -1275.6597, + -38088.9469, + 200.0 + ], + "actual_end_pos": [ + -1275.6597, + -38088.9469, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1275.6597, + -38088.9469, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -1179.0671, + -38114.8288, + 200.0 + ], + "actual_end_pos": [ + -1179.0671, + -38114.8288, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1179.0671, + -38114.8288, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -1153.1852, + -38018.2362, + 200.0 + ], + "actual_end_pos": [ + -1153.1852, + -38018.2362, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1153.1852, + -38018.2362, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -1056.5926, + -38044.1181, + 200.0 + ], + "actual_end_pos": [ + -1056.5926, + -38044.1181, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1056.5926, + -38044.1181, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -960.0, + -38070.0, + 200.0 + ], + "actual_end_pos": [ + -960.0, + -38070.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -960.0, + -38070.0, + 200.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -960.0, + -38070.0, + 200.0 + ], + "actual_end_pos": [ + -960.0, + -38070.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -960.0, + -38070.0, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -960.0, + -38170.0, + 200.0 + ], + "actual_end_pos": [ + -960.0, + -38170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -960.0, + -38170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -860.0, + -38170.0, + 200.0 + ], + "actual_end_pos": [ + -860.0, + -38170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -860.0, + -38170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -760.0, + -38170.0, + 200.0 + ], + "actual_end_pos": [ + -760.0, + -38170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -760.0, + -38170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -660.0, + -38170.0, + 200.0 + ], + "actual_end_pos": [ + -660.0, + -38170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260408_180248__traj_001391_meta.json b/inverse_easy/run_20260408_180248__traj_001391_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7c3ff2904267527ce11209b389235ce2055d3ad1 --- /dev/null +++ b/inverse_easy/run_20260408_180248__traj_001391_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 1391, + "episode_id": 0, + "state_id": 1026, + "sample_index": 1026, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -660.0, + -15170.0, + 200.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_left", + "turn_left", + "move_forward", + "move_forward", + "move_right", + "move_right", + "move_forward", + "move_left", + "move_left", + "turn_right", + "move_left", + "look_up", + "turn_left", + "look_up", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "look_down", + "turn_right", + "look_down", + "move_right", + "turn_left", + "move_right", + "move_right", + "move_backward", + "move_left", + "move_left", + "move_backward", + "move_backward", + "turn_right", + "turn_right" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -660.0, + -15170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -660.0, + -15170.0, + 200.0 + ], + "actual_end_pos": [ + -660.0, + -15170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -660.0, + -15170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -660.0, + -15170.0, + 200.0 + ], + "actual_end_pos": [ + -660.0, + -15170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -660.0, + -15170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -610.0, + -15083.3975, + 200.0 + ], + "actual_end_pos": [ + -610.0, + -15083.3975, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -610.0, + -15083.3975, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -560.0, + -14996.7949, + 200.0 + ], + "actual_end_pos": [ + -560.0, + -14996.7949, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -560.0, + -14996.7949, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -646.6025, + -14946.7949, + 200.0 + ], + "actual_end_pos": [ + -646.6025, + -14946.7949, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -646.6025, + -14946.7949, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -733.2051, + -14896.7949, + 200.0 + ], + "actual_end_pos": [ + -733.2051, + -14896.7949, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -733.2051, + -14896.7949, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -683.2051, + -14810.1924, + 200.0 + ], + "actual_end_pos": [ + -683.2051, + -14810.1924, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -683.2051, + -14810.1924, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -596.6025, + -14860.1924, + 200.0 + ], + "actual_end_pos": [ + -596.6025, + -14860.1924, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -596.6025, + -14860.1924, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -510.0, + -14910.1924, + 200.0 + ], + "actual_end_pos": [ + -510.0, + -14910.1924, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -510.0, + -14910.1924, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -510.0, + -14910.1924, + 200.0 + ], + "actual_end_pos": [ + -510.0, + -14910.1924, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -510.0, + -14910.1924, + 200.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -413.4074, + -14936.0743, + 200.0 + ], + "actual_end_pos": [ + -413.4074, + -14936.0743, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -413.4074, + -14936.0743, + 200.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -413.4074, + -14936.0743, + 200.0 + ], + "actual_end_pos": [ + -413.4074, + -14936.0743, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -413.4074, + -14936.0743, + 200.0 + ], + "start_rot": [ + 7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -413.4074, + -14936.0743, + 200.0 + ], + "actual_end_pos": [ + -413.4074, + -14936.0743, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -413.4074, + -14936.0743, + 200.0 + ], + "start_rot": [ + 7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -413.4074, + -14936.0743, + 200.0 + ], + "actual_end_pos": [ + -413.4074, + -14936.0743, + 200.0 + ], + "actual_end_rot": [ + 15.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -413.4074, + -14936.0743, + 200.0 + ], + "start_rot": [ + 15.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -413.4074, + -14936.0743, + 200.0 + ], + "actual_end_pos": [ + -413.4074, + -14936.0743, + 200.0 + ], + "actual_end_rot": [ + 15.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -413.4074, + -14936.0743, + 200.0 + ], + "start_rot": [ + 15.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -413.4074, + -14936.0743, + 200.0 + ], + "actual_end_pos": [ + -413.4074, + -14936.0743, + 200.0 + ], + "actual_end_rot": [ + 15.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -413.4074, + -14936.0743, + 200.0 + ], + "start_rot": [ + 15.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -413.4074, + -14936.0743, + 200.0 + ], + "actual_end_pos": [ + -413.4074, + -14936.0743, + 200.0 + ], + "actual_end_rot": [ + 15.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -413.4074, + -14936.0743, + 200.0 + ], + "start_rot": [ + 15.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -413.4074, + -14936.0743, + 200.0 + ], + "actual_end_pos": [ + -413.4074, + -14936.0743, + 200.0 + ], + "actual_end_rot": [ + 15.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -413.4074, + -14936.0743, + 200.0 + ], + "start_rot": [ + 15.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -413.4074, + -14936.0743, + 200.0 + ], + "actual_end_pos": [ + -413.4074, + -14936.0743, + 200.0 + ], + "actual_end_rot": [ + 15.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -413.4074, + -14936.0743, + 200.0 + ], + "start_rot": [ + 15.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -413.4074, + -14936.0743, + 200.0 + ], + "actual_end_pos": [ + -413.4074, + -14936.0743, + 200.0 + ], + "actual_end_rot": [ + 15.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -413.4074, + -14936.0743, + 200.0 + ], + "start_rot": [ + 15.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -413.4074, + -14936.0743, + 200.0 + ], + "actual_end_pos": [ + -413.4074, + -14936.0743, + 200.0 + ], + "actual_end_rot": [ + 15.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -413.4074, + -14936.0743, + 200.0 + ], + "start_rot": [ + 15.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -413.4074, + -14936.0743, + 200.0 + ], + "actual_end_pos": [ + -413.4074, + -14936.0743, + 200.0 + ], + "actual_end_rot": [ + 15.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -413.4074, + -14936.0743, + 200.0 + ], + "start_rot": [ + 15.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -413.4074, + -14936.0743, + 200.0 + ], + "actual_end_pos": [ + -413.4074, + -14936.0743, + 200.0 + ], + "actual_end_rot": [ + 15.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -413.4074, + -14936.0743, + 200.0 + ], + "start_rot": [ + 15.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -413.4074, + -14936.0743, + 200.0 + ], + "actual_end_pos": [ + -413.4074, + -14936.0743, + 200.0 + ], + "actual_end_rot": [ + 15.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -413.4074, + -14936.0743, + 200.0 + ], + "start_rot": [ + 15.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -413.4074, + -14936.0743, + 200.0 + ], + "actual_end_pos": [ + -413.4074, + -14936.0743, + 200.0 + ], + "actual_end_rot": [ + 15.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -413.4074, + -14936.0743, + 200.0 + ], + "start_rot": [ + 15.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -413.4074, + -14936.0743, + 200.0 + ], + "actual_end_pos": [ + -413.4074, + -14936.0743, + 200.0 + ], + "actual_end_rot": [ + 15.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -413.4074, + -14936.0743, + 200.0 + ], + "start_rot": [ + 15.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -413.4074, + -14936.0743, + 200.0 + ], + "actual_end_pos": [ + -413.4074, + -14936.0743, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -413.4074, + -14936.0743, + 200.0 + ], + "start_rot": [ + 7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -413.4074, + -14936.0743, + 200.0 + ], + "actual_end_pos": [ + -413.4074, + -14936.0743, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -413.4074, + -14936.0743, + 200.0 + ], + "start_rot": [ + 7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -413.4074, + -14936.0743, + 200.0 + ], + "actual_end_pos": [ + -413.4074, + -14936.0743, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -413.4074, + -14936.0743, + 200.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -510.0, + -14910.1924, + 200.0 + ], + "actual_end_pos": [ + -510.0, + -14910.1924, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -510.0, + -14910.1924, + 200.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -510.0, + -14910.1924, + 200.0 + ], + "actual_end_pos": [ + -510.0, + -14910.1924, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -510.0, + -14910.1924, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -596.6025, + -14860.1924, + 200.0 + ], + "actual_end_pos": [ + -596.6025, + -14860.1924, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -596.6025, + -14860.1924, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -683.2051, + -14810.1924, + 200.0 + ], + "actual_end_pos": [ + -683.2051, + -14810.1924, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -683.2051, + -14810.1924, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -733.2051, + -14896.7949, + 200.0 + ], + "actual_end_pos": [ + -733.2051, + -14896.7949, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -733.2051, + -14896.7949, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -646.6025, + -14946.7949, + 200.0 + ], + "actual_end_pos": [ + -646.6025, + -14946.7949, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -646.6025, + -14946.7949, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -560.0, + -14996.7949, + 200.0 + ], + "actual_end_pos": [ + -560.0, + -14996.7949, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -560.0, + -14996.7949, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -610.0, + -15083.3975, + 200.0 + ], + "actual_end_pos": [ + -610.0, + -15083.3975, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -610.0, + -15083.3975, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -660.0, + -15170.0, + 200.0 + ], + "actual_end_pos": [ + -660.0, + -15170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -660.0, + -15170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -660.0, + -15170.0, + 200.0 + ], + "actual_end_pos": [ + -660.0, + -15170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -660.0, + -15170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -660.0, + -15170.0, + 200.0 + ], + "actual_end_pos": [ + -660.0, + -15170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260408_180248__traj_001488_meta.json b/inverse_easy/run_20260408_180248__traj_001488_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..34286685c7a3ae857430ec93d7f01072944e7551 --- /dev/null +++ b/inverse_easy/run_20260408_180248__traj_001488_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 1488, + "episode_id": 0, + "state_id": 1100, + "sample_index": 1100, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -660.0, + -6170.0, + 200.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "no_op", + "turn_right", + "move_right", + "move_backward", + "turn_right", + "no_op", + "move_forward", + "move_forward", + "look_up", + "move_right", + "move_forward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "move_backward", + "move_left", + "look_down", + "move_backward", + "move_backward", + "no_op", + "turn_left", + "move_forward", + "move_left", + "turn_left", + "no_op", + "move_right" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -660.0, + -6170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -660.0, + -6070.0, + 200.0 + ], + "actual_end_pos": [ + -660.0, + -6070.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -660.0, + -6070.0, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -660.0, + -6070.0, + 200.0 + ], + "actual_end_pos": [ + -660.0, + -6070.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -660.0, + -6070.0, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -660.0, + -6070.0, + 200.0 + ], + "actual_end_pos": [ + -660.0, + -6070.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -660.0, + -6070.0, + 200.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -634.1181, + -6166.5926, + 200.0 + ], + "actual_end_pos": [ + -634.1181, + -6166.5926, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -634.1181, + -6166.5926, + 200.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -537.5255, + -6140.7107, + 200.0 + ], + "actual_end_pos": [ + -537.5255, + -6140.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -537.5255, + -6140.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -537.5255, + -6140.7107, + 200.0 + ], + "actual_end_pos": [ + -537.5255, + -6140.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -537.5255, + -6140.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -537.5255, + -6140.7107, + 200.0 + ], + "actual_end_pos": [ + -537.5255, + -6140.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -537.5255, + -6140.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -624.128, + -6190.7107, + 200.0 + ], + "actual_end_pos": [ + -624.128, + -6190.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -624.128, + -6190.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -710.7306, + -6240.7107, + 200.0 + ], + "actual_end_pos": [ + -710.7306, + -6240.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -710.7306, + -6240.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -710.7306, + -6240.7107, + 200.0 + ], + "actual_end_pos": [ + -710.7306, + -6240.7107, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -710.7306, + -6240.7107, + 200.0 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -660.7306, + -6327.3132, + 200.0 + ], + "actual_end_pos": [ + -660.7306, + -6327.3132, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -660.7306, + -6327.3132, + 200.0 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -746.5922, + -6376.8855, + 213.0526 + ], + "actual_end_pos": [ + -746.5922, + -6376.8855, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -746.5922, + -6376.8855, + 213.0526 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -746.5922, + -6376.8855, + 213.0526 + ], + "actual_end_pos": [ + -746.5922, + -6376.8855, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -746.5922, + -6376.8855, + 213.0526 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -746.5922, + -6376.8855, + 213.0526 + ], + "actual_end_pos": [ + -746.5922, + -6376.8855, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -746.5922, + -6376.8855, + 213.0526 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -746.5922, + -6376.8855, + 213.0526 + ], + "actual_end_pos": [ + -746.5922, + -6376.8855, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -746.5922, + -6376.8855, + 213.0526 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -746.5922, + -6376.8855, + 213.0526 + ], + "actual_end_pos": [ + -746.5922, + -6376.8855, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -746.5922, + -6376.8855, + 213.0526 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -746.5922, + -6376.8855, + 213.0526 + ], + "actual_end_pos": [ + -746.5922, + -6376.8855, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -746.5922, + -6376.8855, + 213.0526 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -746.5922, + -6376.8855, + 213.0526 + ], + "actual_end_pos": [ + -746.5922, + -6376.8855, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -746.5922, + -6376.8855, + 213.0526 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -746.5922, + -6376.8855, + 213.0526 + ], + "actual_end_pos": [ + -746.5922, + -6376.8855, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -746.5922, + -6376.8855, + 213.0526 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -746.5922, + -6376.8855, + 213.0526 + ], + "actual_end_pos": [ + -746.5922, + -6376.8855, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -746.5922, + -6376.8855, + 213.0526 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -746.5922, + -6376.8855, + 213.0526 + ], + "actual_end_pos": [ + -746.5922, + -6376.8855, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -746.5922, + -6376.8855, + 213.0526 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -746.5922, + -6376.8855, + 213.0526 + ], + "actual_end_pos": [ + -746.5922, + -6376.8855, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -746.5922, + -6376.8855, + 213.0526 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -746.5922, + -6376.8855, + 213.0526 + ], + "actual_end_pos": [ + -746.5922, + -6376.8855, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -746.5922, + -6376.8855, + 213.0526 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -746.5922, + -6376.8855, + 213.0526 + ], + "actual_end_pos": [ + -746.5922, + -6376.8855, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -746.5922, + -6376.8855, + 213.0526 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -746.5922, + -6376.8855, + 213.0526 + ], + "actual_end_pos": [ + -746.5922, + -6376.8855, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -746.5922, + -6376.8855, + 213.0526 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -746.5922, + -6376.8855, + 213.0526 + ], + "actual_end_pos": [ + -746.5922, + -6376.8855, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -746.5922, + -6376.8855, + 213.0526 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -746.5922, + -6376.8855, + 213.0526 + ], + "actual_end_pos": [ + -746.5922, + -6376.8855, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -746.5922, + -6376.8855, + 213.0526 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -746.5922, + -6376.8855, + 213.0526 + ], + "actual_end_pos": [ + -746.5922, + -6376.8855, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -746.5922, + -6376.8855, + 213.0526 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -660.7306, + -6327.3132, + 200.0 + ], + "actual_end_pos": [ + -660.7306, + -6327.3132, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -660.7306, + -6327.3132, + 200.0 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -710.7306, + -6240.7107, + 200.0 + ], + "actual_end_pos": [ + -710.7306, + -6240.7107, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -710.7306, + -6240.7107, + 200.0 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -710.7306, + -6240.7107, + 200.0 + ], + "actual_end_pos": [ + -710.7306, + -6240.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -710.7306, + -6240.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -624.128, + -6190.7107, + 200.0 + ], + "actual_end_pos": [ + -624.128, + -6190.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -624.128, + -6190.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -537.5255, + -6140.7107, + 200.0 + ], + "actual_end_pos": [ + -537.5255, + -6140.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -537.5255, + -6140.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -537.5255, + -6140.7107, + 200.0 + ], + "actual_end_pos": [ + -537.5255, + -6140.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -537.5255, + -6140.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -537.5255, + -6140.7107, + 200.0 + ], + "actual_end_pos": [ + -537.5255, + -6140.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -537.5255, + -6140.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -634.1181, + -6166.5926, + 200.0 + ], + "actual_end_pos": [ + -634.1181, + -6166.5926, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -634.1181, + -6166.5926, + 200.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -660.0, + -6070.0, + 200.0 + ], + "actual_end_pos": [ + -660.0, + -6070.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -660.0, + -6070.0, + 200.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -660.0, + -6070.0, + 200.0 + ], + "actual_end_pos": [ + -660.0, + -6070.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -660.0, + -6070.0, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -660.0, + -6070.0, + 200.0 + ], + "actual_end_pos": [ + -660.0, + -6070.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -660.0, + -6070.0, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -660.0, + -6170.0, + 200.0 + ], + "actual_end_pos": [ + -660.0, + -6170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260408_180248__traj_001504_meta.json b/inverse_easy/run_20260408_180248__traj_001504_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..68e4db4db2648da312482407a1210e3e2eea9e63 --- /dev/null +++ b/inverse_easy/run_20260408_180248__traj_001504_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 1504, + "episode_id": 0, + "state_id": 1112, + "sample_index": 1112, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -660.0, + -4170.0, + 200.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "look_down", + "move_forward", + "look_up", + "turn_right", + "move_forward", + "move_left", + "move_left", + "move_forward", + "move_right", + "move_backward", + "turn_left", + "turn_right", + "move_forward", + "move_forward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "move_backward", + "move_backward", + "turn_left", + "turn_right", + "move_forward", + "move_left", + "move_backward", + "move_right", + "move_right", + "move_backward", + "turn_left", + "look_down", + "move_backward", + "look_up" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -660.0, + -4170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -660.0, + -4170.0, + 200.0 + ], + "actual_end_pos": [ + -660.0, + -4170.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -660.0, + -4170.0, + 200.0 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -560.8555, + -4170.0, + 186.9474 + ], + "actual_end_pos": [ + -560.8555, + -4170.0, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -560.8555, + -4170.0, + 186.9474 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -560.8555, + -4170.0, + 186.9474 + ], + "actual_end_pos": [ + -560.8555, + -4170.0, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -560.8555, + -4170.0, + 186.9474 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -560.8555, + -4170.0, + 186.9474 + ], + "actual_end_pos": [ + -560.8555, + -4170.0, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -560.8555, + -4170.0, + 186.9474 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -464.2629, + -4144.1181, + 186.9474 + ], + "actual_end_pos": [ + -464.2629, + -4144.1181, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -464.2629, + -4144.1181, + 186.9474 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -438.381, + -4240.7107, + 186.9474 + ], + "actual_end_pos": [ + -438.381, + -4240.7107, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -438.381, + -4240.7107, + 186.9474 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -412.4991, + -4337.3033, + 186.9474 + ], + "actual_end_pos": [ + -412.4991, + -4337.3033, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -412.4991, + -4337.3033, + 186.9474 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -315.9065, + -4311.4214, + 186.9474 + ], + "actual_end_pos": [ + -315.9065, + -4311.4214, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -315.9065, + -4311.4214, + 186.9474 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -341.7884, + -4214.8288, + 186.9474 + ], + "actual_end_pos": [ + -341.7884, + -4214.8288, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -341.7884, + -4214.8288, + 186.9474 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -438.381, + -4240.7107, + 186.9474 + ], + "actual_end_pos": [ + -438.381, + -4240.7107, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -438.381, + -4240.7107, + 186.9474 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -438.381, + -4240.7107, + 186.9474 + ], + "actual_end_pos": [ + -438.381, + -4240.7107, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + -0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -438.381, + -4240.7107, + 186.9474 + ], + "start_rot": [ + 0.0, + -0.0, + 0.0 + ], + "expected_end_pos": [ + -438.381, + -4240.7107, + 186.9474 + ], + "actual_end_pos": [ + -438.381, + -4240.7107, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -438.381, + -4240.7107, + 186.9474 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -341.7884, + -4214.8288, + 186.9474 + ], + "actual_end_pos": [ + -341.7884, + -4214.8288, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -341.7884, + -4214.8288, + 186.9474 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -245.1959, + -4188.9469, + 186.9474 + ], + "actual_end_pos": [ + -245.1959, + -4188.9469, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -245.1959, + -4188.9469, + 186.9474 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -245.1959, + -4188.9469, + 186.9474 + ], + "actual_end_pos": [ + -245.1959, + -4188.9469, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -245.1959, + -4188.9469, + 186.9474 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -245.1959, + -4188.9469, + 186.9474 + ], + "actual_end_pos": [ + -245.1959, + -4188.9469, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -245.1959, + -4188.9469, + 186.9474 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -245.1959, + -4188.9469, + 186.9474 + ], + "actual_end_pos": [ + -245.1959, + -4188.9469, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -245.1959, + -4188.9469, + 186.9474 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -245.1959, + -4188.9469, + 186.9474 + ], + "actual_end_pos": [ + -245.1959, + -4188.9469, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -245.1959, + -4188.9469, + 186.9474 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -245.1959, + -4188.9469, + 186.9474 + ], + "actual_end_pos": [ + -245.1959, + -4188.9469, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -245.1959, + -4188.9469, + 186.9474 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -245.1959, + -4188.9469, + 186.9474 + ], + "actual_end_pos": [ + -245.1959, + -4188.9469, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -245.1959, + -4188.9469, + 186.9474 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -245.1959, + -4188.9469, + 186.9474 + ], + "actual_end_pos": [ + -245.1959, + -4188.9469, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -245.1959, + -4188.9469, + 186.9474 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -245.1959, + -4188.9469, + 186.9474 + ], + "actual_end_pos": [ + -245.1959, + -4188.9469, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -245.1959, + -4188.9469, + 186.9474 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -245.1959, + -4188.9469, + 186.9474 + ], + "actual_end_pos": [ + -245.1959, + -4188.9469, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -245.1959, + -4188.9469, + 186.9474 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -245.1959, + -4188.9469, + 186.9474 + ], + "actual_end_pos": [ + -245.1959, + -4188.9469, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -245.1959, + -4188.9469, + 186.9474 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -245.1959, + -4188.9469, + 186.9474 + ], + "actual_end_pos": [ + -245.1959, + -4188.9469, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -245.1959, + -4188.9469, + 186.9474 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -245.1959, + -4188.9469, + 186.9474 + ], + "actual_end_pos": [ + -245.1959, + -4188.9469, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -245.1959, + -4188.9469, + 186.9474 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -341.7884, + -4214.8288, + 186.9474 + ], + "actual_end_pos": [ + -341.7884, + -4214.8288, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -341.7884, + -4214.8288, + 186.9474 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -438.381, + -4240.7107, + 186.9474 + ], + "actual_end_pos": [ + -438.381, + -4240.7107, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -438.381, + -4240.7107, + 186.9474 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -438.381, + -4240.7107, + 186.9474 + ], + "actual_end_pos": [ + -438.381, + -4240.7107, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + -0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -438.381, + -4240.7107, + 186.9474 + ], + "start_rot": [ + 0.0, + -0.0, + 0.0 + ], + "expected_end_pos": [ + -438.381, + -4240.7107, + 186.9474 + ], + "actual_end_pos": [ + -438.381, + -4240.7107, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -438.381, + -4240.7107, + 186.9474 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -341.7884, + -4214.8288, + 186.9474 + ], + "actual_end_pos": [ + -341.7884, + -4214.8288, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -341.7884, + -4214.8288, + 186.9474 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -315.9065, + -4311.4214, + 186.9474 + ], + "actual_end_pos": [ + -315.9065, + -4311.4214, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -315.9065, + -4311.4214, + 186.9474 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -412.4991, + -4337.3033, + 186.9474 + ], + "actual_end_pos": [ + -412.4991, + -4337.3033, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -412.4991, + -4337.3033, + 186.9474 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -438.381, + -4240.7107, + 186.9474 + ], + "actual_end_pos": [ + -438.381, + -4240.7107, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -438.381, + -4240.7107, + 186.9474 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -464.2629, + -4144.1181, + 186.9474 + ], + "actual_end_pos": [ + -464.2629, + -4144.1181, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -464.2629, + -4144.1181, + 186.9474 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -560.8555, + -4170.0, + 186.9474 + ], + "actual_end_pos": [ + -560.8555, + -4170.0, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -560.8555, + -4170.0, + 186.9474 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -560.8555, + -4170.0, + 186.9474 + ], + "actual_end_pos": [ + -560.8555, + -4170.0, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + -0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -560.8555, + -4170.0, + 186.9474 + ], + "start_rot": [ + 0.0, + -0.0, + 0.0 + ], + "expected_end_pos": [ + -560.8555, + -4170.0, + 186.9474 + ], + "actual_end_pos": [ + -560.8555, + -4170.0, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -560.8555, + -4170.0, + 186.9474 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -660.0, + -4170.0, + 200.0 + ], + "actual_end_pos": [ + -660.0, + -4170.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -660.0, + -4170.0, + 200.0 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -660.0, + -4170.0, + 200.0 + ], + "actual_end_pos": [ + -660.0, + -4170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260408_180248__traj_001528_meta.json b/inverse_easy/run_20260408_180248__traj_001528_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7b1d99ea8ceec172ac01b622c8496476fcdcc179 --- /dev/null +++ b/inverse_easy/run_20260408_180248__traj_001528_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 1528, + "episode_id": 0, + "state_id": 1128, + "sample_index": 1128, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -660.0, + -2170.0, + 200.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "turn_right", + "look_up", + "move_forward", + "move_forward", + "move_forward", + "move_right", + "turn_left", + "move_forward", + "turn_left", + "move_backward", + "look_up", + "move_right", + "move_backward", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "move_left", + "move_forward", + "move_left", + "look_down", + "move_forward", + "turn_right", + "move_backward", + "turn_right", + "move_left", + "move_backward", + "move_backward", + "move_backward", + "look_down", + "turn_left", + "move_right" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -660.0, + -2170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -660.0, + -2270.0, + 200.0 + ], + "actual_end_pos": [ + -660.0, + -2270.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -660.0, + -2270.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -660.0, + -2270.0, + 200.0 + ], + "actual_end_pos": [ + -660.0, + -2270.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -660.0, + -2270.0, + 200.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -660.0, + -2270.0, + 200.0 + ], + "actual_end_pos": [ + -660.0, + -2270.0, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -660.0, + -2270.0, + 200.0 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -564.2338, + -2244.3395, + 213.0526 + ], + "actual_end_pos": [ + -564.2338, + -2244.3395, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -564.2338, + -2244.3395, + 213.0526 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -468.4676, + -2218.679, + 226.1052 + ], + "actual_end_pos": [ + -468.4676, + -2218.679, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -468.4676, + -2218.679, + 226.1052 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -372.7013, + -2193.0186, + 239.1579 + ], + "actual_end_pos": [ + -372.7013, + -2193.0186, + 239.1579 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -372.7013, + -2193.0186, + 239.1579 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -398.5832, + -2096.426, + 239.1579 + ], + "actual_end_pos": [ + -398.5832, + -2096.426, + 239.1579 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -398.5832, + -2096.426, + 239.1579 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -398.5832, + -2096.426, + 239.1579 + ], + "actual_end_pos": [ + -398.5832, + -2096.426, + 239.1579 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -398.5832, + -2096.426, + 239.1579 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -299.4388, + -2096.426, + 252.2105 + ], + "actual_end_pos": [ + -299.4388, + -2096.426, + 252.2105 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -299.4388, + -2096.426, + 252.2105 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -299.4388, + -2096.426, + 252.2105 + ], + "actual_end_pos": [ + -299.4388, + -2096.426, + 252.2105 + ], + "actual_end_rot": [ + 7.5, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -299.4388, + -2096.426, + 252.2105 + ], + "start_rot": [ + 7.5, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -395.205, + -2070.7655, + 239.1579 + ], + "actual_end_pos": [ + -395.205, + -2070.7655, + 239.1579 + ], + "actual_end_rot": [ + 7.5, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -395.205, + -2070.7655, + 239.1579 + ], + "start_rot": [ + 7.5, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -395.205, + -2070.7655, + 239.1579 + ], + "actual_end_pos": [ + -395.205, + -2070.7655, + 239.1579 + ], + "actual_end_rot": [ + 15.0, + -15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -395.205, + -2070.7655, + 239.1579 + ], + "start_rot": [ + 15.0, + -15.0, + -0.0 + ], + "expected_end_pos": [ + -369.3231, + -1974.1729, + 239.1579 + ], + "actual_end_pos": [ + -369.3231, + -1974.1729, + 239.1579 + ], + "actual_end_rot": [ + 15.0, + -15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -369.3231, + -1974.1729, + 239.1579 + ], + "start_rot": [ + 15.0, + -15.0, + -0.0 + ], + "expected_end_pos": [ + -462.6243, + -1949.1729, + 213.276 + ], + "actual_end_pos": [ + -462.6243, + -1949.1729, + 213.276 + ], + "actual_end_rot": [ + 15.0, + -15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -462.6243, + -1949.1729, + 213.276 + ], + "start_rot": [ + 15.0, + -15.0, + -0.0 + ], + "expected_end_pos": [ + -436.7424, + -1852.5803, + 213.276 + ], + "actual_end_pos": [ + -436.7424, + -1852.5803, + 213.276 + ], + "actual_end_rot": [ + 15.0, + -15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -436.7424, + -1852.5803, + 213.276 + ], + "start_rot": [ + 15.0, + -15.0, + -0.0 + ], + "expected_end_pos": [ + -436.7424, + -1852.5803, + 213.276 + ], + "actual_end_pos": [ + -436.7424, + -1852.5803, + 213.276 + ], + "actual_end_rot": [ + 15.0, + -15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -436.7424, + -1852.5803, + 213.276 + ], + "start_rot": [ + 15.0, + -15.0, + -0.0 + ], + "expected_end_pos": [ + -436.7424, + -1852.5803, + 213.276 + ], + "actual_end_pos": [ + -436.7424, + -1852.5803, + 213.276 + ], + "actual_end_rot": [ + 15.0, + -15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -436.7424, + -1852.5803, + 213.276 + ], + "start_rot": [ + 15.0, + -15.0, + -0.0 + ], + "expected_end_pos": [ + -436.7424, + -1852.5803, + 213.276 + ], + "actual_end_pos": [ + -436.7424, + -1852.5803, + 213.276 + ], + "actual_end_rot": [ + 15.0, + -15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -436.7424, + -1852.5803, + 213.276 + ], + "start_rot": [ + 15.0, + -15.0, + -0.0 + ], + "expected_end_pos": [ + -436.7424, + -1852.5803, + 213.276 + ], + "actual_end_pos": [ + -436.7424, + -1852.5803, + 213.276 + ], + "actual_end_rot": [ + 15.0, + -15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -436.7424, + -1852.5803, + 213.276 + ], + "start_rot": [ + 15.0, + -15.0, + -0.0 + ], + "expected_end_pos": [ + -436.7424, + -1852.5803, + 213.276 + ], + "actual_end_pos": [ + -436.7424, + -1852.5803, + 213.276 + ], + "actual_end_rot": [ + 15.0, + -15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -436.7424, + -1852.5803, + 213.276 + ], + "start_rot": [ + 15.0, + -15.0, + -0.0 + ], + "expected_end_pos": [ + -436.7424, + -1852.5803, + 213.276 + ], + "actual_end_pos": [ + -436.7424, + -1852.5803, + 213.276 + ], + "actual_end_rot": [ + 15.0, + -15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -436.7424, + -1852.5803, + 213.276 + ], + "start_rot": [ + 15.0, + -15.0, + -0.0 + ], + "expected_end_pos": [ + -436.7424, + -1852.5803, + 213.276 + ], + "actual_end_pos": [ + -436.7424, + -1852.5803, + 213.276 + ], + "actual_end_rot": [ + 15.0, + -15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -436.7424, + -1852.5803, + 213.276 + ], + "start_rot": [ + 15.0, + -15.0, + -0.0 + ], + "expected_end_pos": [ + -436.7424, + -1852.5803, + 213.276 + ], + "actual_end_pos": [ + -436.7424, + -1852.5803, + 213.276 + ], + "actual_end_rot": [ + 15.0, + -15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -436.7424, + -1852.5803, + 213.276 + ], + "start_rot": [ + 15.0, + -15.0, + -0.0 + ], + "expected_end_pos": [ + -436.7424, + -1852.5803, + 213.276 + ], + "actual_end_pos": [ + -436.7424, + -1852.5803, + 213.276 + ], + "actual_end_rot": [ + 15.0, + -15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -436.7424, + -1852.5803, + 213.276 + ], + "start_rot": [ + 15.0, + -15.0, + -0.0 + ], + "expected_end_pos": [ + -436.7424, + -1852.5803, + 213.276 + ], + "actual_end_pos": [ + -436.7424, + -1852.5803, + 213.276 + ], + "actual_end_rot": [ + 15.0, + -15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -436.7424, + -1852.5803, + 213.276 + ], + "start_rot": [ + 15.0, + -15.0, + -0.0 + ], + "expected_end_pos": [ + -462.6243, + -1949.1729, + 213.276 + ], + "actual_end_pos": [ + -462.6243, + -1949.1729, + 213.276 + ], + "actual_end_rot": [ + 15.0, + -15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -462.6243, + -1949.1729, + 213.276 + ], + "start_rot": [ + 15.0, + -15.0, + -0.0 + ], + "expected_end_pos": [ + -369.3231, + -1974.1729, + 239.1579 + ], + "actual_end_pos": [ + -369.3231, + -1974.1729, + 239.1579 + ], + "actual_end_rot": [ + 15.0, + -15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -369.3231, + -1974.1729, + 239.1579 + ], + "start_rot": [ + 15.0, + -15.0, + -0.0 + ], + "expected_end_pos": [ + -395.205, + -2070.7655, + 239.1579 + ], + "actual_end_pos": [ + -395.205, + -2070.7655, + 239.1579 + ], + "actual_end_rot": [ + 15.0, + -15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -395.205, + -2070.7655, + 239.1579 + ], + "start_rot": [ + 15.0, + -15.0, + -0.0 + ], + "expected_end_pos": [ + -395.205, + -2070.7655, + 239.1579 + ], + "actual_end_pos": [ + -395.205, + -2070.7655, + 239.1579 + ], + "actual_end_rot": [ + 7.5, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -395.205, + -2070.7655, + 239.1579 + ], + "start_rot": [ + 7.5, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -299.4388, + -2096.426, + 252.2105 + ], + "actual_end_pos": [ + -299.4388, + -2096.426, + 252.2105 + ], + "actual_end_rot": [ + 7.5, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -299.4388, + -2096.426, + 252.2105 + ], + "start_rot": [ + 7.5, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -299.4388, + -2096.426, + 252.2105 + ], + "actual_end_pos": [ + -299.4388, + -2096.426, + 252.2105 + ], + "actual_end_rot": [ + 7.5, + 0.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -299.4388, + -2096.426, + 252.2105 + ], + "start_rot": [ + 7.5, + 0.0, + -0.0 + ], + "expected_end_pos": [ + -398.5832, + -2096.426, + 239.1579 + ], + "actual_end_pos": [ + -398.5832, + -2096.426, + 239.1579 + ], + "actual_end_rot": [ + 7.5, + 0.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -398.5832, + -2096.426, + 239.1579 + ], + "start_rot": [ + 7.5, + 0.0, + -0.0 + ], + "expected_end_pos": [ + -398.5832, + -2096.426, + 239.1579 + ], + "actual_end_pos": [ + -398.5832, + -2096.426, + 239.1579 + ], + "actual_end_rot": [ + 7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -398.5832, + -2096.426, + 239.1579 + ], + "start_rot": [ + 7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -372.7013, + -2193.0186, + 239.1579 + ], + "actual_end_pos": [ + -372.7013, + -2193.0186, + 239.1579 + ], + "actual_end_rot": [ + 7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -372.7013, + -2193.0186, + 239.1579 + ], + "start_rot": [ + 7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -468.4676, + -2218.679, + 226.1052 + ], + "actual_end_pos": [ + -468.4676, + -2218.679, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -468.4676, + -2218.679, + 226.1052 + ], + "start_rot": [ + 7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -564.2338, + -2244.3395, + 213.0526 + ], + "actual_end_pos": [ + -564.2338, + -2244.3395, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -564.2338, + -2244.3395, + 213.0526 + ], + "start_rot": [ + 7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -660.0, + -2270.0, + 200.0 + ], + "actual_end_pos": [ + -660.0, + -2270.0, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -660.0, + -2270.0, + 200.0 + ], + "start_rot": [ + 7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -660.0, + -2270.0, + 200.0 + ], + "actual_end_pos": [ + -660.0, + -2270.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -660.0, + -2270.0, + 200.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -660.0, + -2270.0, + 200.0 + ], + "actual_end_pos": [ + -660.0, + -2270.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -660.0, + -2270.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -660.0, + -2170.0, + 200.0 + ], + "actual_end_pos": [ + -660.0, + -2170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260408_180248__traj_001809_meta.json b/inverse_easy/run_20260408_180248__traj_001809_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..540a9499246d9cb354ab60bd1f6d9e1d6cb64d8d --- /dev/null +++ b/inverse_easy/run_20260408_180248__traj_001809_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 1809, + "episode_id": 0, + "state_id": 1331, + "sample_index": 1331, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 340.0, + -18170.0, + 200.0 + ], + "rotation": [ + 0.0, + 135.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "look_up", + "move_left", + "turn_left", + "turn_left", + "look_down", + "move_right", + "turn_right", + "move_forward", + "look_down", + "turn_right", + "no_op", + "move_left", + "look_up", + "move_forward", + "move_right", + "move_forward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "move_backward", + "move_left", + "move_backward", + "look_down", + "move_right", + "no_op", + "turn_left", + "look_up", + "move_backward", + "turn_left", + "move_left", + "look_up", + "turn_right", + "turn_right", + "move_right", + "look_down", + "move_right" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 340.0, + -18170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 410.7107, + -18099.2893, + 200.0 + ], + "actual_end_pos": [ + 410.7107, + -18099.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 410.7107, + -18099.2893, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 410.7107, + -18099.2893, + 200.0 + ], + "actual_end_pos": [ + 410.7107, + -18099.2893, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 410.7107, + -18099.2893, + 200.0 + ], + "start_rot": [ + 7.5, + 135.0, + -0.0 + ], + "expected_end_pos": [ + 481.4214, + -18028.5786, + 200.0 + ], + "actual_end_pos": [ + 481.4214, + -18028.5786, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 481.4214, + -18028.5786, + 200.0 + ], + "start_rot": [ + 7.5, + 135.0, + -0.0 + ], + "expected_end_pos": [ + 481.4214, + -18028.5786, + 200.0 + ], + "actual_end_pos": [ + 481.4214, + -18028.5786, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 481.4214, + -18028.5786, + 200.0 + ], + "start_rot": [ + 7.5, + 120.0, + -0.0 + ], + "expected_end_pos": [ + 481.4214, + -18028.5786, + 200.0 + ], + "actual_end_pos": [ + 481.4214, + -18028.5786, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 481.4214, + -18028.5786, + 200.0 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 481.4214, + -18028.5786, + 200.0 + ], + "actual_end_pos": [ + 481.4214, + -18028.5786, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 481.4214, + -18028.5786, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 384.8288, + -18054.4605, + 200.0 + ], + "actual_end_pos": [ + 384.8288, + -18054.4605, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 384.8288, + -18054.4605, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 384.8288, + -18054.4605, + 200.0 + ], + "actual_end_pos": [ + 384.8288, + -18054.4605, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 384.8288, + -18054.4605, + 200.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 334.8288, + -17967.858, + 200.0 + ], + "actual_end_pos": [ + 334.8288, + -17967.858, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 334.8288, + -17967.858, + 200.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 334.8288, + -17967.858, + 200.0 + ], + "actual_end_pos": [ + 334.8288, + -17967.858, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 334.8288, + -17967.858, + 200.0 + ], + "start_rot": [ + -7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 334.8288, + -17967.858, + 200.0 + ], + "actual_end_pos": [ + 334.8288, + -17967.858, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 334.8288, + -17967.858, + 200.0 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 334.8288, + -17967.858, + 200.0 + ], + "actual_end_pos": [ + 334.8288, + -17967.858, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 334.8288, + -17967.858, + 200.0 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 405.5395, + -17897.1473, + 200.0 + ], + "actual_end_pos": [ + 405.5395, + -17897.1473, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 405.5395, + -17897.1473, + 200.0 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 405.5395, + -17897.1473, + 200.0 + ], + "actual_end_pos": [ + 405.5395, + -17897.1473, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 405.5395, + -17897.1473, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 334.8288, + -17826.4367, + 200.0 + ], + "actual_end_pos": [ + 334.8288, + -17826.4367, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 334.8288, + -17826.4367, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 264.1181, + -17897.1473, + 200.0 + ], + "actual_end_pos": [ + 264.1181, + -17897.1473, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 264.1181, + -17897.1473, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 193.4074, + -17826.4366, + 200.0 + ], + "actual_end_pos": [ + 193.4074, + -17826.4366, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 193.4074, + -17826.4366, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 193.4074, + -17826.4366, + 200.0 + ], + "actual_end_pos": [ + 193.4074, + -17826.4366, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 193.4074, + -17826.4366, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 193.4074, + -17826.4366, + 200.0 + ], + "actual_end_pos": [ + 193.4074, + -17826.4366, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 193.4074, + -17826.4366, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 193.4074, + -17826.4366, + 200.0 + ], + "actual_end_pos": [ + 193.4074, + -17826.4366, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 193.4074, + -17826.4366, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 193.4074, + -17826.4366, + 200.0 + ], + "actual_end_pos": [ + 193.4074, + -17826.4366, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 193.4074, + -17826.4366, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 193.4074, + -17826.4366, + 200.0 + ], + "actual_end_pos": [ + 193.4074, + -17826.4366, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 193.4074, + -17826.4366, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 193.4074, + -17826.4366, + 200.0 + ], + "actual_end_pos": [ + 193.4074, + -17826.4366, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 193.4074, + -17826.4366, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 264.1181, + -17897.1473, + 200.0 + ], + "actual_end_pos": [ + 264.1181, + -17897.1473, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 264.1181, + -17897.1473, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 334.8288, + -17826.4367, + 200.0 + ], + "actual_end_pos": [ + 334.8288, + -17826.4367, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 334.8288, + -17826.4367, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 405.5395, + -17897.1473, + 200.0 + ], + "actual_end_pos": [ + 405.5395, + -17897.1473, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 405.5395, + -17897.1473, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 405.5395, + -17897.1473, + 200.0 + ], + "actual_end_pos": [ + 405.5395, + -17897.1473, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 405.5395, + -17897.1473, + 200.0 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 334.8288, + -17967.858, + 200.0 + ], + "actual_end_pos": [ + 334.8288, + -17967.858, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 334.8288, + -17967.858, + 200.0 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 334.8288, + -17967.858, + 200.0 + ], + "actual_end_pos": [ + 334.8288, + -17967.858, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 334.8288, + -17967.858, + 200.0 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 334.8288, + -17967.858, + 200.0 + ], + "actual_end_pos": [ + 334.8288, + -17967.858, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 334.8288, + -17967.858, + 200.0 + ], + "start_rot": [ + -7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 334.8288, + -17967.858, + 200.0 + ], + "actual_end_pos": [ + 334.8288, + -17967.858, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 334.8288, + -17967.858, + 200.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 384.8288, + -18054.4605, + 200.0 + ], + "actual_end_pos": [ + 384.8288, + -18054.4605, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 384.8288, + -18054.4605, + 200.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 384.8288, + -18054.4605, + 200.0 + ], + "actual_end_pos": [ + 384.8288, + -18054.4605, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 384.8288, + -18054.4605, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 481.4214, + -18028.5786, + 200.0 + ], + "actual_end_pos": [ + 481.4214, + -18028.5786, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 481.4214, + -18028.5786, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 481.4214, + -18028.5786, + 200.0 + ], + "actual_end_pos": [ + 481.4214, + -18028.5786, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 481.4214, + -18028.5786, + 200.0 + ], + "start_rot": [ + 7.5, + 105.0, + -0.0 + ], + "expected_end_pos": [ + 481.4214, + -18028.5786, + 200.0 + ], + "actual_end_pos": [ + 481.4214, + -18028.5786, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 481.4214, + -18028.5786, + 200.0 + ], + "start_rot": [ + 7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 481.4214, + -18028.5786, + 200.0 + ], + "actual_end_pos": [ + 481.4214, + -18028.5786, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 481.4214, + -18028.5786, + 200.0 + ], + "start_rot": [ + 7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 410.7107, + -18099.2893, + 200.0 + ], + "actual_end_pos": [ + 410.7107, + -18099.2893, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 410.7107, + -18099.2893, + 200.0 + ], + "start_rot": [ + 7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 410.7107, + -18099.2893, + 200.0 + ], + "actual_end_pos": [ + 410.7107, + -18099.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 410.7107, + -18099.2893, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 340.0, + -18170.0, + 200.0 + ], + "actual_end_pos": [ + 340.0, + -18170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260408_180248__traj_001848_meta.json b/inverse_easy/run_20260408_180248__traj_001848_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c652922735761e0d4c7d67f30f11e848b7f4e79a --- /dev/null +++ b/inverse_easy/run_20260408_180248__traj_001848_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 1848, + "episode_id": 0, + "state_id": 1363, + "sample_index": 1363, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 340.0, + -14170.0, + 200.0 + ], + "rotation": [ + 0.0, + 135.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_right", + "move_forward", + "move_left", + "look_up", + "look_up", + "move_right", + "move_forward", + "move_forward", + "turn_right", + "turn_right", + "move_backward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "move_forward", + "turn_left", + "turn_left", + "move_backward", + "move_backward", + "move_left", + "look_down", + "look_down", + "move_right", + "move_backward", + "move_left", + "move_backward" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 340.0, + -14170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 269.2893, + -14099.2893, + 200.0 + ], + "actual_end_pos": [ + 269.2893, + -14099.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 269.2893, + -14099.2893, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 198.5786, + -14170.0, + 200.0 + ], + "actual_end_pos": [ + 198.5786, + -14170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 198.5786, + -14170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 127.868, + -14099.2893, + 200.0 + ], + "actual_end_pos": [ + 127.868, + -14099.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 127.868, + -14099.2893, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 198.5786, + -14028.5786, + 200.0 + ], + "actual_end_pos": [ + 198.5786, + -14028.5786, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 198.5786, + -14028.5786, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 198.5786, + -14028.5786, + 200.0 + ], + "actual_end_pos": [ + 198.5786, + -14028.5786, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 198.5786, + -14028.5786, + 200.0 + ], + "start_rot": [ + 7.5, + 135.0, + -0.0 + ], + "expected_end_pos": [ + 198.5786, + -14028.5786, + 200.0 + ], + "actual_end_pos": [ + 198.5786, + -14028.5786, + 200.0 + ], + "actual_end_rot": [ + 15.0, + 135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 198.5786, + -14028.5786, + 200.0 + ], + "start_rot": [ + 15.0, + 135.0, + -0.0 + ], + "expected_end_pos": [ + 127.868, + -14099.2893, + 200.0 + ], + "actual_end_pos": [ + 127.868, + -14099.2893, + 200.0 + ], + "actual_end_rot": [ + 15.0, + 135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 127.868, + -14099.2893, + 200.0 + ], + "start_rot": [ + 15.0, + 135.0, + -0.0 + ], + "expected_end_pos": [ + 59.5667, + -14030.988, + 225.8819 + ], + "actual_end_pos": [ + 59.5667, + -14030.988, + 225.8819 + ], + "actual_end_rot": [ + 15.0, + 135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 59.5667, + -14030.988, + 225.8819 + ], + "start_rot": [ + 15.0, + 135.0, + -0.0 + ], + "expected_end_pos": [ + -8.7346, + -13962.6868, + 251.7638 + ], + "actual_end_pos": [ + -8.7346, + -13962.6868, + 251.7638 + ], + "actual_end_rot": [ + 15.0, + 135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -8.7346, + -13962.6868, + 251.7638 + ], + "start_rot": [ + 15.0, + 135.0, + -0.0 + ], + "expected_end_pos": [ + -8.7346, + -13962.6868, + 251.7638 + ], + "actual_end_pos": [ + -8.7346, + -13962.6868, + 251.7638 + ], + "actual_end_rot": [ + 15.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -8.7346, + -13962.6868, + 251.7638 + ], + "start_rot": [ + 15.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -8.7346, + -13962.6868, + 251.7638 + ], + "actual_end_pos": [ + -8.7346, + -13962.6868, + 251.7638 + ], + "actual_end_rot": [ + 15.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -8.7346, + -13962.6868, + 251.7638 + ], + "start_rot": [ + 15.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 84.5667, + -13987.6868, + 225.8819 + ], + "actual_end_pos": [ + 84.5667, + -13987.6868, + 225.8819 + ], + "actual_end_rot": [ + 15.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 84.5667, + -13987.6868, + 225.8819 + ], + "start_rot": [ + 15.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 84.5667, + -13987.6868, + 225.8819 + ], + "actual_end_pos": [ + 84.5667, + -13987.6868, + 225.8819 + ], + "actual_end_rot": [ + 15.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 84.5667, + -13987.6868, + 225.8819 + ], + "start_rot": [ + 15.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 84.5667, + -13987.6868, + 225.8819 + ], + "actual_end_pos": [ + 84.5667, + -13987.6868, + 225.8819 + ], + "actual_end_rot": [ + 15.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 84.5667, + -13987.6868, + 225.8819 + ], + "start_rot": [ + 15.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 84.5667, + -13987.6868, + 225.8819 + ], + "actual_end_pos": [ + 84.5667, + -13987.6868, + 225.8819 + ], + "actual_end_rot": [ + 15.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 84.5667, + -13987.6868, + 225.8819 + ], + "start_rot": [ + 15.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 84.5667, + -13987.6868, + 225.8819 + ], + "actual_end_pos": [ + 84.5667, + -13987.6868, + 225.8819 + ], + "actual_end_rot": [ + 15.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 84.5667, + -13987.6868, + 225.8819 + ], + "start_rot": [ + 15.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 84.5667, + -13987.6868, + 225.8819 + ], + "actual_end_pos": [ + 84.5667, + -13987.6868, + 225.8819 + ], + "actual_end_rot": [ + 15.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 84.5667, + -13987.6868, + 225.8819 + ], + "start_rot": [ + 15.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 84.5667, + -13987.6868, + 225.8819 + ], + "actual_end_pos": [ + 84.5667, + -13987.6868, + 225.8819 + ], + "actual_end_rot": [ + 15.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 84.5667, + -13987.6868, + 225.8819 + ], + "start_rot": [ + 15.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 84.5667, + -13987.6868, + 225.8819 + ], + "actual_end_pos": [ + 84.5667, + -13987.6868, + 225.8819 + ], + "actual_end_rot": [ + 15.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 84.5667, + -13987.6868, + 225.8819 + ], + "start_rot": [ + 15.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 84.5667, + -13987.6868, + 225.8819 + ], + "actual_end_pos": [ + 84.5667, + -13987.6868, + 225.8819 + ], + "actual_end_rot": [ + 15.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 84.5667, + -13987.6868, + 225.8819 + ], + "start_rot": [ + 15.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 84.5667, + -13987.6868, + 225.8819 + ], + "actual_end_pos": [ + 84.5667, + -13987.6868, + 225.8819 + ], + "actual_end_rot": [ + 15.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 84.5667, + -13987.6868, + 225.8819 + ], + "start_rot": [ + 15.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 84.5667, + -13987.6868, + 225.8819 + ], + "actual_end_pos": [ + 84.5667, + -13987.6868, + 225.8819 + ], + "actual_end_rot": [ + 15.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 84.5667, + -13987.6868, + 225.8819 + ], + "start_rot": [ + 15.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 84.5667, + -13987.6868, + 225.8819 + ], + "actual_end_pos": [ + 84.5667, + -13987.6868, + 225.8819 + ], + "actual_end_rot": [ + 15.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 84.5667, + -13987.6868, + 225.8819 + ], + "start_rot": [ + 15.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 84.5667, + -13987.6868, + 225.8819 + ], + "actual_end_pos": [ + 84.5667, + -13987.6868, + 225.8819 + ], + "actual_end_rot": [ + 15.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 84.5667, + -13987.6868, + 225.8819 + ], + "start_rot": [ + 15.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 84.5667, + -13987.6868, + 225.8819 + ], + "actual_end_pos": [ + 84.5667, + -13987.6868, + 225.8819 + ], + "actual_end_rot": [ + 15.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 84.5667, + -13987.6868, + 225.8819 + ], + "start_rot": [ + 15.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 84.5667, + -13987.6868, + 225.8819 + ], + "actual_end_pos": [ + 84.5667, + -13987.6868, + 225.8819 + ], + "actual_end_rot": [ + 15.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 84.5667, + -13987.6868, + 225.8819 + ], + "start_rot": [ + 15.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 84.5667, + -13987.6868, + 225.8819 + ], + "actual_end_pos": [ + 84.5667, + -13987.6868, + 225.8819 + ], + "actual_end_rot": [ + 15.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 84.5667, + -13987.6868, + 225.8819 + ], + "start_rot": [ + 15.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 84.5667, + -13987.6868, + 225.8819 + ], + "actual_end_pos": [ + 84.5667, + -13987.6868, + 225.8819 + ], + "actual_end_rot": [ + 15.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 84.5667, + -13987.6868, + 225.8819 + ], + "start_rot": [ + 15.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -8.7346, + -13962.6868, + 251.7638 + ], + "actual_end_pos": [ + -8.7346, + -13962.6868, + 251.7638 + ], + "actual_end_rot": [ + 15.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -8.7346, + -13962.6868, + 251.7638 + ], + "start_rot": [ + 15.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -8.7346, + -13962.6868, + 251.7638 + ], + "actual_end_pos": [ + -8.7346, + -13962.6868, + 251.7638 + ], + "actual_end_rot": [ + 15.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -8.7346, + -13962.6868, + 251.7638 + ], + "start_rot": [ + 15.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -8.7346, + -13962.6868, + 251.7638 + ], + "actual_end_pos": [ + -8.7346, + -13962.6868, + 251.7638 + ], + "actual_end_rot": [ + 15.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -8.7346, + -13962.6868, + 251.7638 + ], + "start_rot": [ + 15.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 59.5667, + -14030.988, + 225.8819 + ], + "actual_end_pos": [ + 59.5667, + -14030.988, + 225.8819 + ], + "actual_end_rot": [ + 15.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 59.5667, + -14030.988, + 225.8819 + ], + "start_rot": [ + 15.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 127.868, + -14099.2893, + 200.0 + ], + "actual_end_pos": [ + 127.868, + -14099.2893, + 200.0 + ], + "actual_end_rot": [ + 15.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 127.868, + -14099.2893, + 200.0 + ], + "start_rot": [ + 15.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 198.5786, + -14028.5786, + 200.0 + ], + "actual_end_pos": [ + 198.5786, + -14028.5786, + 200.0 + ], + "actual_end_rot": [ + 15.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 198.5786, + -14028.5786, + 200.0 + ], + "start_rot": [ + 15.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 198.5786, + -14028.5786, + 200.0 + ], + "actual_end_pos": [ + 198.5786, + -14028.5786, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 198.5786, + -14028.5786, + 200.0 + ], + "start_rot": [ + 7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 198.5786, + -14028.5786, + 200.0 + ], + "actual_end_pos": [ + 198.5786, + -14028.5786, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 198.5786, + -14028.5786, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 127.868, + -14099.2893, + 200.0 + ], + "actual_end_pos": [ + 127.868, + -14099.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 127.868, + -14099.2893, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 198.5786, + -14170.0, + 200.0 + ], + "actual_end_pos": [ + 198.5786, + -14170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 198.5786, + -14170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 269.2893, + -14099.2893, + 200.0 + ], + "actual_end_pos": [ + 269.2893, + -14099.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 269.2893, + -14099.2893, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 340.0, + -14170.0, + 200.0 + ], + "actual_end_pos": [ + 340.0, + -14170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260408_180248__traj_001866_meta.json b/inverse_easy/run_20260408_180248__traj_001866_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a6f30c3ec9d3a80842fe28c061d5602fee359637 --- /dev/null +++ b/inverse_easy/run_20260408_180248__traj_001866_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 1866, + "episode_id": 0, + "state_id": 1376, + "sample_index": 1376, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 340.0, + -12170.0, + 200.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_right", + "turn_left", + "move_forward", + "move_forward", + "look_down", + "turn_left", + "move_forward", + "move_right", + "move_right", + "look_up", + "turn_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "turn_left", + "look_down", + "move_left", + "move_left", + "move_backward", + "turn_right", + "look_up", + "move_backward", + "move_backward", + "turn_right", + "move_left", + "move_backward" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 340.0, + -12170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 440.0, + -12170.0, + 200.0 + ], + "actual_end_pos": [ + 440.0, + -12170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 440.0, + -12170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 440.0, + -12070.0, + 200.0 + ], + "actual_end_pos": [ + 440.0, + -12070.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 440.0, + -12070.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 440.0, + -12070.0, + 200.0 + ], + "actual_end_pos": [ + 440.0, + -12070.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 440.0, + -12070.0, + 200.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 536.5926, + -12095.8819, + 200.0 + ], + "actual_end_pos": [ + 536.5926, + -12095.8819, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 536.5926, + -12095.8819, + 200.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 633.1852, + -12121.7638, + 200.0 + ], + "actual_end_pos": [ + 633.1852, + -12121.7638, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 633.1852, + -12121.7638, + 200.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 633.1852, + -12121.7638, + 200.0 + ], + "actual_end_pos": [ + 633.1852, + -12121.7638, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 633.1852, + -12121.7638, + 200.0 + ], + "start_rot": [ + -7.5, + -15.0, + -0.0 + ], + "expected_end_pos": [ + 633.1852, + -12121.7638, + 200.0 + ], + "actual_end_pos": [ + 633.1852, + -12121.7638, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 633.1852, + -12121.7638, + 200.0 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 719.0468, + -12171.3361, + 186.9474 + ], + "actual_end_pos": [ + 719.0468, + -12171.3361, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 719.0468, + -12171.3361, + 186.9474 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 769.0468, + -12084.7335, + 186.9474 + ], + "actual_end_pos": [ + 769.0468, + -12084.7335, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 769.0468, + -12084.7335, + 186.9474 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 819.0468, + -11998.131, + 186.9474 + ], + "actual_end_pos": [ + 819.0468, + -11998.131, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 819.0468, + -11998.131, + 186.9474 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 819.0468, + -11998.131, + 186.9474 + ], + "actual_end_pos": [ + 819.0468, + -11998.131, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 819.0468, + -11998.131, + 186.9474 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 819.0468, + -11998.131, + 186.9474 + ], + "actual_end_pos": [ + 819.0468, + -11998.131, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 819.0468, + -11998.131, + 186.9474 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 819.0468, + -11998.131, + 186.9474 + ], + "actual_end_pos": [ + 819.0468, + -11998.131, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 819.0468, + -11998.131, + 186.9474 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 819.0468, + -11998.131, + 186.9474 + ], + "actual_end_pos": [ + 819.0468, + -11998.131, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 819.0468, + -11998.131, + 186.9474 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 819.0468, + -11998.131, + 186.9474 + ], + "actual_end_pos": [ + 819.0468, + -11998.131, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 819.0468, + -11998.131, + 186.9474 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 819.0468, + -11998.131, + 186.9474 + ], + "actual_end_pos": [ + 819.0468, + -11998.131, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 819.0468, + -11998.131, + 186.9474 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 819.0468, + -11998.131, + 186.9474 + ], + "actual_end_pos": [ + 819.0468, + -11998.131, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 819.0468, + -11998.131, + 186.9474 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 819.0468, + -11998.131, + 186.9474 + ], + "actual_end_pos": [ + 819.0468, + -11998.131, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 819.0468, + -11998.131, + 186.9474 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 819.0468, + -11998.131, + 186.9474 + ], + "actual_end_pos": [ + 819.0468, + -11998.131, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 819.0468, + -11998.131, + 186.9474 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 819.0468, + -11998.131, + 186.9474 + ], + "actual_end_pos": [ + 819.0468, + -11998.131, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 819.0468, + -11998.131, + 186.9474 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 819.0468, + -11998.131, + 186.9474 + ], + "actual_end_pos": [ + 819.0468, + -11998.131, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 819.0468, + -11998.131, + 186.9474 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 819.0468, + -11998.131, + 186.9474 + ], + "actual_end_pos": [ + 819.0468, + -11998.131, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 819.0468, + -11998.131, + 186.9474 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 819.0468, + -11998.131, + 186.9474 + ], + "actual_end_pos": [ + 819.0468, + -11998.131, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 819.0468, + -11998.131, + 186.9474 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 819.0468, + -11998.131, + 186.9474 + ], + "actual_end_pos": [ + 819.0468, + -11998.131, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 819.0468, + -11998.131, + 186.9474 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 819.0468, + -11998.131, + 186.9474 + ], + "actual_end_pos": [ + 819.0468, + -11998.131, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 819.0468, + -11998.131, + 186.9474 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 819.0468, + -11998.131, + 186.9474 + ], + "actual_end_pos": [ + 819.0468, + -11998.131, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 819.0468, + -11998.131, + 186.9474 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 819.0468, + -11998.131, + 186.9474 + ], + "actual_end_pos": [ + 819.0468, + -11998.131, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 819.0468, + -11998.131, + 186.9474 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 819.0468, + -11998.131, + 186.9474 + ], + "actual_end_pos": [ + 819.0468, + -11998.131, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 819.0468, + -11998.131, + 186.9474 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 819.0468, + -11998.131, + 186.9474 + ], + "actual_end_pos": [ + 819.0468, + -11998.131, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 819.0468, + -11998.131, + 186.9474 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 819.0468, + -11998.131, + 186.9474 + ], + "actual_end_pos": [ + 819.0468, + -11998.131, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 819.0468, + -11998.131, + 186.9474 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 769.0468, + -12084.7335, + 186.9474 + ], + "actual_end_pos": [ + 769.0468, + -12084.7335, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 769.0468, + -12084.7335, + 186.9474 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 719.0468, + -12171.3361, + 186.9474 + ], + "actual_end_pos": [ + 719.0468, + -12171.3361, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 719.0468, + -12171.3361, + 186.9474 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 633.1852, + -12121.7638, + 200.0 + ], + "actual_end_pos": [ + 633.1852, + -12121.7638, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 633.1852, + -12121.7638, + 200.0 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 633.1852, + -12121.7638, + 200.0 + ], + "actual_end_pos": [ + 633.1852, + -12121.7638, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 633.1852, + -12121.7638, + 200.0 + ], + "start_rot": [ + -7.5, + -15.0, + -0.0 + ], + "expected_end_pos": [ + 633.1852, + -12121.7638, + 200.0 + ], + "actual_end_pos": [ + 633.1852, + -12121.7638, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 633.1852, + -12121.7638, + 200.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 536.5926, + -12095.8819, + 200.0 + ], + "actual_end_pos": [ + 536.5926, + -12095.8819, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 536.5926, + -12095.8819, + 200.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 440.0, + -12070.0, + 200.0 + ], + "actual_end_pos": [ + 440.0, + -12070.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 440.0, + -12070.0, + 200.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 440.0, + -12070.0, + 200.0 + ], + "actual_end_pos": [ + 440.0, + -12070.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 440.0, + -12070.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 440.0, + -12170.0, + 200.0 + ], + "actual_end_pos": [ + 440.0, + -12170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 440.0, + -12170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 340.0, + -12170.0, + 200.0 + ], + "actual_end_pos": [ + 340.0, + -12170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260408_180248__traj_001907_meta.json b/inverse_easy/run_20260408_180248__traj_001907_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..69bf73c40edc700731b1814f82ad4a4178e8084d --- /dev/null +++ b/inverse_easy/run_20260408_180248__traj_001907_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 1907, + "episode_id": 0, + "state_id": 1407, + "sample_index": 1407, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 340.0, + -9170.0, + 200.0 + ], + "rotation": [ + 0.0, + 315.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "turn_left", + "turn_left", + "turn_left", + "move_left", + "move_forward", + "turn_left", + "move_forward", + "look_down", + "look_down", + "no_op", + "move_backward", + "look_up", + "move_left", + "turn_right", + "move_left", + "move_left", + "look_up", + "no_op", + "no_op", + "no_op", + "no_op", + "look_down", + "move_right", + "move_right", + "turn_left", + "move_right", + "look_down", + "move_forward", + "no_op", + "look_up", + "look_up", + "move_backward", + "turn_right", + "move_backward", + "move_right", + "turn_right", + "turn_right", + "turn_right", + "move_backward" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 340.0, + -9170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 410.7107, + -9240.7107, + 200.0 + ], + "actual_end_pos": [ + 410.7107, + -9240.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 410.7107, + -9240.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 410.7107, + -9240.7107, + 200.0 + ], + "actual_end_pos": [ + 410.7107, + -9240.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 410.7107, + -9240.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 410.7107, + -9240.7107, + 200.0 + ], + "actual_end_pos": [ + 410.7107, + -9240.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 410.7107, + -9240.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 410.7107, + -9240.7107, + 200.0 + ], + "actual_end_pos": [ + 410.7107, + -9240.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 410.7107, + -9240.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 310.7107, + -9240.7107, + 200.0 + ], + "actual_end_pos": [ + 310.7107, + -9240.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 310.7107, + -9240.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 310.7107, + -9340.7107, + 200.0 + ], + "actual_end_pos": [ + 310.7107, + -9340.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 310.7107, + -9340.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 310.7107, + -9340.7107, + 200.0 + ], + "actual_end_pos": [ + 310.7107, + -9340.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 310.7107, + -9340.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 284.8288, + -9437.3033, + 200.0 + ], + "actual_end_pos": [ + 284.8288, + -9437.3033, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 284.8288, + -9437.3033, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 284.8288, + -9437.3033, + 200.0 + ], + "actual_end_pos": [ + 284.8288, + -9437.3033, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 284.8288, + -9437.3033, + 200.0 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 284.8288, + -9437.3033, + 200.0 + ], + "actual_end_pos": [ + 284.8288, + -9437.3033, + 200.0 + ], + "actual_end_rot": [ + -15.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 284.8288, + -9437.3033, + 200.0 + ], + "start_rot": [ + -15.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 284.8288, + -9437.3033, + 200.0 + ], + "actual_end_pos": [ + 284.8288, + -9437.3033, + 200.0 + ], + "actual_end_rot": [ + -15.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 284.8288, + -9437.3033, + 200.0 + ], + "start_rot": [ + -15.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 309.8288, + -9344.002, + 225.8819 + ], + "actual_end_pos": [ + 309.8288, + -9344.002, + 225.8819 + ], + "actual_end_rot": [ + -15.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 309.8288, + -9344.002, + 225.8819 + ], + "start_rot": [ + -15.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 309.8288, + -9344.002, + 225.8819 + ], + "actual_end_pos": [ + 309.8288, + -9344.002, + 225.8819 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 309.8288, + -9344.002, + 225.8819 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 213.2362, + -9318.1201, + 225.8819 + ], + "actual_end_pos": [ + 213.2362, + -9318.1201, + 225.8819 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 213.2362, + -9318.1201, + 225.8819 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 213.2362, + -9318.1201, + 225.8819 + ], + "actual_end_pos": [ + 213.2362, + -9318.1201, + 225.8819 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 213.2362, + -9318.1201, + 225.8819 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 113.2362, + -9318.1201, + 225.8819 + ], + "actual_end_pos": [ + 113.2362, + -9318.1201, + 225.8819 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 113.2362, + -9318.1201, + 225.8819 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13.2362, + -9318.1201, + 225.8819 + ], + "actual_end_pos": [ + 13.2362, + -9318.1201, + 225.8819 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 13.2362, + -9318.1201, + 225.8819 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13.2362, + -9318.1201, + 225.8819 + ], + "actual_end_pos": [ + 13.2362, + -9318.1201, + 225.8819 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13.2362, + -9318.1201, + 225.8819 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13.2362, + -9318.1201, + 225.8819 + ], + "actual_end_pos": [ + 13.2362, + -9318.1201, + 225.8819 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13.2362, + -9318.1201, + 225.8819 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13.2362, + -9318.1201, + 225.8819 + ], + "actual_end_pos": [ + 13.2362, + -9318.1201, + 225.8819 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13.2362, + -9318.1201, + 225.8819 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13.2362, + -9318.1201, + 225.8819 + ], + "actual_end_pos": [ + 13.2362, + -9318.1201, + 225.8819 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13.2362, + -9318.1201, + 225.8819 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13.2362, + -9318.1201, + 225.8819 + ], + "actual_end_pos": [ + 13.2362, + -9318.1201, + 225.8819 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 13.2362, + -9318.1201, + 225.8819 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 13.2362, + -9318.1201, + 225.8819 + ], + "actual_end_pos": [ + 13.2362, + -9318.1201, + 225.8819 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 13.2362, + -9318.1201, + 225.8819 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 113.2362, + -9318.1201, + 225.8819 + ], + "actual_end_pos": [ + 113.2362, + -9318.1201, + 225.8819 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 113.2362, + -9318.1201, + 225.8819 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 213.2362, + -9318.1201, + 225.8819 + ], + "actual_end_pos": [ + 213.2362, + -9318.1201, + 225.8819 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 213.2362, + -9318.1201, + 225.8819 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 213.2362, + -9318.1201, + 225.8819 + ], + "actual_end_pos": [ + 213.2362, + -9318.1201, + 225.8819 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 213.2362, + -9318.1201, + 225.8819 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 309.8288, + -9344.002, + 225.8819 + ], + "actual_end_pos": [ + 309.8288, + -9344.002, + 225.8819 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 309.8288, + -9344.002, + 225.8819 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 309.8288, + -9344.002, + 225.8819 + ], + "actual_end_pos": [ + 309.8288, + -9344.002, + 225.8819 + ], + "actual_end_rot": [ + -15.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 309.8288, + -9344.002, + 225.8819 + ], + "start_rot": [ + -15.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 284.8288, + -9437.3033, + 200.0 + ], + "actual_end_pos": [ + 284.8288, + -9437.3033, + 200.0 + ], + "actual_end_rot": [ + -15.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 284.8288, + -9437.3033, + 200.0 + ], + "start_rot": [ + -15.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 284.8288, + -9437.3033, + 200.0 + ], + "actual_end_pos": [ + 284.8288, + -9437.3033, + 200.0 + ], + "actual_end_rot": [ + -15.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 284.8288, + -9437.3033, + 200.0 + ], + "start_rot": [ + -15.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 284.8288, + -9437.3033, + 200.0 + ], + "actual_end_pos": [ + 284.8288, + -9437.3033, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 284.8288, + -9437.3033, + 200.0 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 284.8288, + -9437.3033, + 200.0 + ], + "actual_end_pos": [ + 284.8288, + -9437.3033, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 284.8288, + -9437.3033, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 310.7107, + -9340.7107, + 200.0 + ], + "actual_end_pos": [ + 310.7107, + -9340.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 310.7107, + -9340.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 310.7107, + -9340.7107, + 200.0 + ], + "actual_end_pos": [ + 310.7107, + -9340.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 310.7107, + -9340.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 310.7107, + -9240.7107, + 200.0 + ], + "actual_end_pos": [ + 310.7107, + -9240.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 310.7107, + -9240.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 410.7107, + -9240.7107, + 200.0 + ], + "actual_end_pos": [ + 410.7107, + -9240.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 410.7107, + -9240.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 410.7107, + -9240.7107, + 200.0 + ], + "actual_end_pos": [ + 410.7107, + -9240.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 410.7107, + -9240.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 410.7107, + -9240.7107, + 200.0 + ], + "actual_end_pos": [ + 410.7107, + -9240.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 410.7107, + -9240.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 410.7107, + -9240.7107, + 200.0 + ], + "actual_end_pos": [ + 410.7107, + -9240.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 410.7107, + -9240.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 340.0, + -9170.0, + 200.0 + ], + "actual_end_pos": [ + 340.0, + -9170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260408_180248__traj_002374_meta.json b/inverse_easy/run_20260408_180248__traj_002374_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5f0a60a04f8c3c43e738e3b538c55d8ecaf5cbf9 --- /dev/null +++ b/inverse_easy/run_20260408_180248__traj_002374_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 2374, + "episode_id": 0, + "state_id": 1751, + "sample_index": 1751, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 2340.0, + -36170.0, + 200.0 + ], + "rotation": [ + 0.0, + 315.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "move_right", + "turn_right", + "look_up", + "look_up", + "move_left", + "look_down", + "move_right", + "move_right", + "move_forward", + "turn_left", + "move_left", + "move_forward", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "move_left", + "move_left", + "move_backward", + "move_right", + "turn_right", + "move_backward", + "move_left", + "move_left", + "look_up", + "move_right", + "look_down", + "look_down", + "turn_left", + "move_left", + "move_backward", + "move_backward", + "move_backward", + "move_backward" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2340.0, + -36170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2410.7107, + -36240.7107, + 200.0 + ], + "actual_end_pos": [ + 2410.7107, + -36240.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2410.7107, + -36240.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2481.4214, + -36311.4214, + 200.0 + ], + "actual_end_pos": [ + 2481.4214, + -36311.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2481.4214, + -36311.4214, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2552.132, + -36382.132, + 200.0 + ], + "actual_end_pos": [ + 2552.132, + -36382.132, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2552.132, + -36382.132, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2622.8427, + -36452.8427, + 200.0 + ], + "actual_end_pos": [ + 2622.8427, + -36452.8427, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2622.8427, + -36452.8427, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2693.5534, + -36382.132, + 200.0 + ], + "actual_end_pos": [ + 2693.5534, + -36382.132, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2693.5534, + -36382.132, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2693.5534, + -36382.132, + 200.0 + ], + "actual_end_pos": [ + 2693.5534, + -36382.132, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 2693.5534, + -36382.132, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 2693.5534, + -36382.132, + 200.0 + ], + "actual_end_pos": [ + 2693.5534, + -36382.132, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 2693.5534, + -36382.132, + 200.0 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 2693.5534, + -36382.132, + 200.0 + ], + "actual_end_pos": [ + 2693.5534, + -36382.132, + 200.0 + ], + "actual_end_rot": [ + 15.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2693.5534, + -36382.132, + 200.0 + ], + "start_rot": [ + 15.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 2643.5534, + -36468.7346, + 200.0 + ], + "actual_end_pos": [ + 2643.5534, + -36468.7346, + 200.0 + ], + "actual_end_rot": [ + 15.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 2643.5534, + -36468.7346, + 200.0 + ], + "start_rot": [ + 15.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 2643.5534, + -36468.7346, + 200.0 + ], + "actual_end_pos": [ + 2643.5534, + -36468.7346, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2643.5534, + -36468.7346, + 200.0 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 2693.5534, + -36382.132, + 200.0 + ], + "actual_end_pos": [ + 2693.5534, + -36382.132, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2693.5534, + -36382.132, + 200.0 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 2743.5534, + -36295.5295, + 200.0 + ], + "actual_end_pos": [ + 2743.5534, + -36295.5295, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2743.5534, + -36295.5295, + 200.0 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 2829.415, + -36345.1017, + 213.0526 + ], + "actual_end_pos": [ + 2829.415, + -36345.1017, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2829.415, + -36345.1017, + 213.0526 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 2829.415, + -36345.1017, + 213.0526 + ], + "actual_end_pos": [ + 2829.415, + -36345.1017, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2829.415, + -36345.1017, + 213.0526 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2758.7044, + -36415.8124, + 213.0526 + ], + "actual_end_pos": [ + 2758.7044, + -36415.8124, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2758.7044, + -36415.8124, + 213.0526 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2828.8101, + -36485.9182, + 226.1052 + ], + "actual_end_pos": [ + 2828.8101, + -36485.9182, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2828.8101, + -36485.9182, + 226.1052 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2899.5208, + -36415.2075, + 226.1052 + ], + "actual_end_pos": [ + 2899.5208, + -36415.2075, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2899.5208, + -36415.2075, + 226.1052 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2970.2315, + -36344.4968, + 226.1052 + ], + "actual_end_pos": [ + 2970.2315, + -36344.4968, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2970.2315, + -36344.4968, + 226.1052 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2970.2315, + -36344.4968, + 226.1052 + ], + "actual_end_pos": [ + 2970.2315, + -36344.4968, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2970.2315, + -36344.4968, + 226.1052 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2970.2315, + -36344.4968, + 226.1052 + ], + "actual_end_pos": [ + 2970.2315, + -36344.4968, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2970.2315, + -36344.4968, + 226.1052 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2970.2315, + -36344.4968, + 226.1052 + ], + "actual_end_pos": [ + 2970.2315, + -36344.4968, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2970.2315, + -36344.4968, + 226.1052 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2970.2315, + -36344.4968, + 226.1052 + ], + "actual_end_pos": [ + 2970.2315, + -36344.4968, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2970.2315, + -36344.4968, + 226.1052 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2899.5208, + -36415.2075, + 226.1052 + ], + "actual_end_pos": [ + 2899.5208, + -36415.2075, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2899.5208, + -36415.2075, + 226.1052 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2828.8101, + -36485.9182, + 226.1052 + ], + "actual_end_pos": [ + 2828.8101, + -36485.9182, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2828.8101, + -36485.9182, + 226.1052 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2758.7044, + -36415.8124, + 213.0526 + ], + "actual_end_pos": [ + 2758.7044, + -36415.8124, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2758.7044, + -36415.8124, + 213.0526 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2829.415, + -36345.1017, + 213.0526 + ], + "actual_end_pos": [ + 2829.415, + -36345.1017, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2829.415, + -36345.1017, + 213.0526 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2829.415, + -36345.1017, + 213.0526 + ], + "actual_end_pos": [ + 2829.415, + -36345.1017, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2829.415, + -36345.1017, + 213.0526 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 2743.5534, + -36295.5295, + 200.0 + ], + "actual_end_pos": [ + 2743.5534, + -36295.5295, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2743.5534, + -36295.5295, + 200.0 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 2693.5534, + -36382.132, + 200.0 + ], + "actual_end_pos": [ + 2693.5534, + -36382.132, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2693.5534, + -36382.132, + 200.0 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 2643.5534, + -36468.7346, + 200.0 + ], + "actual_end_pos": [ + 2643.5534, + -36468.7346, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 2643.5534, + -36468.7346, + 200.0 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 2643.5534, + -36468.7346, + 200.0 + ], + "actual_end_pos": [ + 2643.5534, + -36468.7346, + 200.0 + ], + "actual_end_rot": [ + 15.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2643.5534, + -36468.7346, + 200.0 + ], + "start_rot": [ + 15.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 2693.5534, + -36382.132, + 200.0 + ], + "actual_end_pos": [ + 2693.5534, + -36382.132, + 200.0 + ], + "actual_end_rot": [ + 15.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 2693.5534, + -36382.132, + 200.0 + ], + "start_rot": [ + 15.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 2693.5534, + -36382.132, + 200.0 + ], + "actual_end_pos": [ + 2693.5534, + -36382.132, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 2693.5534, + -36382.132, + 200.0 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 2693.5534, + -36382.132, + 200.0 + ], + "actual_end_pos": [ + 2693.5534, + -36382.132, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2693.5534, + -36382.132, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 2693.5534, + -36382.132, + 200.0 + ], + "actual_end_pos": [ + 2693.5534, + -36382.132, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2693.5534, + -36382.132, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2622.8427, + -36452.8427, + 200.0 + ], + "actual_end_pos": [ + 2622.8427, + -36452.8427, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2622.8427, + -36452.8427, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2552.132, + -36382.132, + 200.0 + ], + "actual_end_pos": [ + 2552.132, + -36382.132, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2552.132, + -36382.132, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2481.4214, + -36311.4214, + 200.0 + ], + "actual_end_pos": [ + 2481.4214, + -36311.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2481.4214, + -36311.4214, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2410.7107, + -36240.7107, + 200.0 + ], + "actual_end_pos": [ + 2410.7107, + -36240.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2410.7107, + -36240.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2340.0, + -36170.0, + 200.0 + ], + "actual_end_pos": [ + 2340.0, + -36170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260408_180248__traj_002511_meta.json b/inverse_easy/run_20260408_180248__traj_002511_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..547e036485292cad02614fe2906314b5ff0b5924 --- /dev/null +++ b/inverse_easy/run_20260408_180248__traj_002511_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 2511, + "episode_id": 0, + "state_id": 1853, + "sample_index": 1853, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 2340.0, + -9170.0, + 200.0 + ], + "rotation": [ + 0.0, + 225.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_left", + "move_forward", + "move_forward", + "turn_right", + "move_right", + "move_backward", + "look_down", + "move_backward", + "look_up", + "turn_right", + "move_backward", + "move_backward", + "turn_right", + "move_right", + "move_right", + "no_op", + "turn_left", + "move_left", + "turn_right", + "move_left", + "move_right", + "turn_left", + "move_right", + "turn_right", + "no_op", + "move_left", + "move_left", + "turn_left", + "move_forward", + "move_forward", + "turn_left", + "look_down", + "move_forward", + "look_up", + "move_forward", + "move_left", + "turn_left", + "move_backward", + "move_backward", + "turn_right" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2340.0, + -9170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2340.0, + -9170.0, + 200.0 + ], + "actual_end_pos": [ + 2340.0, + -9170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2340.0, + -9170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 2253.3975, + -9220.0, + 200.0 + ], + "actual_end_pos": [ + 2253.3975, + -9220.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2253.3975, + -9220.0, + 200.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 2166.7949, + -9270.0, + 200.0 + ], + "actual_end_pos": [ + 2166.7949, + -9270.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2166.7949, + -9270.0, + 200.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 2166.7949, + -9270.0, + 200.0 + ], + "actual_end_pos": [ + 2166.7949, + -9270.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2166.7949, + -9270.0, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2237.5056, + -9340.7107, + 200.0 + ], + "actual_end_pos": [ + 2237.5056, + -9340.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2237.5056, + -9340.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2308.2163, + -9270.0, + 200.0 + ], + "actual_end_pos": [ + 2308.2163, + -9270.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 2308.2163, + -9270.0, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2308.2163, + -9270.0, + 200.0 + ], + "actual_end_pos": [ + 2308.2163, + -9270.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2308.2163, + -9270.0, + 200.0 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2378.322, + -9199.8943, + 213.0526 + ], + "actual_end_pos": [ + 2378.322, + -9199.8943, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 2378.322, + -9199.8943, + 213.0526 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2378.322, + -9199.8943, + 213.0526 + ], + "actual_end_pos": [ + 2378.322, + -9199.8943, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2378.322, + -9199.8943, + 213.0526 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 2378.322, + -9199.8943, + 213.0526 + ], + "actual_end_pos": [ + 2378.322, + -9199.8943, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2378.322, + -9199.8943, + 213.0526 + ], + "start_rot": [ + 0.0, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 2428.322, + -9113.2917, + 213.0526 + ], + "actual_end_pos": [ + 2428.322, + -9113.2917, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2428.322, + -9113.2917, + 213.0526 + ], + "start_rot": [ + 0.0, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 2478.322, + -9026.6892, + 213.0526 + ], + "actual_end_pos": [ + 2478.322, + -9026.6892, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2478.322, + -9026.6892, + 213.0526 + ], + "start_rot": [ + 0.0, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 2478.322, + -9026.6892, + 213.0526 + ], + "actual_end_pos": [ + 2478.322, + -9026.6892, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2478.322, + -9026.6892, + 213.0526 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 2574.9146, + -9052.5711, + 213.0526 + ], + "actual_end_pos": [ + 2574.9146, + -9052.5711, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2574.9146, + -9052.5711, + 213.0526 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 2671.5072, + -9078.453, + 213.0526 + ], + "actual_end_pos": [ + 2671.5072, + -9078.453, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2671.5072, + -9078.453, + 213.0526 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 2671.5072, + -9078.453, + 213.0526 + ], + "actual_end_pos": [ + 2671.5072, + -9078.453, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2671.5072, + -9078.453, + 213.0526 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 2671.5072, + -9078.453, + 213.0526 + ], + "actual_end_pos": [ + 2671.5072, + -9078.453, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2671.5072, + -9078.453, + 213.0526 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 2584.9046, + -9028.453, + 213.0526 + ], + "actual_end_pos": [ + 2584.9046, + -9028.453, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2584.9046, + -9028.453, + 213.0526 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 2584.9046, + -9028.453, + 213.0526 + ], + "actual_end_pos": [ + 2584.9046, + -9028.453, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2584.9046, + -9028.453, + 213.0526 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 2488.3121, + -9002.5711, + 213.0526 + ], + "actual_end_pos": [ + 2488.3121, + -9002.5711, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2488.3121, + -9002.5711, + 213.0526 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 2584.9046, + -9028.453, + 213.0526 + ], + "actual_end_pos": [ + 2584.9046, + -9028.453, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2584.9046, + -9028.453, + 213.0526 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 2584.9046, + -9028.453, + 213.0526 + ], + "actual_end_pos": [ + 2584.9046, + -9028.453, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2584.9046, + -9028.453, + 213.0526 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 2671.5072, + -9078.453, + 213.0526 + ], + "actual_end_pos": [ + 2671.5072, + -9078.453, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2671.5072, + -9078.453, + 213.0526 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 2671.5072, + -9078.453, + 213.0526 + ], + "actual_end_pos": [ + 2671.5072, + -9078.453, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2671.5072, + -9078.453, + 213.0526 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 2671.5072, + -9078.453, + 213.0526 + ], + "actual_end_pos": [ + 2671.5072, + -9078.453, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2671.5072, + -9078.453, + 213.0526 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 2574.9146, + -9052.5711, + 213.0526 + ], + "actual_end_pos": [ + 2574.9146, + -9052.5711, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2574.9146, + -9052.5711, + 213.0526 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 2478.322, + -9026.6892, + 213.0526 + ], + "actual_end_pos": [ + 2478.322, + -9026.6892, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2478.322, + -9026.6892, + 213.0526 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 2478.322, + -9026.6892, + 213.0526 + ], + "actual_end_pos": [ + 2478.322, + -9026.6892, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2478.322, + -9026.6892, + 213.0526 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 2428.322, + -9113.2917, + 213.0526 + ], + "actual_end_pos": [ + 2428.322, + -9113.2917, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2428.322, + -9113.2917, + 213.0526 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 2378.322, + -9199.8943, + 213.0526 + ], + "actual_end_pos": [ + 2378.322, + -9199.8943, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2378.322, + -9199.8943, + 213.0526 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 2378.322, + -9199.8943, + 213.0526 + ], + "actual_end_pos": [ + 2378.322, + -9199.8943, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 2378.322, + -9199.8943, + 213.0526 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2378.322, + -9199.8943, + 213.0526 + ], + "actual_end_pos": [ + 2378.322, + -9199.8943, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2378.322, + -9199.8943, + 213.0526 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2308.2163, + -9270.0, + 200.0 + ], + "actual_end_pos": [ + 2308.2163, + -9270.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 2308.2163, + -9270.0, + 200.0 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2308.2163, + -9270.0, + 200.0 + ], + "actual_end_pos": [ + 2308.2163, + -9270.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2308.2163, + -9270.0, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 2237.5056, + -9340.7107, + 200.0 + ], + "actual_end_pos": [ + 2237.5056, + -9340.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2237.5056, + -9340.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 2166.7949, + -9270.0, + 200.0 + ], + "actual_end_pos": [ + 2166.7949, + -9270.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2166.7949, + -9270.0, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 2166.7949, + -9270.0, + 200.0 + ], + "actual_end_pos": [ + 2166.7949, + -9270.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2166.7949, + -9270.0, + 200.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 2253.3975, + -9220.0, + 200.0 + ], + "actual_end_pos": [ + 2253.3975, + -9220.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2253.3975, + -9220.0, + 200.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 2340.0, + -9170.0, + 200.0 + ], + "actual_end_pos": [ + 2340.0, + -9170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2340.0, + -9170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 2340.0, + -9170.0, + 200.0 + ], + "actual_end_pos": [ + 2340.0, + -9170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260408_180248__traj_002567_meta.json b/inverse_easy/run_20260408_180248__traj_002567_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b33932898f5134307c935dc2304953ce9ace0787 --- /dev/null +++ b/inverse_easy/run_20260408_180248__traj_002567_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 2567, + "episode_id": 0, + "state_id": 1896, + "sample_index": 1896, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 2340.0, + -3170.0, + 200.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "turn_left", + "move_backward", + "move_left", + "move_left", + "move_backward", + "move_right", + "move_left", + "move_left", + "look_down", + "turn_left", + "move_right", + "move_forward", + "move_right", + "turn_left", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "move_left", + "move_left", + "turn_right", + "move_left", + "move_backward", + "move_left", + "turn_right", + "look_up", + "move_right", + "move_right", + "move_left", + "move_forward", + "move_right", + "move_right", + "move_forward", + "turn_right", + "move_forward" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2340.0, + -3170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 2240.0, + -3170.0, + 200.0 + ], + "actual_end_pos": [ + 2240.0, + -3170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2240.0, + -3170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 2240.0, + -3170.0, + 200.0 + ], + "actual_end_pos": [ + 2240.0, + -3170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2240.0, + -3170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 2143.4074, + -3144.1181, + 200.0 + ], + "actual_end_pos": [ + 2143.4074, + -3144.1181, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2143.4074, + -3144.1181, + 200.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 2117.5255, + -3240.7107, + 200.0 + ], + "actual_end_pos": [ + 2117.5255, + -3240.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2117.5255, + -3240.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 2091.6436, + -3337.3033, + 200.0 + ], + "actual_end_pos": [ + 2091.6436, + -3337.3033, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2091.6436, + -3337.3033, + 200.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 1995.051, + -3311.4214, + 200.0 + ], + "actual_end_pos": [ + 1995.051, + -3311.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1995.051, + -3311.4214, + 200.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 2020.9329, + -3214.8288, + 200.0 + ], + "actual_end_pos": [ + 2020.9329, + -3214.8288, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2020.9329, + -3214.8288, + 200.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 1995.051, + -3311.4214, + 200.0 + ], + "actual_end_pos": [ + 1995.051, + -3311.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 1995.051, + -3311.4214, + 200.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 1969.1691, + -3408.0139, + 200.0 + ], + "actual_end_pos": [ + 1969.1691, + -3408.0139, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 1969.1691, + -3408.0139, + 200.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 1969.1691, + -3408.0139, + 200.0 + ], + "actual_end_pos": [ + 1969.1691, + -3408.0139, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 1969.1691, + -3408.0139, + 200.0 + ], + "start_rot": [ + -7.5, + -15.0, + -0.0 + ], + "expected_end_pos": [ + 1969.1691, + -3408.0139, + 200.0 + ], + "actual_end_pos": [ + 1969.1691, + -3408.0139, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1969.1691, + -3408.0139, + 200.0 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 2019.1691, + -3321.4114, + 200.0 + ], + "actual_end_pos": [ + 2019.1691, + -3321.4114, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2019.1691, + -3321.4114, + 200.0 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 2105.0308, + -3370.9836, + 186.9474 + ], + "actual_end_pos": [ + 2105.0308, + -3370.9836, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2105.0308, + -3370.9836, + 186.9474 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 2155.0308, + -3284.3811, + 186.9474 + ], + "actual_end_pos": [ + 2155.0308, + -3284.3811, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2155.0308, + -3284.3811, + 186.9474 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 2155.0308, + -3284.3811, + 186.9474 + ], + "actual_end_pos": [ + 2155.0308, + -3284.3811, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2155.0308, + -3284.3811, + 186.9474 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2225.7414, + -3213.6704, + 186.9474 + ], + "actual_end_pos": [ + 2225.7414, + -3213.6704, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2225.7414, + -3213.6704, + 186.9474 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2296.4521, + -3142.9597, + 186.9474 + ], + "actual_end_pos": [ + 2296.4521, + -3142.9597, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2296.4521, + -3142.9597, + 186.9474 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2296.4521, + -3142.9597, + 186.9474 + ], + "actual_end_pos": [ + 2296.4521, + -3142.9597, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2296.4521, + -3142.9597, + 186.9474 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2296.4521, + -3142.9597, + 186.9474 + ], + "actual_end_pos": [ + 2296.4521, + -3142.9597, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2296.4521, + -3142.9597, + 186.9474 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2296.4521, + -3142.9597, + 186.9474 + ], + "actual_end_pos": [ + 2296.4521, + -3142.9597, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2296.4521, + -3142.9597, + 186.9474 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2296.4521, + -3142.9597, + 186.9474 + ], + "actual_end_pos": [ + 2296.4521, + -3142.9597, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2296.4521, + -3142.9597, + 186.9474 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2296.4521, + -3142.9597, + 186.9474 + ], + "actual_end_pos": [ + 2296.4521, + -3142.9597, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2296.4521, + -3142.9597, + 186.9474 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2296.4521, + -3142.9597, + 186.9474 + ], + "actual_end_pos": [ + 2296.4521, + -3142.9597, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2296.4521, + -3142.9597, + 186.9474 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2225.7414, + -3213.6704, + 186.9474 + ], + "actual_end_pos": [ + 2225.7414, + -3213.6704, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2225.7414, + -3213.6704, + 186.9474 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2155.0308, + -3284.3811, + 186.9474 + ], + "actual_end_pos": [ + 2155.0308, + -3284.3811, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2155.0308, + -3284.3811, + 186.9474 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 2155.0308, + -3284.3811, + 186.9474 + ], + "actual_end_pos": [ + 2155.0308, + -3284.3811, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2155.0308, + -3284.3811, + 186.9474 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 2105.0308, + -3370.9836, + 186.9474 + ], + "actual_end_pos": [ + 2105.0308, + -3370.9836, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2105.0308, + -3370.9836, + 186.9474 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 2019.1691, + -3321.4114, + 200.0 + ], + "actual_end_pos": [ + 2019.1691, + -3321.4114, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2019.1691, + -3321.4114, + 200.0 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 1969.1691, + -3408.0139, + 200.0 + ], + "actual_end_pos": [ + 1969.1691, + -3408.0139, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 1969.1691, + -3408.0139, + 200.0 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 1969.1691, + -3408.0139, + 200.0 + ], + "actual_end_pos": [ + 1969.1691, + -3408.0139, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 1969.1691, + -3408.0139, + 200.0 + ], + "start_rot": [ + -7.5, + -15.0, + -0.0 + ], + "expected_end_pos": [ + 1969.1691, + -3408.0139, + 200.0 + ], + "actual_end_pos": [ + 1969.1691, + -3408.0139, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1969.1691, + -3408.0139, + 200.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 1995.051, + -3311.4214, + 200.0 + ], + "actual_end_pos": [ + 1995.051, + -3311.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 1995.051, + -3311.4214, + 200.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 2020.9329, + -3214.8288, + 200.0 + ], + "actual_end_pos": [ + 2020.9329, + -3214.8288, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2020.9329, + -3214.8288, + 200.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 1995.051, + -3311.4214, + 200.0 + ], + "actual_end_pos": [ + 1995.051, + -3311.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 1995.051, + -3311.4214, + 200.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 2091.6436, + -3337.3033, + 200.0 + ], + "actual_end_pos": [ + 2091.6436, + -3337.3033, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2091.6436, + -3337.3033, + 200.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 2117.5255, + -3240.7107, + 200.0 + ], + "actual_end_pos": [ + 2117.5255, + -3240.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2117.5255, + -3240.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 2143.4074, + -3144.1181, + 200.0 + ], + "actual_end_pos": [ + 2143.4074, + -3144.1181, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2143.4074, + -3144.1181, + 200.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 2240.0, + -3170.0, + 200.0 + ], + "actual_end_pos": [ + 2240.0, + -3170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2240.0, + -3170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 2240.0, + -3170.0, + 200.0 + ], + "actual_end_pos": [ + 2240.0, + -3170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2240.0, + -3170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 2340.0, + -3170.0, + 200.0 + ], + "actual_end_pos": [ + 2340.0, + -3170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260408_180248__traj_003021_meta.json b/inverse_easy/run_20260408_180248__traj_003021_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7d1e20f8edeb6d3aa49c3f8eabc77919af886dbd --- /dev/null +++ b/inverse_easy/run_20260408_180248__traj_003021_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 3021, + "episode_id": 0, + "state_id": 2229, + "sample_index": 2229, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 4340.0, + -32170.0, + 200.0 + ], + "rotation": [ + 0.0, + 225.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "move_forward", + "turn_left", + "move_backward", + "move_left", + "move_backward", + "no_op", + "move_left", + "look_up", + "look_up", + "move_forward", + "move_forward", + "move_left", + "no_op", + "move_left", + "move_forward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "move_backward", + "move_right", + "no_op", + "move_right", + "move_backward", + "move_backward", + "look_down", + "look_down", + "move_right", + "no_op", + "move_forward", + "move_right", + "move_forward", + "turn_right", + "move_backward", + "move_right" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4340.0, + -32170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 4269.2893, + -32099.2893, + 200.0 + ], + "actual_end_pos": [ + 4269.2893, + -32099.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4269.2893, + -32099.2893, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 4198.5786, + -32170.0, + 200.0 + ], + "actual_end_pos": [ + 4198.5786, + -32170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4198.5786, + -32170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 4198.5786, + -32170.0, + 200.0 + ], + "actual_end_pos": [ + 4198.5786, + -32170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4198.5786, + -32170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 4285.1812, + -32120.0, + 200.0 + ], + "actual_end_pos": [ + 4285.1812, + -32120.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4285.1812, + -32120.0, + 200.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 4235.1812, + -32033.3975, + 200.0 + ], + "actual_end_pos": [ + 4235.1812, + -32033.3975, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4235.1812, + -32033.3975, + 200.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 4321.7837, + -31983.3975, + 200.0 + ], + "actual_end_pos": [ + 4321.7837, + -31983.3975, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4321.7837, + -31983.3975, + 200.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 4321.7837, + -31983.3975, + 200.0 + ], + "actual_end_pos": [ + 4321.7837, + -31983.3975, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4321.7837, + -31983.3975, + 200.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 4271.7837, + -31896.7949, + 200.0 + ], + "actual_end_pos": [ + 4271.7837, + -31896.7949, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 4271.7837, + -31896.7949, + 200.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 4271.7837, + -31896.7949, + 200.0 + ], + "actual_end_pos": [ + 4271.7837, + -31896.7949, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 4271.7837, + -31896.7949, + 200.0 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 4271.7837, + -31896.7949, + 200.0 + ], + "actual_end_pos": [ + 4271.7837, + -31896.7949, + 200.0 + ], + "actual_end_rot": [ + 15.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4271.7837, + -31896.7949, + 200.0 + ], + "start_rot": [ + 15.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + 4188.1321, + -31945.0912, + 225.8819 + ], + "actual_end_pos": [ + 4188.1321, + -31945.0912, + 225.8819 + ], + "actual_end_rot": [ + 15.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4188.1321, + -31945.0912, + 225.8819 + ], + "start_rot": [ + 15.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + 4104.4805, + -31993.3875, + 251.7638 + ], + "actual_end_pos": [ + 4104.4805, + -31993.3875, + 251.7638 + ], + "actual_end_rot": [ + 15.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4104.4805, + -31993.3875, + 251.7638 + ], + "start_rot": [ + 15.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + 4054.4805, + -31906.785, + 251.7638 + ], + "actual_end_pos": [ + 4054.4805, + -31906.785, + 251.7638 + ], + "actual_end_rot": [ + 15.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4054.4805, + -31906.785, + 251.7638 + ], + "start_rot": [ + 15.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + 4054.4805, + -31906.785, + 251.7638 + ], + "actual_end_pos": [ + 4054.4805, + -31906.785, + 251.7638 + ], + "actual_end_rot": [ + 15.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4054.4805, + -31906.785, + 251.7638 + ], + "start_rot": [ + 15.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + 4004.4805, + -31820.1824, + 251.7638 + ], + "actual_end_pos": [ + 4004.4805, + -31820.1824, + 251.7638 + ], + "actual_end_rot": [ + 15.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4004.4805, + -31820.1824, + 251.7638 + ], + "start_rot": [ + 15.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + 3920.8288, + -31868.4787, + 277.6457 + ], + "actual_end_pos": [ + 3920.8288, + -31868.4787, + 277.6457 + ], + "actual_end_rot": [ + 15.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3920.8288, + -31868.4787, + 277.6457 + ], + "start_rot": [ + 15.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + 3920.8288, + -31868.4787, + 277.6457 + ], + "actual_end_pos": [ + 3920.8288, + -31868.4787, + 277.6457 + ], + "actual_end_rot": [ + 15.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3920.8288, + -31868.4787, + 277.6457 + ], + "start_rot": [ + 15.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + 3920.8288, + -31868.4787, + 277.6457 + ], + "actual_end_pos": [ + 3920.8288, + -31868.4787, + 277.6457 + ], + "actual_end_rot": [ + 15.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3920.8288, + -31868.4787, + 277.6457 + ], + "start_rot": [ + 15.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + 3920.8288, + -31868.4787, + 277.6457 + ], + "actual_end_pos": [ + 3920.8288, + -31868.4787, + 277.6457 + ], + "actual_end_rot": [ + 15.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3920.8288, + -31868.4787, + 277.6457 + ], + "start_rot": [ + 15.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + 3920.8288, + -31868.4787, + 277.6457 + ], + "actual_end_pos": [ + 3920.8288, + -31868.4787, + 277.6457 + ], + "actual_end_rot": [ + 15.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3920.8288, + -31868.4787, + 277.6457 + ], + "start_rot": [ + 15.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + 3920.8288, + -31868.4787, + 277.6457 + ], + "actual_end_pos": [ + 3920.8288, + -31868.4787, + 277.6457 + ], + "actual_end_rot": [ + 15.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3920.8288, + -31868.4787, + 277.6457 + ], + "start_rot": [ + 15.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + 3920.8288, + -31868.4787, + 277.6457 + ], + "actual_end_pos": [ + 3920.8288, + -31868.4787, + 277.6457 + ], + "actual_end_rot": [ + 15.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3920.8288, + -31868.4787, + 277.6457 + ], + "start_rot": [ + 15.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + 3920.8288, + -31868.4787, + 277.6457 + ], + "actual_end_pos": [ + 3920.8288, + -31868.4787, + 277.6457 + ], + "actual_end_rot": [ + 15.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3920.8288, + -31868.4787, + 277.6457 + ], + "start_rot": [ + 15.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + 3920.8288, + -31868.4787, + 277.6457 + ], + "actual_end_pos": [ + 3920.8288, + -31868.4787, + 277.6457 + ], + "actual_end_rot": [ + 15.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 3920.8288, + -31868.4787, + 277.6457 + ], + "start_rot": [ + 15.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + 4004.4805, + -31820.1824, + 251.7638 + ], + "actual_end_pos": [ + 4004.4805, + -31820.1824, + 251.7638 + ], + "actual_end_rot": [ + 15.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4004.4805, + -31820.1824, + 251.7638 + ], + "start_rot": [ + 15.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + 4054.4805, + -31906.785, + 251.7638 + ], + "actual_end_pos": [ + 4054.4805, + -31906.785, + 251.7638 + ], + "actual_end_rot": [ + 15.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4054.4805, + -31906.785, + 251.7638 + ], + "start_rot": [ + 15.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + 4054.4805, + -31906.785, + 251.7638 + ], + "actual_end_pos": [ + 4054.4805, + -31906.785, + 251.7638 + ], + "actual_end_rot": [ + 15.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4054.4805, + -31906.785, + 251.7638 + ], + "start_rot": [ + 15.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + 4104.4805, + -31993.3875, + 251.7638 + ], + "actual_end_pos": [ + 4104.4805, + -31993.3875, + 251.7638 + ], + "actual_end_rot": [ + 15.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4104.4805, + -31993.3875, + 251.7638 + ], + "start_rot": [ + 15.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + 4188.1321, + -31945.0912, + 225.8819 + ], + "actual_end_pos": [ + 4188.1321, + -31945.0912, + 225.8819 + ], + "actual_end_rot": [ + 15.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4188.1321, + -31945.0912, + 225.8819 + ], + "start_rot": [ + 15.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + 4271.7837, + -31896.7949, + 200.0 + ], + "actual_end_pos": [ + 4271.7837, + -31896.7949, + 200.0 + ], + "actual_end_rot": [ + 15.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 4271.7837, + -31896.7949, + 200.0 + ], + "start_rot": [ + 15.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + 4271.7837, + -31896.7949, + 200.0 + ], + "actual_end_pos": [ + 4271.7837, + -31896.7949, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 4271.7837, + -31896.7949, + 200.0 + ], + "start_rot": [ + 7.5, + -150.0, + -0.0 + ], + "expected_end_pos": [ + 4271.7837, + -31896.7949, + 200.0 + ], + "actual_end_pos": [ + 4271.7837, + -31896.7949, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4271.7837, + -31896.7949, + 200.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 4321.7837, + -31983.3975, + 200.0 + ], + "actual_end_pos": [ + 4321.7837, + -31983.3975, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4321.7837, + -31983.3975, + 200.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 4321.7837, + -31983.3975, + 200.0 + ], + "actual_end_pos": [ + 4321.7837, + -31983.3975, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4321.7837, + -31983.3975, + 200.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 4235.1812, + -32033.3975, + 200.0 + ], + "actual_end_pos": [ + 4235.1812, + -32033.3975, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4235.1812, + -32033.3975, + 200.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 4285.1812, + -32120.0, + 200.0 + ], + "actual_end_pos": [ + 4285.1812, + -32120.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4285.1812, + -32120.0, + 200.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 4198.5786, + -32170.0, + 200.0 + ], + "actual_end_pos": [ + 4198.5786, + -32170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 4198.5786, + -32170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 4198.5786, + -32170.0, + 200.0 + ], + "actual_end_pos": [ + 4198.5786, + -32170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4198.5786, + -32170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 4269.2893, + -32099.2893, + 200.0 + ], + "actual_end_pos": [ + 4269.2893, + -32099.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4269.2893, + -32099.2893, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 4340.0, + -32170.0, + 200.0 + ], + "actual_end_pos": [ + 4340.0, + -32170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260408_180248__traj_003300_meta.json b/inverse_easy/run_20260408_180248__traj_003300_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1f9fde1bd90d59073f19c7f69dbb2e8872c26034 --- /dev/null +++ b/inverse_easy/run_20260408_180248__traj_003300_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 3300, + "episode_id": 0, + "state_id": 2445, + "sample_index": 2445, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 5340.0, + -35170.0, + 200.0 + ], + "rotation": [ + 0.0, + 225.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "turn_left", + "no_op", + "turn_right", + "move_right", + "turn_right", + "move_forward", + "move_left", + "move_left", + "move_forward", + "move_right", + "move_forward", + "turn_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "move_right", + "turn_right", + "move_backward", + "move_left", + "move_backward", + "move_right", + "move_right", + "move_backward", + "turn_left", + "move_left", + "turn_left", + "no_op", + "turn_right", + "move_right" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 5340.0, + -35170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 5269.2893, + -35099.2893, + 200.0 + ], + "actual_end_pos": [ + 5269.2893, + -35099.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 5269.2893, + -35099.2893, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 5269.2893, + -35099.2893, + 200.0 + ], + "actual_end_pos": [ + 5269.2893, + -35099.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 5269.2893, + -35099.2893, + 200.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 5269.2893, + -35099.2893, + 200.0 + ], + "actual_end_pos": [ + 5269.2893, + -35099.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 5269.2893, + -35099.2893, + 200.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 5269.2893, + -35099.2893, + 200.0 + ], + "actual_end_pos": [ + 5269.2893, + -35099.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 5269.2893, + -35099.2893, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 5340.0, + -35170.0, + 200.0 + ], + "actual_end_pos": [ + 5340.0, + -35170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 5340.0, + -35170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 5340.0, + -35170.0, + 200.0 + ], + "actual_end_pos": [ + 5340.0, + -35170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 5340.0, + -35170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 5290.0, + -35256.6025, + 200.0 + ], + "actual_end_pos": [ + 5290.0, + -35256.6025, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 5290.0, + -35256.6025, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 5203.3975, + -35206.6025, + 200.0 + ], + "actual_end_pos": [ + 5203.3975, + -35206.6025, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 5203.3975, + -35206.6025, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 5116.7949, + -35156.6025, + 200.0 + ], + "actual_end_pos": [ + 5116.7949, + -35156.6025, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 5116.7949, + -35156.6025, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 5066.7949, + -35243.2051, + 200.0 + ], + "actual_end_pos": [ + 5066.7949, + -35243.2051, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 5066.7949, + -35243.2051, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 5153.3975, + -35293.2051, + 200.0 + ], + "actual_end_pos": [ + 5153.3975, + -35293.2051, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 5153.3975, + -35293.2051, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 5103.3975, + -35379.8076, + 200.0 + ], + "actual_end_pos": [ + 5103.3975, + -35379.8076, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 5103.3975, + -35379.8076, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 5103.3975, + -35379.8076, + 200.0 + ], + "actual_end_pos": [ + 5103.3975, + -35379.8076, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 5103.3975, + -35379.8076, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 5032.6868, + -35309.0969, + 200.0 + ], + "actual_end_pos": [ + 5032.6868, + -35309.0969, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 5032.6868, + -35309.0969, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 5032.6868, + -35309.0969, + 200.0 + ], + "actual_end_pos": [ + 5032.6868, + -35309.0969, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 5032.6868, + -35309.0969, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 5032.6868, + -35309.0969, + 200.0 + ], + "actual_end_pos": [ + 5032.6868, + -35309.0969, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 5032.6868, + -35309.0969, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 5032.6868, + -35309.0969, + 200.0 + ], + "actual_end_pos": [ + 5032.6868, + -35309.0969, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 5032.6868, + -35309.0969, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 5032.6868, + -35309.0969, + 200.0 + ], + "actual_end_pos": [ + 5032.6868, + -35309.0969, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 5032.6868, + -35309.0969, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 5032.6868, + -35309.0969, + 200.0 + ], + "actual_end_pos": [ + 5032.6868, + -35309.0969, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 5032.6868, + -35309.0969, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 5032.6868, + -35309.0969, + 200.0 + ], + "actual_end_pos": [ + 5032.6868, + -35309.0969, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 5032.6868, + -35309.0969, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 5032.6868, + -35309.0969, + 200.0 + ], + "actual_end_pos": [ + 5032.6868, + -35309.0969, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 5032.6868, + -35309.0969, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 5032.6868, + -35309.0969, + 200.0 + ], + "actual_end_pos": [ + 5032.6868, + -35309.0969, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 5032.6868, + -35309.0969, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 5032.6868, + -35309.0969, + 200.0 + ], + "actual_end_pos": [ + 5032.6868, + -35309.0969, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 5032.6868, + -35309.0969, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 5032.6868, + -35309.0969, + 200.0 + ], + "actual_end_pos": [ + 5032.6868, + -35309.0969, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 5032.6868, + -35309.0969, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 5032.6868, + -35309.0969, + 200.0 + ], + "actual_end_pos": [ + 5032.6868, + -35309.0969, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 5032.6868, + -35309.0969, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 5032.6868, + -35309.0969, + 200.0 + ], + "actual_end_pos": [ + 5032.6868, + -35309.0969, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 5032.6868, + -35309.0969, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 5103.3975, + -35379.8076, + 200.0 + ], + "actual_end_pos": [ + 5103.3975, + -35379.8076, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 5103.3975, + -35379.8076, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 5103.3975, + -35379.8076, + 200.0 + ], + "actual_end_pos": [ + 5103.3975, + -35379.8076, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 5103.3975, + -35379.8076, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 5153.3975, + -35293.2051, + 200.0 + ], + "actual_end_pos": [ + 5153.3975, + -35293.2051, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 5153.3975, + -35293.2051, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 5066.7949, + -35243.2051, + 200.0 + ], + "actual_end_pos": [ + 5066.7949, + -35243.2051, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 5066.7949, + -35243.2051, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 5116.7949, + -35156.6025, + 200.0 + ], + "actual_end_pos": [ + 5116.7949, + -35156.6025, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 5116.7949, + -35156.6025, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 5203.3975, + -35206.6025, + 200.0 + ], + "actual_end_pos": [ + 5203.3975, + -35206.6025, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 5203.3975, + -35206.6025, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 5290.0, + -35256.6025, + 200.0 + ], + "actual_end_pos": [ + 5290.0, + -35256.6025, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 5290.0, + -35256.6025, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 5340.0, + -35170.0, + 200.0 + ], + "actual_end_pos": [ + 5340.0, + -35170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 5340.0, + -35170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 5340.0, + -35170.0, + 200.0 + ], + "actual_end_pos": [ + 5340.0, + -35170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 5340.0, + -35170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 5269.2893, + -35099.2893, + 200.0 + ], + "actual_end_pos": [ + 5269.2893, + -35099.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 5269.2893, + -35099.2893, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 5269.2893, + -35099.2893, + 200.0 + ], + "actual_end_pos": [ + 5269.2893, + -35099.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 5269.2893, + -35099.2893, + 200.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 5269.2893, + -35099.2893, + 200.0 + ], + "actual_end_pos": [ + 5269.2893, + -35099.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 5269.2893, + -35099.2893, + 200.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 5269.2893, + -35099.2893, + 200.0 + ], + "actual_end_pos": [ + 5269.2893, + -35099.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 5269.2893, + -35099.2893, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 5340.0, + -35170.0, + 200.0 + ], + "actual_end_pos": [ + 5340.0, + -35170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260408_180248__traj_003524_meta.json b/inverse_easy/run_20260408_180248__traj_003524_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2aa580942d31f331a9f789d70f2cb4225d4bfdcc --- /dev/null +++ b/inverse_easy/run_20260408_180248__traj_003524_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 3524, + "episode_id": 0, + "state_id": 2615, + "sample_index": 2615, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 5340.0, + -2170.0, + 200.0 + ], + "rotation": [ + 0.0, + 315.0, + 0.0 + ] + }, + "action_sequence": [ + "no_op", + "move_left", + "move_backward", + "turn_right", + "move_left", + "turn_right", + "move_forward", + "move_right", + "turn_right", + "move_left", + "move_left", + "move_backward", + "look_up", + "move_left", + "look_down", + "move_left", + "move_backward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "move_forward", + "move_right", + "look_up", + "move_right", + "look_down", + "move_forward", + "move_right", + "move_right", + "turn_left", + "move_left", + "move_backward", + "turn_left", + "move_right", + "turn_left", + "move_forward", + "move_right", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 5340.0, + -2170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 5340.0, + -2170.0, + 200.0 + ], + "actual_end_pos": [ + 5340.0, + -2170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 5340.0, + -2170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 5269.2893, + -2240.7107, + 200.0 + ], + "actual_end_pos": [ + 5269.2893, + -2240.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 5269.2893, + -2240.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 5198.5786, + -2170.0, + 200.0 + ], + "actual_end_pos": [ + 5198.5786, + -2170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 5198.5786, + -2170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 5198.5786, + -2170.0, + 200.0 + ], + "actual_end_pos": [ + 5198.5786, + -2170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 5198.5786, + -2170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 5148.5786, + -2256.6025, + 200.0 + ], + "actual_end_pos": [ + 5148.5786, + -2256.6025, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 5148.5786, + -2256.6025, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 5148.5786, + -2256.6025, + 200.0 + ], + "actual_end_pos": [ + 5148.5786, + -2256.6025, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 5148.5786, + -2256.6025, + 200.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 5245.1712, + -2282.4844, + 200.0 + ], + "actual_end_pos": [ + 5245.1712, + -2282.4844, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 5245.1712, + -2282.4844, + 200.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 5271.0531, + -2185.8919, + 200.0 + ], + "actual_end_pos": [ + 5271.0531, + -2185.8919, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 5271.0531, + -2185.8919, + 200.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 5271.0531, + -2185.8919, + 200.0 + ], + "actual_end_pos": [ + 5271.0531, + -2185.8919, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 5271.0531, + -2185.8919, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 5271.0531, + -2285.8919, + 200.0 + ], + "actual_end_pos": [ + 5271.0531, + -2285.8919, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 5271.0531, + -2285.8919, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 5271.0531, + -2385.8919, + 200.0 + ], + "actual_end_pos": [ + 5271.0531, + -2385.8919, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 5271.0531, + -2385.8919, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 5171.0531, + -2385.8919, + 200.0 + ], + "actual_end_pos": [ + 5171.0531, + -2385.8919, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 5171.0531, + -2385.8919, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 5171.0531, + -2385.8919, + 200.0 + ], + "actual_end_pos": [ + 5171.0531, + -2385.8919, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 0.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 5171.0531, + -2385.8919, + 200.0 + ], + "start_rot": [ + 7.5, + 0.0, + -0.0 + ], + "expected_end_pos": [ + 5171.0531, + -2485.8919, + 200.0 + ], + "actual_end_pos": [ + 5171.0531, + -2485.8919, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 0.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 5171.0531, + -2485.8919, + 200.0 + ], + "start_rot": [ + 7.5, + 0.0, + -0.0 + ], + "expected_end_pos": [ + 5171.0531, + -2485.8919, + 200.0 + ], + "actual_end_pos": [ + 5171.0531, + -2485.8919, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 5171.0531, + -2485.8919, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 5171.0531, + -2585.8919, + 200.0 + ], + "actual_end_pos": [ + 5171.0531, + -2585.8919, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 5171.0531, + -2585.8919, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 5071.0531, + -2585.8919, + 200.0 + ], + "actual_end_pos": [ + 5071.0531, + -2585.8919, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 5071.0531, + -2585.8919, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 5071.0531, + -2585.8919, + 200.0 + ], + "actual_end_pos": [ + 5071.0531, + -2585.8919, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 5071.0531, + -2585.8919, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 5071.0531, + -2585.8919, + 200.0 + ], + "actual_end_pos": [ + 5071.0531, + -2585.8919, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 5071.0531, + -2585.8919, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 5071.0531, + -2585.8919, + 200.0 + ], + "actual_end_pos": [ + 5071.0531, + -2585.8919, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 5071.0531, + -2585.8919, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 5071.0531, + -2585.8919, + 200.0 + ], + "actual_end_pos": [ + 5071.0531, + -2585.8919, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 5071.0531, + -2585.8919, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 5071.0531, + -2585.8919, + 200.0 + ], + "actual_end_pos": [ + 5071.0531, + -2585.8919, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 5071.0531, + -2585.8919, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 5071.0531, + -2585.8919, + 200.0 + ], + "actual_end_pos": [ + 5071.0531, + -2585.8919, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 5071.0531, + -2585.8919, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 5171.0531, + -2585.8919, + 200.0 + ], + "actual_end_pos": [ + 5171.0531, + -2585.8919, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 5171.0531, + -2585.8919, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 5171.0531, + -2485.8919, + 200.0 + ], + "actual_end_pos": [ + 5171.0531, + -2485.8919, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 5171.0531, + -2485.8919, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 5171.0531, + -2485.8919, + 200.0 + ], + "actual_end_pos": [ + 5171.0531, + -2485.8919, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 0.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 5171.0531, + -2485.8919, + 200.0 + ], + "start_rot": [ + 7.5, + 0.0, + -0.0 + ], + "expected_end_pos": [ + 5171.0531, + -2385.8919, + 200.0 + ], + "actual_end_pos": [ + 5171.0531, + -2385.8919, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 0.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 5171.0531, + -2385.8919, + 200.0 + ], + "start_rot": [ + 7.5, + 0.0, + -0.0 + ], + "expected_end_pos": [ + 5171.0531, + -2385.8919, + 200.0 + ], + "actual_end_pos": [ + 5171.0531, + -2385.8919, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 5171.0531, + -2385.8919, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 5271.0531, + -2385.8919, + 200.0 + ], + "actual_end_pos": [ + 5271.0531, + -2385.8919, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 5271.0531, + -2385.8919, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 5271.0531, + -2285.8919, + 200.0 + ], + "actual_end_pos": [ + 5271.0531, + -2285.8919, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 5271.0531, + -2285.8919, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 5271.0531, + -2185.8919, + 200.0 + ], + "actual_end_pos": [ + 5271.0531, + -2185.8919, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 5271.0531, + -2185.8919, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 5271.0531, + -2185.8919, + 200.0 + ], + "actual_end_pos": [ + 5271.0531, + -2185.8919, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 5271.0531, + -2185.8919, + 200.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 5245.1712, + -2282.4844, + 200.0 + ], + "actual_end_pos": [ + 5245.1712, + -2282.4844, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 5245.1712, + -2282.4844, + 200.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 5148.5786, + -2256.6025, + 200.0 + ], + "actual_end_pos": [ + 5148.5786, + -2256.6025, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 5148.5786, + -2256.6025, + 200.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 5148.5786, + -2256.6025, + 200.0 + ], + "actual_end_pos": [ + 5148.5786, + -2256.6025, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 5148.5786, + -2256.6025, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 5198.5786, + -2170.0, + 200.0 + ], + "actual_end_pos": [ + 5198.5786, + -2170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 5198.5786, + -2170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 5198.5786, + -2170.0, + 200.0 + ], + "actual_end_pos": [ + 5198.5786, + -2170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 5198.5786, + -2170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 5269.2893, + -2240.7107, + 200.0 + ], + "actual_end_pos": [ + 5269.2893, + -2240.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 5269.2893, + -2240.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 5340.0, + -2170.0, + 200.0 + ], + "actual_end_pos": [ + 5340.0, + -2170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 5340.0, + -2170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 5340.0, + -2170.0, + 200.0 + ], + "actual_end_pos": [ + 5340.0, + -2170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260408_180248__traj_003648_meta.json b/inverse_easy/run_20260408_180248__traj_003648_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6d34c597fd1f91749c8a77ad0d47519e35ab3703 --- /dev/null +++ b/inverse_easy/run_20260408_180248__traj_003648_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 3648, + "episode_id": 0, + "state_id": 2702, + "sample_index": 2702, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 6340.0, + -32170.0, + 200.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_right", + "look_down", + "turn_right", + "move_right", + "move_right", + "turn_right", + "move_forward", + "move_right", + "turn_right", + "look_up", + "move_backward", + "look_up", + "move_backward", + "look_up", + "no_op", + "move_backward", + "turn_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "turn_left", + "move_forward", + "no_op", + "look_down", + "move_forward", + "look_down", + "move_forward", + "look_down", + "turn_left", + "move_left", + "move_backward", + "turn_left", + "move_left", + "move_left", + "turn_left", + "look_up", + "turn_left" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 6340.0, + -32170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 6340.0, + -32170.0, + 200.0 + ], + "actual_end_pos": [ + 6340.0, + -32170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 6340.0, + -32170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 6340.0, + -32170.0, + 200.0 + ], + "actual_end_pos": [ + 6340.0, + -32170.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 6340.0, + -32170.0, + 200.0 + ], + "start_rot": [ + -7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 6340.0, + -32170.0, + 200.0 + ], + "actual_end_pos": [ + 6340.0, + -32170.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 6340.0, + -32170.0, + 200.0 + ], + "start_rot": [ + -7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 6426.6025, + -32120.0, + 200.0 + ], + "actual_end_pos": [ + 6426.6025, + -32120.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 6426.6025, + -32120.0, + 200.0 + ], + "start_rot": [ + -7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 6513.2051, + -32070.0, + 200.0 + ], + "actual_end_pos": [ + 6513.2051, + -32070.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 6513.2051, + -32070.0, + 200.0 + ], + "start_rot": [ + -7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 6513.2051, + -32070.0, + 200.0 + ], + "actual_end_pos": [ + 6513.2051, + -32070.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 6513.2051, + -32070.0, + 200.0 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 6583.3108, + -32140.1057, + 186.9474 + ], + "actual_end_pos": [ + 6583.3108, + -32140.1057, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 6583.3108, + -32140.1057, + 186.9474 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 6654.0215, + -32069.3951, + 186.9474 + ], + "actual_end_pos": [ + 6654.0215, + -32069.3951, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 6654.0215, + -32069.3951, + 186.9474 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 6654.0215, + -32069.3951, + 186.9474 + ], + "actual_end_pos": [ + 6654.0215, + -32069.3951, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 6654.0215, + -32069.3951, + 186.9474 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 6654.0215, + -32069.3951, + 186.9474 + ], + "actual_end_pos": [ + 6654.0215, + -32069.3951, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 6654.0215, + -32069.3951, + 186.9474 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 6567.419, + -32019.3951, + 186.9474 + ], + "actual_end_pos": [ + 6567.419, + -32019.3951, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 6567.419, + -32019.3951, + 186.9474 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 6567.419, + -32019.3951, + 186.9474 + ], + "actual_end_pos": [ + 6567.419, + -32019.3951, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 6567.419, + -32019.3951, + 186.9474 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 6481.5573, + -31969.8228, + 173.8948 + ], + "actual_end_pos": [ + 6481.5573, + -31969.8228, + 173.8948 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 6481.5573, + -31969.8228, + 173.8948 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 6481.5573, + -31969.8228, + 173.8948 + ], + "actual_end_pos": [ + 6481.5573, + -31969.8228, + 173.8948 + ], + "actual_end_rot": [ + 15.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 6481.5573, + -31969.8228, + 173.8948 + ], + "start_rot": [ + 15.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 6481.5573, + -31969.8228, + 173.8948 + ], + "actual_end_pos": [ + 6481.5573, + -31969.8228, + 173.8948 + ], + "actual_end_rot": [ + 15.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 6481.5573, + -31969.8228, + 173.8948 + ], + "start_rot": [ + 15.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 6397.9057, + -31921.5265, + 148.0129 + ], + "actual_end_pos": [ + 6397.9057, + -31921.5265, + 148.0129 + ], + "actual_end_rot": [ + 15.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 6397.9057, + -31921.5265, + 148.0129 + ], + "start_rot": [ + 15.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 6397.9057, + -31921.5265, + 148.0129 + ], + "actual_end_pos": [ + 6397.9057, + -31921.5265, + 148.0129 + ], + "actual_end_rot": [ + 15.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 6397.9057, + -31921.5265, + 148.0129 + ], + "start_rot": [ + 15.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 6397.9057, + -31921.5265, + 148.0129 + ], + "actual_end_pos": [ + 6397.9057, + -31921.5265, + 148.0129 + ], + "actual_end_rot": [ + 15.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 6397.9057, + -31921.5265, + 148.0129 + ], + "start_rot": [ + 15.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 6397.9057, + -31921.5265, + 148.0129 + ], + "actual_end_pos": [ + 6397.9057, + -31921.5265, + 148.0129 + ], + "actual_end_rot": [ + 15.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 6397.9057, + -31921.5265, + 148.0129 + ], + "start_rot": [ + 15.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 6397.9057, + -31921.5265, + 148.0129 + ], + "actual_end_pos": [ + 6397.9057, + -31921.5265, + 148.0129 + ], + "actual_end_rot": [ + 15.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 6397.9057, + -31921.5265, + 148.0129 + ], + "start_rot": [ + 15.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 6397.9057, + -31921.5265, + 148.0129 + ], + "actual_end_pos": [ + 6397.9057, + -31921.5265, + 148.0129 + ], + "actual_end_rot": [ + 15.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 6397.9057, + -31921.5265, + 148.0129 + ], + "start_rot": [ + 15.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 6397.9057, + -31921.5265, + 148.0129 + ], + "actual_end_pos": [ + 6397.9057, + -31921.5265, + 148.0129 + ], + "actual_end_rot": [ + 15.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 6397.9057, + -31921.5265, + 148.0129 + ], + "start_rot": [ + 15.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 6397.9057, + -31921.5265, + 148.0129 + ], + "actual_end_pos": [ + 6397.9057, + -31921.5265, + 148.0129 + ], + "actual_end_rot": [ + 15.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 6397.9057, + -31921.5265, + 148.0129 + ], + "start_rot": [ + 15.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 6397.9057, + -31921.5265, + 148.0129 + ], + "actual_end_pos": [ + 6397.9057, + -31921.5265, + 148.0129 + ], + "actual_end_rot": [ + 15.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 6397.9057, + -31921.5265, + 148.0129 + ], + "start_rot": [ + 15.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 6481.5573, + -31969.8228, + 173.8948 + ], + "actual_end_pos": [ + 6481.5573, + -31969.8228, + 173.8948 + ], + "actual_end_rot": [ + 15.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 6481.5573, + -31969.8228, + 173.8948 + ], + "start_rot": [ + 15.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 6481.5573, + -31969.8228, + 173.8948 + ], + "actual_end_pos": [ + 6481.5573, + -31969.8228, + 173.8948 + ], + "actual_end_rot": [ + 15.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 6481.5573, + -31969.8228, + 173.8948 + ], + "start_rot": [ + 15.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 6481.5573, + -31969.8228, + 173.8948 + ], + "actual_end_pos": [ + 6481.5573, + -31969.8228, + 173.8948 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 6481.5573, + -31969.8228, + 173.8948 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 6567.419, + -32019.3951, + 186.9474 + ], + "actual_end_pos": [ + 6567.419, + -32019.3951, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 6567.419, + -32019.3951, + 186.9474 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 6567.419, + -32019.3951, + 186.9474 + ], + "actual_end_pos": [ + 6567.419, + -32019.3951, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 6567.419, + -32019.3951, + 186.9474 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 6654.0215, + -32069.3951, + 186.9474 + ], + "actual_end_pos": [ + 6654.0215, + -32069.3951, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 6654.0215, + -32069.3951, + 186.9474 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 6654.0215, + -32069.3951, + 186.9474 + ], + "actual_end_pos": [ + 6654.0215, + -32069.3951, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 6654.0215, + -32069.3951, + 186.9474 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 6654.0215, + -32069.3951, + 186.9474 + ], + "actual_end_pos": [ + 6654.0215, + -32069.3951, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 6654.0215, + -32069.3951, + 186.9474 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 6583.3108, + -32140.1057, + 186.9474 + ], + "actual_end_pos": [ + 6583.3108, + -32140.1057, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 6583.3108, + -32140.1057, + 186.9474 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 6513.2051, + -32070.0, + 200.0 + ], + "actual_end_pos": [ + 6513.2051, + -32070.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 6513.2051, + -32070.0, + 200.0 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 6513.2051, + -32070.0, + 200.0 + ], + "actual_end_pos": [ + 6513.2051, + -32070.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 6513.2051, + -32070.0, + 200.0 + ], + "start_rot": [ + -7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 6426.6025, + -32120.0, + 200.0 + ], + "actual_end_pos": [ + 6426.6025, + -32120.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 6426.6025, + -32120.0, + 200.0 + ], + "start_rot": [ + -7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 6340.0, + -32170.0, + 200.0 + ], + "actual_end_pos": [ + 6340.0, + -32170.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 6340.0, + -32170.0, + 200.0 + ], + "start_rot": [ + -7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 6340.0, + -32170.0, + 200.0 + ], + "actual_end_pos": [ + 6340.0, + -32170.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 6340.0, + -32170.0, + 200.0 + ], + "start_rot": [ + -7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 6340.0, + -32170.0, + 200.0 + ], + "actual_end_pos": [ + 6340.0, + -32170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 6340.0, + -32170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 6340.0, + -32170.0, + 200.0 + ], + "actual_end_pos": [ + 6340.0, + -32170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260408_180248__traj_003766_meta.json b/inverse_easy/run_20260408_180248__traj_003766_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f63fd238da127238a48fa4ed8ab1797b86c5ba85 --- /dev/null +++ b/inverse_easy/run_20260408_180248__traj_003766_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 3766, + "episode_id": 0, + "state_id": 2792, + "sample_index": 2792, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 6340.0, + -9170.0, + 200.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_right", + "move_right", + "move_forward", + "turn_right", + "turn_right", + "move_left", + "no_op", + "look_up", + "move_forward", + "move_forward", + "move_left", + "look_down", + "look_down", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "move_right", + "move_right", + "look_up", + "look_up", + "move_right", + "move_backward", + "move_backward", + "look_down", + "no_op", + "move_right", + "turn_left", + "turn_left", + "move_backward", + "move_left", + "turn_left" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 6340.0, + -9170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 6340.0, + -9170.0, + 200.0 + ], + "actual_end_pos": [ + 6340.0, + -9170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 6340.0, + -9170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 6314.1181, + -9073.4074, + 200.0 + ], + "actual_end_pos": [ + 6314.1181, + -9073.4074, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 6314.1181, + -9073.4074, + 200.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 6410.7107, + -9047.5255, + 200.0 + ], + "actual_end_pos": [ + 6410.7107, + -9047.5255, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 6410.7107, + -9047.5255, + 200.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 6410.7107, + -9047.5255, + 200.0 + ], + "actual_end_pos": [ + 6410.7107, + -9047.5255, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 6410.7107, + -9047.5255, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 6410.7107, + -9047.5255, + 200.0 + ], + "actual_end_pos": [ + 6410.7107, + -9047.5255, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 6410.7107, + -9047.5255, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 6481.4214, + -9118.2362, + 200.0 + ], + "actual_end_pos": [ + 6481.4214, + -9118.2362, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 6481.4214, + -9118.2362, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 6481.4214, + -9118.2362, + 200.0 + ], + "actual_end_pos": [ + 6481.4214, + -9118.2362, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 6481.4214, + -9118.2362, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 6481.4214, + -9118.2362, + 200.0 + ], + "actual_end_pos": [ + 6481.4214, + -9118.2362, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 6481.4214, + -9118.2362, + 200.0 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 6551.5271, + -9048.1305, + 213.0526 + ], + "actual_end_pos": [ + 6551.5271, + -9048.1305, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 6551.5271, + -9048.1305, + 213.0526 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 6621.6328, + -8978.0247, + 226.1052 + ], + "actual_end_pos": [ + 6621.6328, + -8978.0247, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 6621.6328, + -8978.0247, + 226.1052 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 6692.3435, + -9048.7354, + 226.1052 + ], + "actual_end_pos": [ + 6692.3435, + -9048.7354, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 6692.3435, + -9048.7354, + 226.1052 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 6692.3435, + -9048.7354, + 226.1052 + ], + "actual_end_pos": [ + 6692.3435, + -9048.7354, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 6692.3435, + -9048.7354, + 226.1052 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 6692.3435, + -9048.7354, + 226.1052 + ], + "actual_end_pos": [ + 6692.3435, + -9048.7354, + 226.1052 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 6692.3435, + -9048.7354, + 226.1052 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 6763.0542, + -9119.4461, + 226.1052 + ], + "actual_end_pos": [ + 6763.0542, + -9119.4461, + 226.1052 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 6763.0542, + -9119.4461, + 226.1052 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 6833.7649, + -9190.1568, + 226.1052 + ], + "actual_end_pos": [ + 6833.7649, + -9190.1568, + 226.1052 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 6833.7649, + -9190.1568, + 226.1052 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 6833.7649, + -9190.1568, + 226.1052 + ], + "actual_end_pos": [ + 6833.7649, + -9190.1568, + 226.1052 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 6833.7649, + -9190.1568, + 226.1052 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 6833.7649, + -9190.1568, + 226.1052 + ], + "actual_end_pos": [ + 6833.7649, + -9190.1568, + 226.1052 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 6833.7649, + -9190.1568, + 226.1052 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 6833.7649, + -9190.1568, + 226.1052 + ], + "actual_end_pos": [ + 6833.7649, + -9190.1568, + 226.1052 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 6833.7649, + -9190.1568, + 226.1052 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 6833.7649, + -9190.1568, + 226.1052 + ], + "actual_end_pos": [ + 6833.7649, + -9190.1568, + 226.1052 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 6833.7649, + -9190.1568, + 226.1052 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 6833.7649, + -9190.1568, + 226.1052 + ], + "actual_end_pos": [ + 6833.7649, + -9190.1568, + 226.1052 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 6833.7649, + -9190.1568, + 226.1052 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 6833.7649, + -9190.1568, + 226.1052 + ], + "actual_end_pos": [ + 6833.7649, + -9190.1568, + 226.1052 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 6833.7649, + -9190.1568, + 226.1052 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 6833.7649, + -9190.1568, + 226.1052 + ], + "actual_end_pos": [ + 6833.7649, + -9190.1568, + 226.1052 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 6833.7649, + -9190.1568, + 226.1052 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 6833.7649, + -9190.1568, + 226.1052 + ], + "actual_end_pos": [ + 6833.7649, + -9190.1568, + 226.1052 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 6833.7649, + -9190.1568, + 226.1052 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 6833.7649, + -9190.1568, + 226.1052 + ], + "actual_end_pos": [ + 6833.7649, + -9190.1568, + 226.1052 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 6833.7649, + -9190.1568, + 226.1052 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 6833.7649, + -9190.1568, + 226.1052 + ], + "actual_end_pos": [ + 6833.7649, + -9190.1568, + 226.1052 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 6833.7649, + -9190.1568, + 226.1052 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 6763.0542, + -9119.4461, + 226.1052 + ], + "actual_end_pos": [ + 6763.0542, + -9119.4461, + 226.1052 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 6763.0542, + -9119.4461, + 226.1052 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 6692.3435, + -9048.7354, + 226.1052 + ], + "actual_end_pos": [ + 6692.3435, + -9048.7354, + 226.1052 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 6692.3435, + -9048.7354, + 226.1052 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 6692.3435, + -9048.7354, + 226.1052 + ], + "actual_end_pos": [ + 6692.3435, + -9048.7354, + 226.1052 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 6692.3435, + -9048.7354, + 226.1052 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 6692.3435, + -9048.7354, + 226.1052 + ], + "actual_end_pos": [ + 6692.3435, + -9048.7354, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 6692.3435, + -9048.7354, + 226.1052 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 6621.6328, + -8978.0247, + 226.1052 + ], + "actual_end_pos": [ + 6621.6328, + -8978.0247, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 6621.6328, + -8978.0247, + 226.1052 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 6551.5271, + -9048.1305, + 213.0526 + ], + "actual_end_pos": [ + 6551.5271, + -9048.1305, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 6551.5271, + -9048.1305, + 213.0526 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 6481.4214, + -9118.2362, + 200.0 + ], + "actual_end_pos": [ + 6481.4214, + -9118.2362, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 6481.4214, + -9118.2362, + 200.0 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 6481.4214, + -9118.2362, + 200.0 + ], + "actual_end_pos": [ + 6481.4214, + -9118.2362, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 6481.4214, + -9118.2362, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 6481.4214, + -9118.2362, + 200.0 + ], + "actual_end_pos": [ + 6481.4214, + -9118.2362, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 6481.4214, + -9118.2362, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 6410.7107, + -9047.5255, + 200.0 + ], + "actual_end_pos": [ + 6410.7107, + -9047.5255, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 6410.7107, + -9047.5255, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 6410.7107, + -9047.5255, + 200.0 + ], + "actual_end_pos": [ + 6410.7107, + -9047.5255, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 6410.7107, + -9047.5255, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 6410.7107, + -9047.5255, + 200.0 + ], + "actual_end_pos": [ + 6410.7107, + -9047.5255, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 6410.7107, + -9047.5255, + 200.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 6314.1181, + -9073.4074, + 200.0 + ], + "actual_end_pos": [ + 6314.1181, + -9073.4074, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 6314.1181, + -9073.4074, + 200.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 6340.0, + -9170.0, + 200.0 + ], + "actual_end_pos": [ + 6340.0, + -9170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 6340.0, + -9170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 6340.0, + -9170.0, + 200.0 + ], + "actual_end_pos": [ + 6340.0, + -9170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260408_180248__traj_003805_meta.json b/inverse_easy/run_20260408_180248__traj_003805_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..17e0c262d6fefd656a277faf6e3d1207207accf2 --- /dev/null +++ b/inverse_easy/run_20260408_180248__traj_003805_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 3805, + "episode_id": 0, + "state_id": 2822, + "sample_index": 2822, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 6340.0, + -6170.0, + 200.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_right", + "turn_right", + "move_forward", + "turn_right", + "move_left", + "move_backward", + "move_left", + "move_backward", + "turn_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "turn_right", + "move_forward", + "move_right", + "move_forward", + "move_right", + "turn_left", + "move_backward", + "turn_left", + "turn_left" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 6340.0, + -6170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 6340.0, + -6170.0, + 200.0 + ], + "actual_end_pos": [ + 6340.0, + -6170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 6340.0, + -6170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 6340.0, + -6170.0, + 200.0 + ], + "actual_end_pos": [ + 6340.0, + -6170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 6340.0, + -6170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 6390.0, + -6256.6025, + 200.0 + ], + "actual_end_pos": [ + 6390.0, + -6256.6025, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 6390.0, + -6256.6025, + 200.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 6390.0, + -6256.6025, + 200.0 + ], + "actual_end_pos": [ + 6390.0, + -6256.6025, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 6390.0, + -6256.6025, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 6319.2893, + -6327.3132, + 200.0 + ], + "actual_end_pos": [ + 6319.2893, + -6327.3132, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 6319.2893, + -6327.3132, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 6248.5786, + -6256.6025, + 200.0 + ], + "actual_end_pos": [ + 6248.5786, + -6256.6025, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 6248.5786, + -6256.6025, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 6177.868, + -6327.3132, + 200.0 + ], + "actual_end_pos": [ + 6177.868, + -6327.3132, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 6177.868, + -6327.3132, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "actual_end_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "actual_end_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "actual_end_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "actual_end_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "actual_end_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "actual_end_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "actual_end_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "actual_end_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "actual_end_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "actual_end_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "actual_end_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "actual_end_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "actual_end_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "actual_end_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "actual_end_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "actual_end_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "actual_end_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "actual_end_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "actual_end_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "actual_end_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "actual_end_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "actual_end_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "actual_end_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "actual_end_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "actual_end_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 6107.1573, + -6256.6025, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 6177.868, + -6327.3132, + 200.0 + ], + "actual_end_pos": [ + 6177.868, + -6327.3132, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 6177.868, + -6327.3132, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 6248.5786, + -6256.6025, + 200.0 + ], + "actual_end_pos": [ + 6248.5786, + -6256.6025, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 6248.5786, + -6256.6025, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 6319.2893, + -6327.3132, + 200.0 + ], + "actual_end_pos": [ + 6319.2893, + -6327.3132, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 6319.2893, + -6327.3132, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 6390.0, + -6256.6025, + 200.0 + ], + "actual_end_pos": [ + 6390.0, + -6256.6025, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 6390.0, + -6256.6025, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 6390.0, + -6256.6025, + 200.0 + ], + "actual_end_pos": [ + 6390.0, + -6256.6025, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 6390.0, + -6256.6025, + 200.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 6340.0, + -6170.0, + 200.0 + ], + "actual_end_pos": [ + 6340.0, + -6170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 6340.0, + -6170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 6340.0, + -6170.0, + 200.0 + ], + "actual_end_pos": [ + 6340.0, + -6170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 6340.0, + -6170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 6340.0, + -6170.0, + 200.0 + ], + "actual_end_pos": [ + 6340.0, + -6170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260408_180248__traj_004105_meta.json b/inverse_easy/run_20260408_180248__traj_004105_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7ad5168e00f96e241affcb849c9e881ed7ffdf7b --- /dev/null +++ b/inverse_easy/run_20260408_180248__traj_004105_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 4105, + "episode_id": 0, + "state_id": 3046, + "sample_index": 3046, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 7340.0, + -7170.0, + 200.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "move_right", + "move_right", + "move_right", + "move_forward", + "move_left", + "move_left", + "move_left", + "turn_left", + "turn_left", + "move_backward", + "move_forward", + "move_left", + "move_forward", + "look_down", + "move_forward", + "no_op", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "move_left", + "no_op", + "move_backward", + "look_up", + "move_backward", + "move_right", + "move_backward", + "move_forward", + "turn_right", + "turn_right", + "move_right", + "move_right", + "move_right", + "move_backward", + "move_left", + "move_left", + "move_left", + "move_left" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 7340.0, + -7170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 7440.0, + -7170.0, + 200.0 + ], + "actual_end_pos": [ + 7440.0, + -7170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 7440.0, + -7170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 7540.0, + -7170.0, + 200.0 + ], + "actual_end_pos": [ + 7540.0, + -7170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 7540.0, + -7170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 7640.0, + -7170.0, + 200.0 + ], + "actual_end_pos": [ + 7640.0, + -7170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 7640.0, + -7170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 7740.0, + -7170.0, + 200.0 + ], + "actual_end_pos": [ + 7740.0, + -7170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 7740.0, + -7170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 7740.0, + -7270.0, + 200.0 + ], + "actual_end_pos": [ + 7740.0, + -7270.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 7740.0, + -7270.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 7640.0, + -7270.0, + 200.0 + ], + "actual_end_pos": [ + 7640.0, + -7270.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 7640.0, + -7270.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 7540.0, + -7270.0, + 200.0 + ], + "actual_end_pos": [ + 7540.0, + -7270.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 7540.0, + -7270.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 7440.0, + -7270.0, + 200.0 + ], + "actual_end_pos": [ + 7440.0, + -7270.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 7440.0, + -7270.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 7440.0, + -7270.0, + 200.0 + ], + "actual_end_pos": [ + 7440.0, + -7270.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 7440.0, + -7270.0, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 7440.0, + -7270.0, + 200.0 + ], + "actual_end_pos": [ + 7440.0, + -7270.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 7440.0, + -7270.0, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 7490.0, + -7183.3975, + 200.0 + ], + "actual_end_pos": [ + 7490.0, + -7183.3975, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 7490.0, + -7183.3975, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 7440.0, + -7270.0, + 200.0 + ], + "actual_end_pos": [ + 7440.0, + -7270.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 7440.0, + -7270.0, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 7353.3975, + -7220.0, + 200.0 + ], + "actual_end_pos": [ + 7353.3975, + -7220.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 7353.3975, + -7220.0, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 7303.3975, + -7306.6025, + 200.0 + ], + "actual_end_pos": [ + 7303.3975, + -7306.6025, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 7303.3975, + -7306.6025, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 7303.3975, + -7306.6025, + 200.0 + ], + "actual_end_pos": [ + 7303.3975, + -7306.6025, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 7303.3975, + -7306.6025, + 200.0 + ], + "start_rot": [ + -7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 7253.8252, + -7392.4642, + 186.9474 + ], + "actual_end_pos": [ + 7253.8252, + -7392.4642, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 7253.8252, + -7392.4642, + 186.9474 + ], + "start_rot": [ + -7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 7253.8252, + -7392.4642, + 186.9474 + ], + "actual_end_pos": [ + 7253.8252, + -7392.4642, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 7253.8252, + -7392.4642, + 186.9474 + ], + "start_rot": [ + -7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 7340.4278, + -7442.4642, + 186.9474 + ], + "actual_end_pos": [ + 7340.4278, + -7442.4642, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 7340.4278, + -7442.4642, + 186.9474 + ], + "start_rot": [ + -7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 7340.4278, + -7442.4642, + 186.9474 + ], + "actual_end_pos": [ + 7340.4278, + -7442.4642, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 7340.4278, + -7442.4642, + 186.9474 + ], + "start_rot": [ + -7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 7340.4278, + -7442.4642, + 186.9474 + ], + "actual_end_pos": [ + 7340.4278, + -7442.4642, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 7340.4278, + -7442.4642, + 186.9474 + ], + "start_rot": [ + -7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 7340.4278, + -7442.4642, + 186.9474 + ], + "actual_end_pos": [ + 7340.4278, + -7442.4642, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 7340.4278, + -7442.4642, + 186.9474 + ], + "start_rot": [ + -7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 7340.4278, + -7442.4642, + 186.9474 + ], + "actual_end_pos": [ + 7340.4278, + -7442.4642, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 7340.4278, + -7442.4642, + 186.9474 + ], + "start_rot": [ + -7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 7253.8252, + -7392.4642, + 186.9474 + ], + "actual_end_pos": [ + 7253.8252, + -7392.4642, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 7253.8252, + -7392.4642, + 186.9474 + ], + "start_rot": [ + -7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 7253.8252, + -7392.4642, + 186.9474 + ], + "actual_end_pos": [ + 7253.8252, + -7392.4642, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 7253.8252, + -7392.4642, + 186.9474 + ], + "start_rot": [ + -7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 7303.3975, + -7306.6025, + 200.0 + ], + "actual_end_pos": [ + 7303.3975, + -7306.6025, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 7303.3975, + -7306.6025, + 200.0 + ], + "start_rot": [ + -7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 7303.3975, + -7306.6025, + 200.0 + ], + "actual_end_pos": [ + 7303.3975, + -7306.6025, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 7303.3975, + -7306.6025, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 7353.3975, + -7220.0, + 200.0 + ], + "actual_end_pos": [ + 7353.3975, + -7220.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 7353.3975, + -7220.0, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 7440.0, + -7270.0, + 200.0 + ], + "actual_end_pos": [ + 7440.0, + -7270.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 7440.0, + -7270.0, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 7490.0, + -7183.3975, + 200.0 + ], + "actual_end_pos": [ + 7490.0, + -7183.3975, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 7490.0, + -7183.3975, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 7440.0, + -7270.0, + 200.0 + ], + "actual_end_pos": [ + 7440.0, + -7270.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 7440.0, + -7270.0, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 7440.0, + -7270.0, + 200.0 + ], + "actual_end_pos": [ + 7440.0, + -7270.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 7440.0, + -7270.0, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 7440.0, + -7270.0, + 200.0 + ], + "actual_end_pos": [ + 7440.0, + -7270.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 7440.0, + -7270.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 7540.0, + -7270.0, + 200.0 + ], + "actual_end_pos": [ + 7540.0, + -7270.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 7540.0, + -7270.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 7640.0, + -7270.0, + 200.0 + ], + "actual_end_pos": [ + 7640.0, + -7270.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 7640.0, + -7270.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 7740.0, + -7270.0, + 200.0 + ], + "actual_end_pos": [ + 7740.0, + -7270.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 7740.0, + -7270.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 7740.0, + -7170.0, + 200.0 + ], + "actual_end_pos": [ + 7740.0, + -7170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 7740.0, + -7170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 7640.0, + -7170.0, + 200.0 + ], + "actual_end_pos": [ + 7640.0, + -7170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 7640.0, + -7170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 7540.0, + -7170.0, + 200.0 + ], + "actual_end_pos": [ + 7540.0, + -7170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 7540.0, + -7170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 7440.0, + -7170.0, + 200.0 + ], + "actual_end_pos": [ + 7440.0, + -7170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 7440.0, + -7170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 7340.0, + -7170.0, + 200.0 + ], + "actual_end_pos": [ + 7340.0, + -7170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260408_180248__traj_004315_meta.json b/inverse_easy/run_20260408_180248__traj_004315_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..98ab928fad724a1ddc67e6383fdcd42c44074d62 --- /dev/null +++ b/inverse_easy/run_20260408_180248__traj_004315_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 4315, + "episode_id": 0, + "state_id": 3205, + "sample_index": 3205, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 8340.0, + -16170.0, + 200.0 + ], + "rotation": [ + 0.0, + 225.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "move_right", + "look_down", + "turn_left", + "look_up", + "move_backward", + "move_right", + "move_forward", + "move_right", + "look_up", + "turn_left", + "move_left", + "turn_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "move_left", + "turn_left", + "move_right", + "turn_right", + "look_down", + "move_left", + "move_backward", + "move_left", + "move_forward", + "look_down", + "turn_right", + "look_up", + "move_left", + "move_left" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 8340.0, + -16170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 8410.7107, + -16240.7107, + 200.0 + ], + "actual_end_pos": [ + 8410.7107, + -16240.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 8410.7107, + -16240.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 8481.4214, + -16311.4214, + 200.0 + ], + "actual_end_pos": [ + 8481.4214, + -16311.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 8481.4214, + -16311.4214, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 8481.4214, + -16311.4214, + 200.0 + ], + "actual_end_pos": [ + 8481.4214, + -16311.4214, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 8481.4214, + -16311.4214, + 200.0 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 8481.4214, + -16311.4214, + 200.0 + ], + "actual_end_pos": [ + 8481.4214, + -16311.4214, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 8481.4214, + -16311.4214, + 200.0 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 8481.4214, + -16311.4214, + 200.0 + ], + "actual_end_pos": [ + 8481.4214, + -16311.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 8481.4214, + -16311.4214, + 200.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 8568.0239, + -16261.4214, + 200.0 + ], + "actual_end_pos": [ + 8568.0239, + -16261.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 8568.0239, + -16261.4214, + 200.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 8618.0239, + -16348.0239, + 200.0 + ], + "actual_end_pos": [ + 8618.0239, + -16348.0239, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 8618.0239, + -16348.0239, + 200.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 8531.4214, + -16398.0239, + 200.0 + ], + "actual_end_pos": [ + 8531.4214, + -16398.0239, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 8531.4214, + -16398.0239, + 200.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 8581.4214, + -16484.6264, + 200.0 + ], + "actual_end_pos": [ + 8581.4214, + -16484.6264, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 8581.4214, + -16484.6264, + 200.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 8581.4214, + -16484.6264, + 200.0 + ], + "actual_end_pos": [ + 8581.4214, + -16484.6264, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 8581.4214, + -16484.6264, + 200.0 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 8581.4214, + -16484.6264, + 200.0 + ], + "actual_end_pos": [ + 8581.4214, + -16484.6264, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 8581.4214, + -16484.6264, + 200.0 + ], + "start_rot": [ + 7.5, + -165.0, + -0.0 + ], + "expected_end_pos": [ + 8555.5395, + -16388.0339, + 200.0 + ], + "actual_end_pos": [ + 8555.5395, + -16388.0339, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 8555.5395, + -16388.0339, + 200.0 + ], + "start_rot": [ + 7.5, + -165.0, + -0.0 + ], + "expected_end_pos": [ + 8555.5395, + -16388.0339, + 200.0 + ], + "actual_end_pos": [ + 8555.5395, + -16388.0339, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 8555.5395, + -16388.0339, + 200.0 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 8605.5395, + -16474.6364, + 200.0 + ], + "actual_end_pos": [ + 8605.5395, + -16474.6364, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 8605.5395, + -16474.6364, + 200.0 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 8605.5395, + -16474.6364, + 200.0 + ], + "actual_end_pos": [ + 8605.5395, + -16474.6364, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 8605.5395, + -16474.6364, + 200.0 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 8605.5395, + -16474.6364, + 200.0 + ], + "actual_end_pos": [ + 8605.5395, + -16474.6364, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 8605.5395, + -16474.6364, + 200.0 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 8605.5395, + -16474.6364, + 200.0 + ], + "actual_end_pos": [ + 8605.5395, + -16474.6364, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 8605.5395, + -16474.6364, + 200.0 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 8605.5395, + -16474.6364, + 200.0 + ], + "actual_end_pos": [ + 8605.5395, + -16474.6364, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 8605.5395, + -16474.6364, + 200.0 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 8605.5395, + -16474.6364, + 200.0 + ], + "actual_end_pos": [ + 8605.5395, + -16474.6364, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 8605.5395, + -16474.6364, + 200.0 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 8605.5395, + -16474.6364, + 200.0 + ], + "actual_end_pos": [ + 8605.5395, + -16474.6364, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 8605.5395, + -16474.6364, + 200.0 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 8605.5395, + -16474.6364, + 200.0 + ], + "actual_end_pos": [ + 8605.5395, + -16474.6364, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 8605.5395, + -16474.6364, + 200.0 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 8605.5395, + -16474.6364, + 200.0 + ], + "actual_end_pos": [ + 8605.5395, + -16474.6364, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 8605.5395, + -16474.6364, + 200.0 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 8605.5395, + -16474.6364, + 200.0 + ], + "actual_end_pos": [ + 8605.5395, + -16474.6364, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 8605.5395, + -16474.6364, + 200.0 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 8605.5395, + -16474.6364, + 200.0 + ], + "actual_end_pos": [ + 8605.5395, + -16474.6364, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 8605.5395, + -16474.6364, + 200.0 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 8605.5395, + -16474.6364, + 200.0 + ], + "actual_end_pos": [ + 8605.5395, + -16474.6364, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 8605.5395, + -16474.6364, + 200.0 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 8605.5395, + -16474.6364, + 200.0 + ], + "actual_end_pos": [ + 8605.5395, + -16474.6364, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 8605.5395, + -16474.6364, + 200.0 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 8555.5395, + -16388.0339, + 200.0 + ], + "actual_end_pos": [ + 8555.5395, + -16388.0339, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 8555.5395, + -16388.0339, + 200.0 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 8555.5395, + -16388.0339, + 200.0 + ], + "actual_end_pos": [ + 8555.5395, + -16388.0339, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 8555.5395, + -16388.0339, + 200.0 + ], + "start_rot": [ + 7.5, + -165.0, + -0.0 + ], + "expected_end_pos": [ + 8581.4214, + -16484.6264, + 200.0 + ], + "actual_end_pos": [ + 8581.4214, + -16484.6264, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 8581.4214, + -16484.6264, + 200.0 + ], + "start_rot": [ + 7.5, + -165.0, + -0.0 + ], + "expected_end_pos": [ + 8581.4214, + -16484.6264, + 200.0 + ], + "actual_end_pos": [ + 8581.4214, + -16484.6264, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 8581.4214, + -16484.6264, + 200.0 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 8581.4214, + -16484.6264, + 200.0 + ], + "actual_end_pos": [ + 8581.4214, + -16484.6264, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 8581.4214, + -16484.6264, + 200.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 8531.4214, + -16398.0239, + 200.0 + ], + "actual_end_pos": [ + 8531.4214, + -16398.0239, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 8531.4214, + -16398.0239, + 200.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 8618.0239, + -16348.0239, + 200.0 + ], + "actual_end_pos": [ + 8618.0239, + -16348.0239, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 8618.0239, + -16348.0239, + 200.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 8568.0239, + -16261.4214, + 200.0 + ], + "actual_end_pos": [ + 8568.0239, + -16261.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 8568.0239, + -16261.4214, + 200.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 8481.4214, + -16311.4214, + 200.0 + ], + "actual_end_pos": [ + 8481.4214, + -16311.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 8481.4214, + -16311.4214, + 200.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 8481.4214, + -16311.4214, + 200.0 + ], + "actual_end_pos": [ + 8481.4214, + -16311.4214, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 8481.4214, + -16311.4214, + 200.0 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 8481.4214, + -16311.4214, + 200.0 + ], + "actual_end_pos": [ + 8481.4214, + -16311.4214, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 8481.4214, + -16311.4214, + 200.0 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 8481.4214, + -16311.4214, + 200.0 + ], + "actual_end_pos": [ + 8481.4214, + -16311.4214, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 8481.4214, + -16311.4214, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 8410.7107, + -16240.7107, + 200.0 + ], + "actual_end_pos": [ + 8410.7107, + -16240.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 8410.7107, + -16240.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 8340.0, + -16170.0, + 200.0 + ], + "actual_end_pos": [ + 8340.0, + -16170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260408_180248__traj_004370_meta.json b/inverse_easy/run_20260408_180248__traj_004370_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..69dd6b36ea4be6178d92040d9a99cc2747c55e1e --- /dev/null +++ b/inverse_easy/run_20260408_180248__traj_004370_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 4370, + "episode_id": 0, + "state_id": 3246, + "sample_index": 3246, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 8340.0, + -11170.0, + 200.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "look_up", + "move_right", + "move_right", + "move_backward", + "turn_left", + "look_up", + "move_right", + "turn_left", + "move_right", + "turn_right", + "move_right", + "move_forward", + "move_forward", + "move_right", + "look_up", + "look_up", + "turn_right", + "move_forward", + "no_op", + "no_op", + "no_op", + "no_op", + "move_backward", + "turn_left", + "look_down", + "look_down", + "move_left", + "move_backward", + "move_backward", + "move_left", + "turn_left", + "move_left", + "turn_right", + "move_left", + "look_down", + "turn_right", + "move_forward", + "move_left", + "move_left", + "look_down" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 8340.0, + -11170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 8340.0, + -11170.0, + 200.0 + ], + "actual_end_pos": [ + 8340.0, + -11170.0, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 8340.0, + -11170.0, + 200.0 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 8440.0, + -11170.0, + 200.0 + ], + "actual_end_pos": [ + 8440.0, + -11170.0, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 8440.0, + -11170.0, + 200.0 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 8540.0, + -11170.0, + 200.0 + ], + "actual_end_pos": [ + 8540.0, + -11170.0, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 8540.0, + -11170.0, + 200.0 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 8540.0, + -11070.8555, + 186.9474 + ], + "actual_end_pos": [ + 8540.0, + -11070.8555, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 8540.0, + -11070.8555, + 186.9474 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 8540.0, + -11070.8555, + 186.9474 + ], + "actual_end_pos": [ + 8540.0, + -11070.8555, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 8540.0, + -11070.8555, + 186.9474 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 8540.0, + -11070.8555, + 186.9474 + ], + "actual_end_pos": [ + 8540.0, + -11070.8555, + 186.9474 + ], + "actual_end_rot": [ + 15.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 8540.0, + -11070.8555, + 186.9474 + ], + "start_rot": [ + 15.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 8636.5926, + -11096.7374, + 186.9474 + ], + "actual_end_pos": [ + 8636.5926, + -11096.7374, + 186.9474 + ], + "actual_end_rot": [ + 15.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 8636.5926, + -11096.7374, + 186.9474 + ], + "start_rot": [ + 15.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 8636.5926, + -11096.7374, + 186.9474 + ], + "actual_end_pos": [ + 8636.5926, + -11096.7374, + 186.9474 + ], + "actual_end_rot": [ + 15.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 8636.5926, + -11096.7374, + 186.9474 + ], + "start_rot": [ + 15.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 8723.1951, + -11146.7374, + 186.9474 + ], + "actual_end_pos": [ + 8723.1951, + -11146.7374, + 186.9474 + ], + "actual_end_rot": [ + 15.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 8723.1951, + -11146.7374, + 186.9474 + ], + "start_rot": [ + 15.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 8723.1951, + -11146.7374, + 186.9474 + ], + "actual_end_pos": [ + 8723.1951, + -11146.7374, + 186.9474 + ], + "actual_end_rot": [ + 15.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 8723.1951, + -11146.7374, + 186.9474 + ], + "start_rot": [ + 15.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 8819.7877, + -11172.6193, + 186.9474 + ], + "actual_end_pos": [ + 8819.7877, + -11172.6193, + 186.9474 + ], + "actual_end_rot": [ + 15.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 8819.7877, + -11172.6193, + 186.9474 + ], + "start_rot": [ + 15.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 8794.7877, + -11265.9206, + 212.8293 + ], + "actual_end_pos": [ + 8794.7877, + -11265.9206, + 212.8293 + ], + "actual_end_rot": [ + 15.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 8794.7877, + -11265.9206, + 212.8293 + ], + "start_rot": [ + 15.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 8769.7877, + -11359.2219, + 238.7112 + ], + "actual_end_pos": [ + 8769.7877, + -11359.2219, + 238.7112 + ], + "actual_end_rot": [ + 15.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 8769.7877, + -11359.2219, + 238.7112 + ], + "start_rot": [ + 15.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 8866.3803, + -11385.1038, + 238.7112 + ], + "actual_end_pos": [ + 8866.3803, + -11385.1038, + 238.7112 + ], + "actual_end_rot": [ + 15.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 8866.3803, + -11385.1038, + 238.7112 + ], + "start_rot": [ + 15.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 8866.3803, + -11385.1038, + 238.7112 + ], + "actual_end_pos": [ + 8866.3803, + -11385.1038, + 238.7112 + ], + "actual_end_rot": [ + 22.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 8866.3803, + -11385.1038, + 238.7112 + ], + "start_rot": [ + 22.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 8866.3803, + -11385.1038, + 238.7112 + ], + "actual_end_pos": [ + 8866.3803, + -11385.1038, + 238.7112 + ], + "actual_end_rot": [ + 30.0, + -105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 8866.3803, + -11385.1038, + 238.7112 + ], + "start_rot": [ + 30.0, + -105.0, + -0.0 + ], + "expected_end_pos": [ + 8866.3803, + -11385.1038, + 238.7112 + ], + "actual_end_pos": [ + 8866.3803, + -11385.1038, + 238.7112 + ], + "actual_end_rot": [ + 30.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 8866.3803, + -11385.1038, + 238.7112 + ], + "start_rot": [ + 30.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 8866.3803, + -11471.7063, + 288.7112 + ], + "actual_end_pos": [ + 8866.3803, + -11471.7063, + 288.7112 + ], + "actual_end_rot": [ + 30.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 8866.3803, + -11471.7063, + 288.7112 + ], + "start_rot": [ + 30.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 8866.3803, + -11471.7063, + 288.7112 + ], + "actual_end_pos": [ + 8866.3803, + -11471.7063, + 288.7112 + ], + "actual_end_rot": [ + 30.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 8866.3803, + -11471.7063, + 288.7112 + ], + "start_rot": [ + 30.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 8866.3803, + -11471.7063, + 288.7112 + ], + "actual_end_pos": [ + 8866.3803, + -11471.7063, + 288.7112 + ], + "actual_end_rot": [ + 30.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 8866.3803, + -11471.7063, + 288.7112 + ], + "start_rot": [ + 30.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 8866.3803, + -11471.7063, + 288.7112 + ], + "actual_end_pos": [ + 8866.3803, + -11471.7063, + 288.7112 + ], + "actual_end_rot": [ + 30.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 8866.3803, + -11471.7063, + 288.7112 + ], + "start_rot": [ + 30.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 8866.3803, + -11471.7063, + 288.7112 + ], + "actual_end_pos": [ + 8866.3803, + -11471.7063, + 288.7112 + ], + "actual_end_rot": [ + 30.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 8866.3803, + -11471.7063, + 288.7112 + ], + "start_rot": [ + 30.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 8866.3803, + -11385.1038, + 238.7112 + ], + "actual_end_pos": [ + 8866.3803, + -11385.1038, + 238.7112 + ], + "actual_end_rot": [ + 30.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 8866.3803, + -11385.1038, + 238.7112 + ], + "start_rot": [ + 30.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 8866.3803, + -11385.1038, + 238.7112 + ], + "actual_end_pos": [ + 8866.3803, + -11385.1038, + 238.7112 + ], + "actual_end_rot": [ + 30.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 8866.3803, + -11385.1038, + 238.7112 + ], + "start_rot": [ + 30.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 8866.3803, + -11385.1038, + 238.7112 + ], + "actual_end_pos": [ + 8866.3803, + -11385.1038, + 238.7112 + ], + "actual_end_rot": [ + 22.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 8866.3803, + -11385.1038, + 238.7112 + ], + "start_rot": [ + 22.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 8866.3803, + -11385.1038, + 238.7112 + ], + "actual_end_pos": [ + 8866.3803, + -11385.1038, + 238.7112 + ], + "actual_end_rot": [ + 15.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 8866.3803, + -11385.1038, + 238.7112 + ], + "start_rot": [ + 15.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 8769.7877, + -11359.2219, + 238.7112 + ], + "actual_end_pos": [ + 8769.7877, + -11359.2219, + 238.7112 + ], + "actual_end_rot": [ + 15.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 8769.7877, + -11359.2219, + 238.7112 + ], + "start_rot": [ + 15.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 8794.7877, + -11265.9206, + 212.8293 + ], + "actual_end_pos": [ + 8794.7877, + -11265.9206, + 212.8293 + ], + "actual_end_rot": [ + 15.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 8794.7877, + -11265.9206, + 212.8293 + ], + "start_rot": [ + 15.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 8819.7877, + -11172.6193, + 186.9474 + ], + "actual_end_pos": [ + 8819.7877, + -11172.6193, + 186.9474 + ], + "actual_end_rot": [ + 15.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 8819.7877, + -11172.6193, + 186.9474 + ], + "start_rot": [ + 15.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 8723.1951, + -11146.7374, + 186.9474 + ], + "actual_end_pos": [ + 8723.1951, + -11146.7374, + 186.9474 + ], + "actual_end_rot": [ + 15.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 8723.1951, + -11146.7374, + 186.9474 + ], + "start_rot": [ + 15.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 8723.1951, + -11146.7374, + 186.9474 + ], + "actual_end_pos": [ + 8723.1951, + -11146.7374, + 186.9474 + ], + "actual_end_rot": [ + 15.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 8723.1951, + -11146.7374, + 186.9474 + ], + "start_rot": [ + 15.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 8636.5926, + -11096.7374, + 186.9474 + ], + "actual_end_pos": [ + 8636.5926, + -11096.7374, + 186.9474 + ], + "actual_end_rot": [ + 15.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 8636.5926, + -11096.7374, + 186.9474 + ], + "start_rot": [ + 15.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 8636.5926, + -11096.7374, + 186.9474 + ], + "actual_end_pos": [ + 8636.5926, + -11096.7374, + 186.9474 + ], + "actual_end_rot": [ + 15.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 8636.5926, + -11096.7374, + 186.9474 + ], + "start_rot": [ + 15.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 8540.0, + -11070.8555, + 186.9474 + ], + "actual_end_pos": [ + 8540.0, + -11070.8555, + 186.9474 + ], + "actual_end_rot": [ + 15.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 8540.0, + -11070.8555, + 186.9474 + ], + "start_rot": [ + 15.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 8540.0, + -11070.8555, + 186.9474 + ], + "actual_end_pos": [ + 8540.0, + -11070.8555, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 8540.0, + -11070.8555, + 186.9474 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 8540.0, + -11070.8555, + 186.9474 + ], + "actual_end_pos": [ + 8540.0, + -11070.8555, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 8540.0, + -11070.8555, + 186.9474 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 8540.0, + -11170.0, + 200.0 + ], + "actual_end_pos": [ + 8540.0, + -11170.0, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 8540.0, + -11170.0, + 200.0 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 8440.0, + -11170.0, + 200.0 + ], + "actual_end_pos": [ + 8440.0, + -11170.0, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 8440.0, + -11170.0, + 200.0 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 8340.0, + -11170.0, + 200.0 + ], + "actual_end_pos": [ + 8340.0, + -11170.0, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 8340.0, + -11170.0, + 200.0 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 8340.0, + -11170.0, + 200.0 + ], + "actual_end_pos": [ + 8340.0, + -11170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260408_180248__traj_004588_meta.json b/inverse_easy/run_20260408_180248__traj_004588_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..076d17d1a68145083b24bc810c55360769ea1199 --- /dev/null +++ b/inverse_easy/run_20260408_180248__traj_004588_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 4588, + "episode_id": 0, + "state_id": 3409, + "sample_index": 3409, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 9340.0, + -23170.0, + 200.0 + ], + "rotation": [ + 0.0, + 45.0, + 0.0 + ] + }, + "action_sequence": [ + "no_op", + "no_op", + "move_right", + "move_right", + "move_right", + "turn_left", + "move_backward", + "move_left", + "move_left", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "turn_right", + "move_left", + "move_forward", + "move_forward", + "move_right", + "move_right", + "move_forward", + "move_backward", + "move_left", + "move_left", + "move_backward", + "move_backward", + "move_right", + "turn_left", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_right", + "move_right", + "move_forward", + "turn_right", + "move_left", + "move_left", + "move_left", + "no_op", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 9340.0, + -23170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 9340.0, + -23170.0, + 200.0 + ], + "actual_end_pos": [ + 9340.0, + -23170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 9340.0, + -23170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 9340.0, + -23170.0, + 200.0 + ], + "actual_end_pos": [ + 9340.0, + -23170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 9340.0, + -23170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 9269.2893, + -23099.2893, + 200.0 + ], + "actual_end_pos": [ + 9269.2893, + -23099.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 9269.2893, + -23099.2893, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 9198.5786, + -23028.5786, + 200.0 + ], + "actual_end_pos": [ + 9198.5786, + -23028.5786, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 9198.5786, + -23028.5786, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 9127.868, + -22957.868, + 200.0 + ], + "actual_end_pos": [ + 9127.868, + -22957.868, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 9127.868, + -22957.868, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 9127.868, + -22957.868, + 200.0 + ], + "actual_end_pos": [ + 9127.868, + -22957.868, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 9127.868, + -22957.868, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 9041.2654, + -23007.868, + 200.0 + ], + "actual_end_pos": [ + 9041.2654, + -23007.868, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 9041.2654, + -23007.868, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 9091.2654, + -23094.4705, + 200.0 + ], + "actual_end_pos": [ + 9091.2654, + -23094.4705, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 9091.2654, + -23094.4705, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 9141.2654, + -23181.073, + 200.0 + ], + "actual_end_pos": [ + 9141.2654, + -23181.073, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 9141.2654, + -23181.073, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 9227.868, + -23131.073, + 200.0 + ], + "actual_end_pos": [ + 9227.868, + -23131.073, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 9227.868, + -23131.073, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 9314.4705, + -23081.073, + 200.0 + ], + "actual_end_pos": [ + 9314.4705, + -23081.073, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 9314.4705, + -23081.073, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 9401.073, + -23031.073, + 200.0 + ], + "actual_end_pos": [ + 9401.073, + -23031.073, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 9401.073, + -23031.073, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 9487.6756, + -22981.073, + 200.0 + ], + "actual_end_pos": [ + 9487.6756, + -22981.073, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 9487.6756, + -22981.073, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 9487.6756, + -22981.073, + 200.0 + ], + "actual_end_pos": [ + 9487.6756, + -22981.073, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 9487.6756, + -22981.073, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 9558.3863, + -23051.7837, + 200.0 + ], + "actual_end_pos": [ + 9558.3863, + -23051.7837, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 9558.3863, + -23051.7837, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 9629.0969, + -22981.073, + 200.0 + ], + "actual_end_pos": [ + 9629.0969, + -22981.073, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 9629.0969, + -22981.073, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 9699.8076, + -22910.3624, + 200.0 + ], + "actual_end_pos": [ + 9699.8076, + -22910.3624, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 9699.8076, + -22910.3624, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 9629.0969, + -22839.6517, + 200.0 + ], + "actual_end_pos": [ + 9629.0969, + -22839.6517, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 9629.0969, + -22839.6517, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 9558.3863, + -22768.941, + 200.0 + ], + "actual_end_pos": [ + 9558.3863, + -22768.941, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 9558.3863, + -22768.941, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 9629.0969, + -22698.2303, + 200.0 + ], + "actual_end_pos": [ + 9629.0969, + -22698.2303, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 9629.0969, + -22698.2303, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 9558.3863, + -22768.941, + 200.0 + ], + "actual_end_pos": [ + 9558.3863, + -22768.941, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 9558.3863, + -22768.941, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 9629.0969, + -22839.6517, + 200.0 + ], + "actual_end_pos": [ + 9629.0969, + -22839.6517, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 9629.0969, + -22839.6517, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 9699.8076, + -22910.3624, + 200.0 + ], + "actual_end_pos": [ + 9699.8076, + -22910.3624, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 9699.8076, + -22910.3624, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 9629.0969, + -22981.073, + 200.0 + ], + "actual_end_pos": [ + 9629.0969, + -22981.073, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 9629.0969, + -22981.073, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 9558.3863, + -23051.7837, + 200.0 + ], + "actual_end_pos": [ + 9558.3863, + -23051.7837, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 9558.3863, + -23051.7837, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 9487.6756, + -22981.073, + 200.0 + ], + "actual_end_pos": [ + 9487.6756, + -22981.073, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 9487.6756, + -22981.073, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 9487.6756, + -22981.073, + 200.0 + ], + "actual_end_pos": [ + 9487.6756, + -22981.073, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 9487.6756, + -22981.073, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 9401.073, + -23031.073, + 200.0 + ], + "actual_end_pos": [ + 9401.073, + -23031.073, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 9401.073, + -23031.073, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 9314.4705, + -23081.073, + 200.0 + ], + "actual_end_pos": [ + 9314.4705, + -23081.073, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 9314.4705, + -23081.073, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 9227.868, + -23131.073, + 200.0 + ], + "actual_end_pos": [ + 9227.868, + -23131.073, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 9227.868, + -23131.073, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 9141.2654, + -23181.073, + 200.0 + ], + "actual_end_pos": [ + 9141.2654, + -23181.073, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 9141.2654, + -23181.073, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 9091.2654, + -23094.4705, + 200.0 + ], + "actual_end_pos": [ + 9091.2654, + -23094.4705, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 9091.2654, + -23094.4705, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 9041.2654, + -23007.868, + 200.0 + ], + "actual_end_pos": [ + 9041.2654, + -23007.868, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 9041.2654, + -23007.868, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 9127.868, + -22957.868, + 200.0 + ], + "actual_end_pos": [ + 9127.868, + -22957.868, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 9127.868, + -22957.868, + 200.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 9127.868, + -22957.868, + 200.0 + ], + "actual_end_pos": [ + 9127.868, + -22957.868, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 9127.868, + -22957.868, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 9198.5786, + -23028.5786, + 200.0 + ], + "actual_end_pos": [ + 9198.5786, + -23028.5786, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 9198.5786, + -23028.5786, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 9269.2893, + -23099.2893, + 200.0 + ], + "actual_end_pos": [ + 9269.2893, + -23099.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 9269.2893, + -23099.2893, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 9340.0, + -23170.0, + 200.0 + ], + "actual_end_pos": [ + 9340.0, + -23170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 9340.0, + -23170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 9340.0, + -23170.0, + 200.0 + ], + "actual_end_pos": [ + 9340.0, + -23170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 9340.0, + -23170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 9340.0, + -23170.0, + 200.0 + ], + "actual_end_pos": [ + 9340.0, + -23170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260408_180248__traj_005082_meta.json b/inverse_easy/run_20260408_180248__traj_005082_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0b9db1baf4efa977507f2c21dcd097b4de202804 --- /dev/null +++ b/inverse_easy/run_20260408_180248__traj_005082_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 5082, + "episode_id": 0, + "state_id": 3776, + "sample_index": 3776, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 10340.0, + 830.0, + 200.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "move_backward", + "move_left", + "move_left", + "turn_right", + "move_forward", + "look_down", + "move_backward", + "turn_left", + "move_backward", + "turn_right", + "move_forward", + "move_forward", + "turn_left", + "move_forward", + "move_left", + "look_down", + "look_down", + "look_down", + "no_op", + "no_op", + "look_up", + "look_up", + "look_up", + "move_right", + "move_backward", + "turn_right", + "move_backward", + "move_backward", + "turn_left", + "move_forward", + "turn_right", + "move_forward", + "look_up", + "move_backward", + "turn_left", + "move_right", + "move_right", + "move_forward", + "move_right" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 10340.0, + 830.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 10340.0, + 730.0, + 200.0 + ], + "actual_end_pos": [ + 10340.0, + 730.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 10340.0, + 730.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 10240.0, + 730.0, + 200.0 + ], + "actual_end_pos": [ + 10240.0, + 730.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 10240.0, + 730.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 10240.0, + 630.0, + 200.0 + ], + "actual_end_pos": [ + 10240.0, + 630.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 10240.0, + 630.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 10240.0, + 530.0, + 200.0 + ], + "actual_end_pos": [ + 10240.0, + 530.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 10240.0, + 530.0, + 200.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 10240.0, + 530.0, + 200.0 + ], + "actual_end_pos": [ + 10240.0, + 530.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 10240.0, + 530.0, + 200.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 10336.5926, + 555.8819, + 200.0 + ], + "actual_end_pos": [ + 10336.5926, + 555.8819, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 10336.5926, + 555.8819, + 200.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 10336.5926, + 555.8819, + 200.0 + ], + "actual_end_pos": [ + 10336.5926, + 555.8819, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 10336.5926, + 555.8819, + 200.0 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 10240.8264, + 530.2214, + 213.0526 + ], + "actual_end_pos": [ + 10240.8264, + 530.2214, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 10240.8264, + 530.2214, + 213.0526 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 10240.8264, + 530.2214, + 213.0526 + ], + "actual_end_pos": [ + 10240.8264, + 530.2214, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 10240.8264, + 530.2214, + 213.0526 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 10141.6819, + 530.2214, + 226.1052 + ], + "actual_end_pos": [ + 10141.6819, + 530.2214, + 226.1052 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 10141.6819, + 530.2214, + 226.1052 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 10141.6819, + 530.2214, + 226.1052 + ], + "actual_end_pos": [ + 10141.6819, + 530.2214, + 226.1052 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 10141.6819, + 530.2214, + 226.1052 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 10237.4481, + 555.8819, + 213.0526 + ], + "actual_end_pos": [ + 10237.4481, + 555.8819, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 10237.4481, + 555.8819, + 213.0526 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 10333.2143, + 581.5424, + 200.0 + ], + "actual_end_pos": [ + 10333.2143, + 581.5424, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 10333.2143, + 581.5424, + 200.0 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 10333.2143, + 581.5424, + 200.0 + ], + "actual_end_pos": [ + 10333.2143, + 581.5424, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 10333.2143, + 581.5424, + 200.0 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 10432.3588, + 581.5424, + 186.9474 + ], + "actual_end_pos": [ + 10432.3588, + 581.5424, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 10432.3588, + 581.5424, + 186.9474 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 10432.3588, + 481.5424, + 186.9474 + ], + "actual_end_pos": [ + 10432.3588, + 481.5424, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 10432.3588, + 481.5424, + 186.9474 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 10432.3588, + 481.5424, + 186.9474 + ], + "actual_end_pos": [ + 10432.3588, + 481.5424, + 186.9474 + ], + "actual_end_rot": [ + -15.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 10432.3588, + 481.5424, + 186.9474 + ], + "start_rot": [ + -15.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 10432.3588, + 481.5424, + 186.9474 + ], + "actual_end_pos": [ + 10432.3588, + 481.5424, + 186.9474 + ], + "actual_end_rot": [ + -22.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 10432.3588, + 481.5424, + 186.9474 + ], + "start_rot": [ + -22.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 10432.3588, + 481.5424, + 186.9474 + ], + "actual_end_pos": [ + 10432.3588, + 481.5424, + 186.9474 + ], + "actual_end_rot": [ + -30.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 10432.3588, + 481.5424, + 186.9474 + ], + "start_rot": [ + -30.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 10432.3588, + 481.5424, + 186.9474 + ], + "actual_end_pos": [ + 10432.3588, + 481.5424, + 186.9474 + ], + "actual_end_rot": [ + -30.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 10432.3588, + 481.5424, + 186.9474 + ], + "start_rot": [ + -30.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 10432.3588, + 481.5424, + 186.9474 + ], + "actual_end_pos": [ + 10432.3588, + 481.5424, + 186.9474 + ], + "actual_end_rot": [ + -30.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 10432.3588, + 481.5424, + 186.9474 + ], + "start_rot": [ + -30.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 10432.3588, + 481.5424, + 186.9474 + ], + "actual_end_pos": [ + 10432.3588, + 481.5424, + 186.9474 + ], + "actual_end_rot": [ + -22.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 10432.3588, + 481.5424, + 186.9474 + ], + "start_rot": [ + -22.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 10432.3588, + 481.5424, + 186.9474 + ], + "actual_end_pos": [ + 10432.3588, + 481.5424, + 186.9474 + ], + "actual_end_rot": [ + -15.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 10432.3588, + 481.5424, + 186.9474 + ], + "start_rot": [ + -15.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 10432.3588, + 481.5424, + 186.9474 + ], + "actual_end_pos": [ + 10432.3588, + 481.5424, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 10432.3588, + 481.5424, + 186.9474 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 10432.3588, + 581.5424, + 186.9474 + ], + "actual_end_pos": [ + 10432.3588, + 581.5424, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 10432.3588, + 581.5424, + 186.9474 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 10333.2143, + 581.5424, + 200.0 + ], + "actual_end_pos": [ + 10333.2143, + 581.5424, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 10333.2143, + 581.5424, + 200.0 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 10333.2143, + 581.5424, + 200.0 + ], + "actual_end_pos": [ + 10333.2143, + 581.5424, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 10333.2143, + 581.5424, + 200.0 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 10237.4481, + 555.8819, + 213.0526 + ], + "actual_end_pos": [ + 10237.4481, + 555.8819, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 10237.4481, + 555.8819, + 213.0526 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 10141.6819, + 530.2214, + 226.1052 + ], + "actual_end_pos": [ + 10141.6819, + 530.2214, + 226.1052 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 10141.6819, + 530.2214, + 226.1052 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 10141.6819, + 530.2214, + 226.1052 + ], + "actual_end_pos": [ + 10141.6819, + 530.2214, + 226.1052 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 10141.6819, + 530.2214, + 226.1052 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 10240.8264, + 530.2214, + 213.0526 + ], + "actual_end_pos": [ + 10240.8264, + 530.2214, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 10240.8264, + 530.2214, + 213.0526 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 10240.8264, + 530.2214, + 213.0526 + ], + "actual_end_pos": [ + 10240.8264, + 530.2214, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 10240.8264, + 530.2214, + 213.0526 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 10336.5926, + 555.8819, + 200.0 + ], + "actual_end_pos": [ + 10336.5926, + 555.8819, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 10336.5926, + 555.8819, + 200.0 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 10336.5926, + 555.8819, + 200.0 + ], + "actual_end_pos": [ + 10336.5926, + 555.8819, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 10336.5926, + 555.8819, + 200.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 10240.0, + 530.0, + 200.0 + ], + "actual_end_pos": [ + 10240.0, + 530.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 10240.0, + 530.0, + 200.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 10240.0, + 530.0, + 200.0 + ], + "actual_end_pos": [ + 10240.0, + 530.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 10240.0, + 530.0, + 200.0 + ], + "start_rot": [ + 0.0, + -0.0, + 0.0 + ], + "expected_end_pos": [ + 10240.0, + 630.0, + 200.0 + ], + "actual_end_pos": [ + 10240.0, + 630.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 10240.0, + 630.0, + 200.0 + ], + "start_rot": [ + 0.0, + -0.0, + 0.0 + ], + "expected_end_pos": [ + 10240.0, + 730.0, + 200.0 + ], + "actual_end_pos": [ + 10240.0, + 730.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 10240.0, + 730.0, + 200.0 + ], + "start_rot": [ + 0.0, + -0.0, + 0.0 + ], + "expected_end_pos": [ + 10340.0, + 730.0, + 200.0 + ], + "actual_end_pos": [ + 10340.0, + 730.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 10340.0, + 730.0, + 200.0 + ], + "start_rot": [ + 0.0, + -0.0, + 0.0 + ], + "expected_end_pos": [ + 10340.0, + 830.0, + 200.0 + ], + "actual_end_pos": [ + 10340.0, + 830.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260408_180248__traj_005371_meta.json b/inverse_easy/run_20260408_180248__traj_005371_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9190112b2386053db91feea8ada86fa93925d684 --- /dev/null +++ b/inverse_easy/run_20260408_180248__traj_005371_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 5371, + "episode_id": 0, + "state_id": 3998, + "sample_index": 3998, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 11340.0, + -9170.0, + 200.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_left", + "move_forward", + "look_down", + "move_right", + "turn_left", + "move_left", + "turn_left", + "turn_left", + "move_forward", + "look_down", + "look_down", + "move_left", + "turn_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "turn_right", + "move_right", + "look_up", + "look_up", + "move_backward", + "turn_right", + "turn_right", + "move_right", + "turn_right", + "move_left", + "look_up", + "move_backward", + "move_right", + "move_forward" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 11340.0, + -9170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 11340.0, + -9070.0, + 200.0 + ], + "actual_end_pos": [ + 11340.0, + -9070.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 11340.0, + -9070.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 11240.0, + -9070.0, + 200.0 + ], + "actual_end_pos": [ + 11240.0, + -9070.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 11240.0, + -9070.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 11240.0, + -9170.0, + 200.0 + ], + "actual_end_pos": [ + 11240.0, + -9170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 11240.0, + -9170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 11240.0, + -9170.0, + 200.0 + ], + "actual_end_pos": [ + 11240.0, + -9170.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 11240.0, + -9170.0, + 200.0 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 11340.0, + -9170.0, + 200.0 + ], + "actual_end_pos": [ + 11340.0, + -9170.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 11340.0, + -9170.0, + 200.0 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 11340.0, + -9170.0, + 200.0 + ], + "actual_end_pos": [ + 11340.0, + -9170.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 11340.0, + -9170.0, + 200.0 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 11243.4074, + -9144.1181, + 200.0 + ], + "actual_end_pos": [ + 11243.4074, + -9144.1181, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 11243.4074, + -9144.1181, + 200.0 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 11243.4074, + -9144.1181, + 200.0 + ], + "actual_end_pos": [ + 11243.4074, + -9144.1181, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 11243.4074, + -9144.1181, + 200.0 + ], + "start_rot": [ + -7.5, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 11243.4074, + -9144.1181, + 200.0 + ], + "actual_end_pos": [ + 11243.4074, + -9144.1181, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 11243.4074, + -9144.1181, + 200.0 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 11173.3017, + -9214.2238, + 186.9474 + ], + "actual_end_pos": [ + 11173.3017, + -9214.2238, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 11173.3017, + -9214.2238, + 186.9474 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 11173.3017, + -9214.2238, + 186.9474 + ], + "actual_end_pos": [ + 11173.3017, + -9214.2238, + 186.9474 + ], + "actual_end_rot": [ + -15.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 11173.3017, + -9214.2238, + 186.9474 + ], + "start_rot": [ + -15.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 11173.3017, + -9214.2238, + 186.9474 + ], + "actual_end_pos": [ + 11173.3017, + -9214.2238, + 186.9474 + ], + "actual_end_rot": [ + -22.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 11173.3017, + -9214.2238, + 186.9474 + ], + "start_rot": [ + -22.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 11102.591, + -9143.5132, + 186.9474 + ], + "actual_end_pos": [ + 11102.591, + -9143.5132, + 186.9474 + ], + "actual_end_rot": [ + -22.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 11102.591, + -9143.5132, + 186.9474 + ], + "start_rot": [ + -22.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 11102.591, + -9143.5132, + 186.9474 + ], + "actual_end_pos": [ + 11102.591, + -9143.5132, + 186.9474 + ], + "actual_end_rot": [ + -22.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 11102.591, + -9143.5132, + 186.9474 + ], + "start_rot": [ + -22.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 11102.591, + -9143.5132, + 186.9474 + ], + "actual_end_pos": [ + 11102.591, + -9143.5132, + 186.9474 + ], + "actual_end_rot": [ + -22.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 11102.591, + -9143.5132, + 186.9474 + ], + "start_rot": [ + -22.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 11102.591, + -9143.5132, + 186.9474 + ], + "actual_end_pos": [ + 11102.591, + -9143.5132, + 186.9474 + ], + "actual_end_rot": [ + -22.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 11102.591, + -9143.5132, + 186.9474 + ], + "start_rot": [ + -22.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 11102.591, + -9143.5132, + 186.9474 + ], + "actual_end_pos": [ + 11102.591, + -9143.5132, + 186.9474 + ], + "actual_end_rot": [ + -22.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 11102.591, + -9143.5132, + 186.9474 + ], + "start_rot": [ + -22.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 11102.591, + -9143.5132, + 186.9474 + ], + "actual_end_pos": [ + 11102.591, + -9143.5132, + 186.9474 + ], + "actual_end_rot": [ + -22.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 11102.591, + -9143.5132, + 186.9474 + ], + "start_rot": [ + -22.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 11102.591, + -9143.5132, + 186.9474 + ], + "actual_end_pos": [ + 11102.591, + -9143.5132, + 186.9474 + ], + "actual_end_rot": [ + -22.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 11102.591, + -9143.5132, + 186.9474 + ], + "start_rot": [ + -22.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 11102.591, + -9143.5132, + 186.9474 + ], + "actual_end_pos": [ + 11102.591, + -9143.5132, + 186.9474 + ], + "actual_end_rot": [ + -22.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 11102.591, + -9143.5132, + 186.9474 + ], + "start_rot": [ + -22.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 11102.591, + -9143.5132, + 186.9474 + ], + "actual_end_pos": [ + 11102.591, + -9143.5132, + 186.9474 + ], + "actual_end_rot": [ + -22.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 11102.591, + -9143.5132, + 186.9474 + ], + "start_rot": [ + -22.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 11102.591, + -9143.5132, + 186.9474 + ], + "actual_end_pos": [ + 11102.591, + -9143.5132, + 186.9474 + ], + "actual_end_rot": [ + -22.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 11102.591, + -9143.5132, + 186.9474 + ], + "start_rot": [ + -22.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 11102.591, + -9143.5132, + 186.9474 + ], + "actual_end_pos": [ + 11102.591, + -9143.5132, + 186.9474 + ], + "actual_end_rot": [ + -22.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 11102.591, + -9143.5132, + 186.9474 + ], + "start_rot": [ + -22.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 11102.591, + -9143.5132, + 186.9474 + ], + "actual_end_pos": [ + 11102.591, + -9143.5132, + 186.9474 + ], + "actual_end_rot": [ + -22.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 11102.591, + -9143.5132, + 186.9474 + ], + "start_rot": [ + -22.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 11102.591, + -9143.5132, + 186.9474 + ], + "actual_end_pos": [ + 11102.591, + -9143.5132, + 186.9474 + ], + "actual_end_rot": [ + -22.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 11102.591, + -9143.5132, + 186.9474 + ], + "start_rot": [ + -22.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 11102.591, + -9143.5132, + 186.9474 + ], + "actual_end_pos": [ + 11102.591, + -9143.5132, + 186.9474 + ], + "actual_end_rot": [ + -22.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 11102.591, + -9143.5132, + 186.9474 + ], + "start_rot": [ + -22.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 11102.591, + -9143.5132, + 186.9474 + ], + "actual_end_pos": [ + 11102.591, + -9143.5132, + 186.9474 + ], + "actual_end_rot": [ + -22.5, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 11102.591, + -9143.5132, + 186.9474 + ], + "start_rot": [ + -22.5, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 11173.3017, + -9214.2238, + 186.9474 + ], + "actual_end_pos": [ + 11173.3017, + -9214.2238, + 186.9474 + ], + "actual_end_rot": [ + -22.5, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 11173.3017, + -9214.2238, + 186.9474 + ], + "start_rot": [ + -22.5, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 11173.3017, + -9214.2238, + 186.9474 + ], + "actual_end_pos": [ + 11173.3017, + -9214.2238, + 186.9474 + ], + "actual_end_rot": [ + -15.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 11173.3017, + -9214.2238, + 186.9474 + ], + "start_rot": [ + -15.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 11173.3017, + -9214.2238, + 186.9474 + ], + "actual_end_pos": [ + 11173.3017, + -9214.2238, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 11173.3017, + -9214.2238, + 186.9474 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 11243.4074, + -9144.1181, + 200.0 + ], + "actual_end_pos": [ + 11243.4074, + -9144.1181, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 11243.4074, + -9144.1181, + 200.0 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 11243.4074, + -9144.1181, + 200.0 + ], + "actual_end_pos": [ + 11243.4074, + -9144.1181, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 11243.4074, + -9144.1181, + 200.0 + ], + "start_rot": [ + -7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 11243.4074, + -9144.1181, + 200.0 + ], + "actual_end_pos": [ + 11243.4074, + -9144.1181, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 11243.4074, + -9144.1181, + 200.0 + ], + "start_rot": [ + -7.5, + -105.0, + -0.0 + ], + "expected_end_pos": [ + 11340.0, + -9170.0, + 200.0 + ], + "actual_end_pos": [ + 11340.0, + -9170.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 11340.0, + -9170.0, + 200.0 + ], + "start_rot": [ + -7.5, + -105.0, + -0.0 + ], + "expected_end_pos": [ + 11340.0, + -9170.0, + 200.0 + ], + "actual_end_pos": [ + 11340.0, + -9170.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 11340.0, + -9170.0, + 200.0 + ], + "start_rot": [ + -7.5, + -90.0, + -0.0 + ], + "expected_end_pos": [ + 11240.0, + -9170.0, + 200.0 + ], + "actual_end_pos": [ + 11240.0, + -9170.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 11240.0, + -9170.0, + 200.0 + ], + "start_rot": [ + -7.5, + -90.0, + -0.0 + ], + "expected_end_pos": [ + 11240.0, + -9170.0, + 200.0 + ], + "actual_end_pos": [ + 11240.0, + -9170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 11240.0, + -9170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 11240.0, + -9070.0, + 200.0 + ], + "actual_end_pos": [ + 11240.0, + -9070.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 11240.0, + -9070.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 11340.0, + -9070.0, + 200.0 + ], + "actual_end_pos": [ + 11340.0, + -9070.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 11340.0, + -9070.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 11340.0, + -9170.0, + 200.0 + ], + "actual_end_pos": [ + 11340.0, + -9170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260408_180248__traj_005386_meta.json b/inverse_easy/run_20260408_180248__traj_005386_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5df58052b68312a9d228c8a76277fe09dffde333 --- /dev/null +++ b/inverse_easy/run_20260408_180248__traj_005386_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 5386, + "episode_id": 0, + "state_id": 4010, + "sample_index": 4010, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 11340.0, + -7170.0, + 200.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "turn_right", + "move_left", + "move_backward", + "move_left", + "turn_left", + "move_forward", + "turn_right", + "no_op", + "move_left", + "move_backward", + "turn_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "turn_left", + "move_forward", + "move_right", + "no_op", + "turn_left", + "move_backward", + "turn_right", + "move_right", + "move_forward", + "move_right", + "turn_left", + "move_forward" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 11340.0, + -7170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 11340.0, + -7270.0, + 200.0 + ], + "actual_end_pos": [ + 11340.0, + -7270.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 11340.0, + -7270.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 11340.0, + -7270.0, + 200.0 + ], + "actual_end_pos": [ + 11340.0, + -7270.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 11340.0, + -7270.0, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 11436.5926, + -7244.1181, + 200.0 + ], + "actual_end_pos": [ + 11436.5926, + -7244.1181, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 11436.5926, + -7244.1181, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 11462.4745, + -7340.7107, + 200.0 + ], + "actual_end_pos": [ + 11462.4745, + -7340.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 11462.4745, + -7340.7107, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 11559.0671, + -7314.8288, + 200.0 + ], + "actual_end_pos": [ + 11559.0671, + -7314.8288, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 11559.0671, + -7314.8288, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 11559.0671, + -7314.8288, + 200.0 + ], + "actual_end_pos": [ + 11559.0671, + -7314.8288, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 11559.0671, + -7314.8288, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 11559.0671, + -7214.8288, + 200.0 + ], + "actual_end_pos": [ + 11559.0671, + -7214.8288, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 11559.0671, + -7214.8288, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 11559.0671, + -7214.8288, + 200.0 + ], + "actual_end_pos": [ + 11559.0671, + -7214.8288, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 11559.0671, + -7214.8288, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 11559.0671, + -7214.8288, + 200.0 + ], + "actual_end_pos": [ + 11559.0671, + -7214.8288, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 11559.0671, + -7214.8288, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 11655.6597, + -7188.9469, + 200.0 + ], + "actual_end_pos": [ + 11655.6597, + -7188.9469, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 11655.6597, + -7188.9469, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 11681.5416, + -7285.5395, + 200.0 + ], + "actual_end_pos": [ + 11681.5416, + -7285.5395, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 11681.5416, + -7285.5395, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 11681.5416, + -7285.5395, + 200.0 + ], + "actual_end_pos": [ + 11681.5416, + -7285.5395, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 11681.5416, + -7285.5395, + 200.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 11681.5416, + -7285.5395, + 200.0 + ], + "actual_end_pos": [ + 11681.5416, + -7285.5395, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 11681.5416, + -7285.5395, + 200.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 11681.5416, + -7285.5395, + 200.0 + ], + "actual_end_pos": [ + 11681.5416, + -7285.5395, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 11681.5416, + -7285.5395, + 200.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 11681.5416, + -7285.5395, + 200.0 + ], + "actual_end_pos": [ + 11681.5416, + -7285.5395, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 11681.5416, + -7285.5395, + 200.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 11681.5416, + -7285.5395, + 200.0 + ], + "actual_end_pos": [ + 11681.5416, + -7285.5395, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 11681.5416, + -7285.5395, + 200.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 11681.5416, + -7285.5395, + 200.0 + ], + "actual_end_pos": [ + 11681.5416, + -7285.5395, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 11681.5416, + -7285.5395, + 200.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 11681.5416, + -7285.5395, + 200.0 + ], + "actual_end_pos": [ + 11681.5416, + -7285.5395, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 11681.5416, + -7285.5395, + 200.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 11681.5416, + -7285.5395, + 200.0 + ], + "actual_end_pos": [ + 11681.5416, + -7285.5395, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 11681.5416, + -7285.5395, + 200.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 11681.5416, + -7285.5395, + 200.0 + ], + "actual_end_pos": [ + 11681.5416, + -7285.5395, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 11681.5416, + -7285.5395, + 200.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 11681.5416, + -7285.5395, + 200.0 + ], + "actual_end_pos": [ + 11681.5416, + -7285.5395, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 11681.5416, + -7285.5395, + 200.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 11681.5416, + -7285.5395, + 200.0 + ], + "actual_end_pos": [ + 11681.5416, + -7285.5395, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 11681.5416, + -7285.5395, + 200.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 11681.5416, + -7285.5395, + 200.0 + ], + "actual_end_pos": [ + 11681.5416, + -7285.5395, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 11681.5416, + -7285.5395, + 200.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 11681.5416, + -7285.5395, + 200.0 + ], + "actual_end_pos": [ + 11681.5416, + -7285.5395, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 11681.5416, + -7285.5395, + 200.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 11681.5416, + -7285.5395, + 200.0 + ], + "actual_end_pos": [ + 11681.5416, + -7285.5395, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 11681.5416, + -7285.5395, + 200.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 11681.5416, + -7285.5395, + 200.0 + ], + "actual_end_pos": [ + 11681.5416, + -7285.5395, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 11681.5416, + -7285.5395, + 200.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 11681.5416, + -7285.5395, + 200.0 + ], + "actual_end_pos": [ + 11681.5416, + -7285.5395, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 11681.5416, + -7285.5395, + 200.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 11681.5416, + -7285.5395, + 200.0 + ], + "actual_end_pos": [ + 11681.5416, + -7285.5395, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 11681.5416, + -7285.5395, + 200.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 11681.5416, + -7285.5395, + 200.0 + ], + "actual_end_pos": [ + 11681.5416, + -7285.5395, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 11681.5416, + -7285.5395, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 11655.6597, + -7188.9469, + 200.0 + ], + "actual_end_pos": [ + 11655.6597, + -7188.9469, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 11655.6597, + -7188.9469, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 11559.0671, + -7214.8288, + 200.0 + ], + "actual_end_pos": [ + 11559.0671, + -7214.8288, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 11559.0671, + -7214.8288, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 11559.0671, + -7214.8288, + 200.0 + ], + "actual_end_pos": [ + 11559.0671, + -7214.8288, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 11559.0671, + -7214.8288, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 11559.0671, + -7214.8288, + 200.0 + ], + "actual_end_pos": [ + 11559.0671, + -7214.8288, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 11559.0671, + -7214.8288, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 11559.0671, + -7314.8288, + 200.0 + ], + "actual_end_pos": [ + 11559.0671, + -7314.8288, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 11559.0671, + -7314.8288, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 11559.0671, + -7314.8288, + 200.0 + ], + "actual_end_pos": [ + 11559.0671, + -7314.8288, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 11559.0671, + -7314.8288, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 11462.4745, + -7340.7107, + 200.0 + ], + "actual_end_pos": [ + 11462.4745, + -7340.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 11462.4745, + -7340.7107, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 11436.5926, + -7244.1181, + 200.0 + ], + "actual_end_pos": [ + 11436.5926, + -7244.1181, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 11436.5926, + -7244.1181, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 11340.0, + -7270.0, + 200.0 + ], + "actual_end_pos": [ + 11340.0, + -7270.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 11340.0, + -7270.0, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 11340.0, + -7270.0, + 200.0 + ], + "actual_end_pos": [ + 11340.0, + -7270.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 11340.0, + -7270.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 11340.0, + -7170.0, + 200.0 + ], + "actual_end_pos": [ + 11340.0, + -7170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260408_180248__traj_005567_meta.json b/inverse_easy/run_20260408_180248__traj_005567_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5b5f512bd4dfcb94d634e7bee9c305426955ec82 --- /dev/null +++ b/inverse_easy/run_20260408_180248__traj_005567_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 5567, + "episode_id": 0, + "state_id": 4142, + "sample_index": 4142, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 12340.0, + -32170.0, + 200.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "move_backward", + "move_left", + "turn_right", + "look_up", + "move_backward", + "turn_right", + "move_forward", + "move_right", + "move_right", + "move_right", + "move_right", + "no_op", + "move_forward", + "move_forward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "move_backward", + "move_backward", + "no_op", + "move_left", + "move_left", + "move_left", + "move_left", + "move_backward", + "turn_left", + "move_forward", + "look_down", + "turn_left", + "move_right", + "move_forward", + "move_left" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 12340.0, + -32170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12440.0, + -32170.0, + 200.0 + ], + "actual_end_pos": [ + 12440.0, + -32170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 12440.0, + -32170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12440.0, + -32070.0, + 200.0 + ], + "actual_end_pos": [ + 12440.0, + -32070.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 12440.0, + -32070.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12340.0, + -32070.0, + 200.0 + ], + "actual_end_pos": [ + 12340.0, + -32070.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 12340.0, + -32070.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12340.0, + -32070.0, + 200.0 + ], + "actual_end_pos": [ + 12340.0, + -32070.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 12340.0, + -32070.0, + 200.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 12340.0, + -32070.0, + 200.0 + ], + "actual_end_pos": [ + 12340.0, + -32070.0, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 12340.0, + -32070.0, + 200.0 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 12314.3395, + -31974.2338, + 186.9474 + ], + "actual_end_pos": [ + 12314.3395, + -31974.2338, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 12314.3395, + -31974.2338, + 186.9474 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 12314.3395, + -31974.2338, + 186.9474 + ], + "actual_end_pos": [ + 12314.3395, + -31974.2338, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 12314.3395, + -31974.2338, + 186.9474 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 12363.9118, + -32060.0954, + 200.0 + ], + "actual_end_pos": [ + 12363.9118, + -32060.0954, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 12363.9118, + -32060.0954, + 200.0 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 12450.5143, + -32010.0954, + 200.0 + ], + "actual_end_pos": [ + 12450.5143, + -32010.0954, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 12450.5143, + -32010.0954, + 200.0 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 12537.1168, + -31960.0954, + 200.0 + ], + "actual_end_pos": [ + 12537.1168, + -31960.0954, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 12537.1168, + -31960.0954, + 200.0 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 12623.7194, + -31910.0954, + 200.0 + ], + "actual_end_pos": [ + 12623.7194, + -31910.0954, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 12623.7194, + -31910.0954, + 200.0 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 12710.3219, + -31860.0954, + 200.0 + ], + "actual_end_pos": [ + 12710.3219, + -31860.0954, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12710.3219, + -31860.0954, + 200.0 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 12710.3219, + -31860.0954, + 200.0 + ], + "actual_end_pos": [ + 12710.3219, + -31860.0954, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 12710.3219, + -31860.0954, + 200.0 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 12759.8942, + -31945.9571, + 213.0526 + ], + "actual_end_pos": [ + 12759.8942, + -31945.9571, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 12759.8942, + -31945.9571, + 213.0526 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 12809.4664, + -32031.8187, + 226.1052 + ], + "actual_end_pos": [ + 12809.4664, + -32031.8187, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12809.4664, + -32031.8187, + 226.1052 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 12809.4664, + -32031.8187, + 226.1052 + ], + "actual_end_pos": [ + 12809.4664, + -32031.8187, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12809.4664, + -32031.8187, + 226.1052 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 12809.4664, + -32031.8187, + 226.1052 + ], + "actual_end_pos": [ + 12809.4664, + -32031.8187, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12809.4664, + -32031.8187, + 226.1052 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 12809.4664, + -32031.8187, + 226.1052 + ], + "actual_end_pos": [ + 12809.4664, + -32031.8187, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12809.4664, + -32031.8187, + 226.1052 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 12809.4664, + -32031.8187, + 226.1052 + ], + "actual_end_pos": [ + 12809.4664, + -32031.8187, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12809.4664, + -32031.8187, + 226.1052 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 12809.4664, + -32031.8187, + 226.1052 + ], + "actual_end_pos": [ + 12809.4664, + -32031.8187, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12809.4664, + -32031.8187, + 226.1052 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 12809.4664, + -32031.8187, + 226.1052 + ], + "actual_end_pos": [ + 12809.4664, + -32031.8187, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12809.4664, + -32031.8187, + 226.1052 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 12809.4664, + -32031.8187, + 226.1052 + ], + "actual_end_pos": [ + 12809.4664, + -32031.8187, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12809.4664, + -32031.8187, + 226.1052 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 12809.4664, + -32031.8187, + 226.1052 + ], + "actual_end_pos": [ + 12809.4664, + -32031.8187, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12809.4664, + -32031.8187, + 226.1052 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 12809.4664, + -32031.8187, + 226.1052 + ], + "actual_end_pos": [ + 12809.4664, + -32031.8187, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12809.4664, + -32031.8187, + 226.1052 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 12809.4664, + -32031.8187, + 226.1052 + ], + "actual_end_pos": [ + 12809.4664, + -32031.8187, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 12809.4664, + -32031.8187, + 226.1052 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 12759.8942, + -31945.9571, + 213.0526 + ], + "actual_end_pos": [ + 12759.8942, + -31945.9571, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 12759.8942, + -31945.9571, + 213.0526 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 12710.3219, + -31860.0954, + 200.0 + ], + "actual_end_pos": [ + 12710.3219, + -31860.0954, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12710.3219, + -31860.0954, + 200.0 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 12710.3219, + -31860.0954, + 200.0 + ], + "actual_end_pos": [ + 12710.3219, + -31860.0954, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 12710.3219, + -31860.0954, + 200.0 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 12623.7194, + -31910.0954, + 200.0 + ], + "actual_end_pos": [ + 12623.7194, + -31910.0954, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 12623.7194, + -31910.0954, + 200.0 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 12537.1168, + -31960.0954, + 200.0 + ], + "actual_end_pos": [ + 12537.1168, + -31960.0954, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 12537.1168, + -31960.0954, + 200.0 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 12450.5143, + -32010.0954, + 200.0 + ], + "actual_end_pos": [ + 12450.5143, + -32010.0954, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 12450.5143, + -32010.0954, + 200.0 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 12363.9118, + -32060.0954, + 200.0 + ], + "actual_end_pos": [ + 12363.9118, + -32060.0954, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 12363.9118, + -32060.0954, + 200.0 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 12314.3395, + -31974.2338, + 186.9474 + ], + "actual_end_pos": [ + 12314.3395, + -31974.2338, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 12314.3395, + -31974.2338, + 186.9474 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 12314.3395, + -31974.2338, + 186.9474 + ], + "actual_end_pos": [ + 12314.3395, + -31974.2338, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 12314.3395, + -31974.2338, + 186.9474 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 12340.0, + -32070.0, + 200.0 + ], + "actual_end_pos": [ + 12340.0, + -32070.0, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 12340.0, + -32070.0, + 200.0 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 12340.0, + -32070.0, + 200.0 + ], + "actual_end_pos": [ + 12340.0, + -32070.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 12340.0, + -32070.0, + 200.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 12340.0, + -32070.0, + 200.0 + ], + "actual_end_pos": [ + 12340.0, + -32070.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 12340.0, + -32070.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12440.0, + -32070.0, + 200.0 + ], + "actual_end_pos": [ + 12440.0, + -32070.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 12440.0, + -32070.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12440.0, + -32170.0, + 200.0 + ], + "actual_end_pos": [ + 12440.0, + -32170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 12440.0, + -32170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 12340.0, + -32170.0, + 200.0 + ], + "actual_end_pos": [ + 12340.0, + -32170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260408_180248__traj_005936_meta.json b/inverse_easy/run_20260408_180248__traj_005936_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b7270fb58b6f1b55f06e4afb6fdb9a1ad2e9bda3 --- /dev/null +++ b/inverse_easy/run_20260408_180248__traj_005936_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 5936, + "episode_id": 0, + "state_id": 4412, + "sample_index": 4412, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 12340.0, + 1830.0, + 200.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "look_up", + "move_right", + "move_backward", + "look_up", + "turn_left", + "move_forward", + "move_left", + "move_left", + "look_down", + "turn_left", + "move_left", + "move_forward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "move_backward", + "move_right", + "turn_right", + "look_up", + "move_right", + "move_right", + "move_backward", + "turn_right", + "look_down", + "move_forward", + "move_left", + "look_down", + "move_backward" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 12340.0, + 1830.0, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 12240.0, + 1830.0, + 200.0 + ], + "actual_end_pos": [ + 12240.0, + 1830.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 12240.0, + 1830.0, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 12240.0, + 1830.0, + 200.0 + ], + "actual_end_pos": [ + 12240.0, + 1830.0, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 12240.0, + 1830.0, + 200.0 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 12240.0, + 1730.0, + 200.0 + ], + "actual_end_pos": [ + 12240.0, + 1730.0, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 12240.0, + 1730.0, + 200.0 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 12339.1445, + 1730.0, + 186.9474 + ], + "actual_end_pos": [ + 12339.1445, + 1730.0, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 12339.1445, + 1730.0, + 186.9474 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 12339.1445, + 1730.0, + 186.9474 + ], + "actual_end_pos": [ + 12339.1445, + 1730.0, + 186.9474 + ], + "actual_end_rot": [ + 15.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 12339.1445, + 1730.0, + 186.9474 + ], + "start_rot": [ + 15.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 12339.1445, + 1730.0, + 186.9474 + ], + "actual_end_pos": [ + 12339.1445, + 1730.0, + 186.9474 + ], + "actual_end_rot": [ + 15.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 12339.1445, + 1730.0, + 186.9474 + ], + "start_rot": [ + 15.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 12245.8432, + 1755.0, + 212.8293 + ], + "actual_end_pos": [ + 12245.8432, + 1755.0, + 212.8293 + ], + "actual_end_rot": [ + 15.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 12245.8432, + 1755.0, + 212.8293 + ], + "start_rot": [ + 15.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 12271.7251, + 1851.5926, + 212.8293 + ], + "actual_end_pos": [ + 12271.7251, + 1851.5926, + 212.8293 + ], + "actual_end_rot": [ + 15.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 12271.7251, + 1851.5926, + 212.8293 + ], + "start_rot": [ + 15.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 12297.607, + 1948.1852, + 212.8293 + ], + "actual_end_pos": [ + 12297.607, + 1948.1852, + 212.8293 + ], + "actual_end_rot": [ + 15.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 12297.607, + 1948.1852, + 212.8293 + ], + "start_rot": [ + 15.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 12297.607, + 1948.1852, + 212.8293 + ], + "actual_end_pos": [ + 12297.607, + 1948.1852, + 212.8293 + ], + "actual_end_rot": [ + 7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 12297.607, + 1948.1852, + 212.8293 + ], + "start_rot": [ + 7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 12297.607, + 1948.1852, + 212.8293 + ], + "actual_end_pos": [ + 12297.607, + 1948.1852, + 212.8293 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 12297.607, + 1948.1852, + 212.8293 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 12347.607, + 2034.7877, + 212.8293 + ], + "actual_end_pos": [ + 12347.607, + 2034.7877, + 212.8293 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 12347.607, + 2034.7877, + 212.8293 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 12261.7454, + 2084.36, + 225.8819 + ], + "actual_end_pos": [ + 12261.7454, + 2084.36, + 225.8819 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12261.7454, + 2084.36, + 225.8819 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 12261.7454, + 2084.36, + 225.8819 + ], + "actual_end_pos": [ + 12261.7454, + 2084.36, + 225.8819 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12261.7454, + 2084.36, + 225.8819 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 12261.7454, + 2084.36, + 225.8819 + ], + "actual_end_pos": [ + 12261.7454, + 2084.36, + 225.8819 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12261.7454, + 2084.36, + 225.8819 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 12261.7454, + 2084.36, + 225.8819 + ], + "actual_end_pos": [ + 12261.7454, + 2084.36, + 225.8819 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12261.7454, + 2084.36, + 225.8819 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 12261.7454, + 2084.36, + 225.8819 + ], + "actual_end_pos": [ + 12261.7454, + 2084.36, + 225.8819 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12261.7454, + 2084.36, + 225.8819 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 12261.7454, + 2084.36, + 225.8819 + ], + "actual_end_pos": [ + 12261.7454, + 2084.36, + 225.8819 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12261.7454, + 2084.36, + 225.8819 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 12261.7454, + 2084.36, + 225.8819 + ], + "actual_end_pos": [ + 12261.7454, + 2084.36, + 225.8819 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12261.7454, + 2084.36, + 225.8819 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 12261.7454, + 2084.36, + 225.8819 + ], + "actual_end_pos": [ + 12261.7454, + 2084.36, + 225.8819 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12261.7454, + 2084.36, + 225.8819 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 12261.7454, + 2084.36, + 225.8819 + ], + "actual_end_pos": [ + 12261.7454, + 2084.36, + 225.8819 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12261.7454, + 2084.36, + 225.8819 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 12261.7454, + 2084.36, + 225.8819 + ], + "actual_end_pos": [ + 12261.7454, + 2084.36, + 225.8819 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12261.7454, + 2084.36, + 225.8819 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 12261.7454, + 2084.36, + 225.8819 + ], + "actual_end_pos": [ + 12261.7454, + 2084.36, + 225.8819 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12261.7454, + 2084.36, + 225.8819 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 12261.7454, + 2084.36, + 225.8819 + ], + "actual_end_pos": [ + 12261.7454, + 2084.36, + 225.8819 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12261.7454, + 2084.36, + 225.8819 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 12261.7454, + 2084.36, + 225.8819 + ], + "actual_end_pos": [ + 12261.7454, + 2084.36, + 225.8819 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12261.7454, + 2084.36, + 225.8819 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 12261.7454, + 2084.36, + 225.8819 + ], + "actual_end_pos": [ + 12261.7454, + 2084.36, + 225.8819 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 12261.7454, + 2084.36, + 225.8819 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 12261.7454, + 2084.36, + 225.8819 + ], + "actual_end_pos": [ + 12261.7454, + 2084.36, + 225.8819 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 12261.7454, + 2084.36, + 225.8819 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 12347.607, + 2034.7877, + 212.8293 + ], + "actual_end_pos": [ + 12347.607, + 2034.7877, + 212.8293 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 12347.607, + 2034.7877, + 212.8293 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 12297.607, + 1948.1852, + 212.8293 + ], + "actual_end_pos": [ + 12297.607, + 1948.1852, + 212.8293 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 12297.607, + 1948.1852, + 212.8293 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 12297.607, + 1948.1852, + 212.8293 + ], + "actual_end_pos": [ + 12297.607, + 1948.1852, + 212.8293 + ], + "actual_end_rot": [ + 7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 12297.607, + 1948.1852, + 212.8293 + ], + "start_rot": [ + 7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 12297.607, + 1948.1852, + 212.8293 + ], + "actual_end_pos": [ + 12297.607, + 1948.1852, + 212.8293 + ], + "actual_end_rot": [ + 15.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 12297.607, + 1948.1852, + 212.8293 + ], + "start_rot": [ + 15.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 12271.7251, + 1851.5926, + 212.8293 + ], + "actual_end_pos": [ + 12271.7251, + 1851.5926, + 212.8293 + ], + "actual_end_rot": [ + 15.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 12271.7251, + 1851.5926, + 212.8293 + ], + "start_rot": [ + 15.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 12245.8432, + 1755.0, + 212.8293 + ], + "actual_end_pos": [ + 12245.8432, + 1755.0, + 212.8293 + ], + "actual_end_rot": [ + 15.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 12245.8432, + 1755.0, + 212.8293 + ], + "start_rot": [ + 15.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 12339.1445, + 1730.0, + 186.9474 + ], + "actual_end_pos": [ + 12339.1445, + 1730.0, + 186.9474 + ], + "actual_end_rot": [ + 15.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 12339.1445, + 1730.0, + 186.9474 + ], + "start_rot": [ + 15.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + 12339.1445, + 1730.0, + 186.9474 + ], + "actual_end_pos": [ + 12339.1445, + 1730.0, + 186.9474 + ], + "actual_end_rot": [ + 15.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 12339.1445, + 1730.0, + 186.9474 + ], + "start_rot": [ + 15.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 12339.1445, + 1730.0, + 186.9474 + ], + "actual_end_pos": [ + 12339.1445, + 1730.0, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 12339.1445, + 1730.0, + 186.9474 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 12240.0, + 1730.0, + 200.0 + ], + "actual_end_pos": [ + 12240.0, + 1730.0, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 12240.0, + 1730.0, + 200.0 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 12240.0, + 1830.0, + 200.0 + ], + "actual_end_pos": [ + 12240.0, + 1830.0, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 12240.0, + 1830.0, + 200.0 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 12240.0, + 1830.0, + 200.0 + ], + "actual_end_pos": [ + 12240.0, + 1830.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 12240.0, + 1830.0, + 200.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 12340.0, + 1830.0, + 200.0 + ], + "actual_end_pos": [ + 12340.0, + 1830.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260408_180248__traj_006093_meta.json b/inverse_easy/run_20260408_180248__traj_006093_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c99d09f0f174874b1fbd3f25702f3e263297c423 --- /dev/null +++ b/inverse_easy/run_20260408_180248__traj_006093_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 6093, + "episode_id": 0, + "state_id": 4529, + "sample_index": 4529, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 13340.0, + -24170.0, + 200.0 + ], + "rotation": [ + 0.0, + 45.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "look_up", + "move_forward", + "move_forward", + "move_right", + "move_right", + "move_forward", + "look_up", + "look_up", + "turn_right", + "move_forward", + "look_up", + "turn_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "turn_right", + "look_down", + "move_backward", + "turn_left", + "look_down", + "look_down", + "move_backward", + "move_left", + "move_left", + "move_backward", + "move_backward", + "look_down", + "move_left" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 13340.0, + -24170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 13269.2893, + -24099.2893, + 200.0 + ], + "actual_end_pos": [ + 13269.2893, + -24099.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 13269.2893, + -24099.2893, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 13269.2893, + -24099.2893, + 200.0 + ], + "actual_end_pos": [ + 13269.2893, + -24099.2893, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 13269.2893, + -24099.2893, + 200.0 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 13339.3951, + -24029.1836, + 213.0526 + ], + "actual_end_pos": [ + 13339.3951, + -24029.1836, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 13339.3951, + -24029.1836, + 213.0526 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 13409.5008, + -23959.0778, + 226.1052 + ], + "actual_end_pos": [ + 13409.5008, + -23959.0778, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 13409.5008, + -23959.0778, + 226.1052 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 13338.7901, + -23888.3672, + 226.1052 + ], + "actual_end_pos": [ + 13338.7901, + -23888.3672, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 13338.7901, + -23888.3672, + 226.1052 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 13268.0794, + -23817.6565, + 226.1052 + ], + "actual_end_pos": [ + 13268.0794, + -23817.6565, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 13268.0794, + -23817.6565, + 226.1052 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 13338.1852, + -23747.5508, + 239.1579 + ], + "actual_end_pos": [ + 13338.1852, + -23747.5508, + 239.1579 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 13338.1852, + -23747.5508, + 239.1579 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 13338.1852, + -23747.5508, + 239.1579 + ], + "actual_end_pos": [ + 13338.1852, + -23747.5508, + 239.1579 + ], + "actual_end_rot": [ + 15.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 13338.1852, + -23747.5508, + 239.1579 + ], + "start_rot": [ + 15.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 13338.1852, + -23747.5508, + 239.1579 + ], + "actual_end_pos": [ + 13338.1852, + -23747.5508, + 239.1579 + ], + "actual_end_rot": [ + 22.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 13338.1852, + -23747.5508, + 239.1579 + ], + "start_rot": [ + 22.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 13338.1852, + -23747.5508, + 239.1579 + ], + "actual_end_pos": [ + 13338.1852, + -23747.5508, + 239.1579 + ], + "actual_end_rot": [ + 22.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 13338.1852, + -23747.5508, + 239.1579 + ], + "start_rot": [ + 22.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 13384.3792, + -23667.5404, + 277.4262 + ], + "actual_end_pos": [ + 13384.3792, + -23667.5404, + 277.4262 + ], + "actual_end_rot": [ + 22.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 13384.3792, + -23667.5404, + 277.4262 + ], + "start_rot": [ + 22.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 13384.3792, + -23667.5404, + 277.4262 + ], + "actual_end_pos": [ + 13384.3792, + -23667.5404, + 277.4262 + ], + "actual_end_rot": [ + 30.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 13384.3792, + -23667.5404, + 277.4262 + ], + "start_rot": [ + 30.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 13384.3792, + -23667.5404, + 277.4262 + ], + "actual_end_pos": [ + 13384.3792, + -23667.5404, + 277.4262 + ], + "actual_end_rot": [ + 30.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13384.3792, + -23667.5404, + 277.4262 + ], + "start_rot": [ + 30.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 13384.3792, + -23667.5404, + 277.4262 + ], + "actual_end_pos": [ + 13384.3792, + -23667.5404, + 277.4262 + ], + "actual_end_rot": [ + 30.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13384.3792, + -23667.5404, + 277.4262 + ], + "start_rot": [ + 30.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 13384.3792, + -23667.5404, + 277.4262 + ], + "actual_end_pos": [ + 13384.3792, + -23667.5404, + 277.4262 + ], + "actual_end_rot": [ + 30.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13384.3792, + -23667.5404, + 277.4262 + ], + "start_rot": [ + 30.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 13384.3792, + -23667.5404, + 277.4262 + ], + "actual_end_pos": [ + 13384.3792, + -23667.5404, + 277.4262 + ], + "actual_end_rot": [ + 30.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13384.3792, + -23667.5404, + 277.4262 + ], + "start_rot": [ + 30.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 13384.3792, + -23667.5404, + 277.4262 + ], + "actual_end_pos": [ + 13384.3792, + -23667.5404, + 277.4262 + ], + "actual_end_rot": [ + 30.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13384.3792, + -23667.5404, + 277.4262 + ], + "start_rot": [ + 30.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 13384.3792, + -23667.5404, + 277.4262 + ], + "actual_end_pos": [ + 13384.3792, + -23667.5404, + 277.4262 + ], + "actual_end_rot": [ + 30.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13384.3792, + -23667.5404, + 277.4262 + ], + "start_rot": [ + 30.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 13384.3792, + -23667.5404, + 277.4262 + ], + "actual_end_pos": [ + 13384.3792, + -23667.5404, + 277.4262 + ], + "actual_end_rot": [ + 30.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13384.3792, + -23667.5404, + 277.4262 + ], + "start_rot": [ + 30.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 13384.3792, + -23667.5404, + 277.4262 + ], + "actual_end_pos": [ + 13384.3792, + -23667.5404, + 277.4262 + ], + "actual_end_rot": [ + 30.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13384.3792, + -23667.5404, + 277.4262 + ], + "start_rot": [ + 30.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 13384.3792, + -23667.5404, + 277.4262 + ], + "actual_end_pos": [ + 13384.3792, + -23667.5404, + 277.4262 + ], + "actual_end_rot": [ + 30.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13384.3792, + -23667.5404, + 277.4262 + ], + "start_rot": [ + 30.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 13384.3792, + -23667.5404, + 277.4262 + ], + "actual_end_pos": [ + 13384.3792, + -23667.5404, + 277.4262 + ], + "actual_end_rot": [ + 30.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13384.3792, + -23667.5404, + 277.4262 + ], + "start_rot": [ + 30.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 13384.3792, + -23667.5404, + 277.4262 + ], + "actual_end_pos": [ + 13384.3792, + -23667.5404, + 277.4262 + ], + "actual_end_rot": [ + 30.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13384.3792, + -23667.5404, + 277.4262 + ], + "start_rot": [ + 30.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 13384.3792, + -23667.5404, + 277.4262 + ], + "actual_end_pos": [ + 13384.3792, + -23667.5404, + 277.4262 + ], + "actual_end_rot": [ + 30.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13384.3792, + -23667.5404, + 277.4262 + ], + "start_rot": [ + 30.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 13384.3792, + -23667.5404, + 277.4262 + ], + "actual_end_pos": [ + 13384.3792, + -23667.5404, + 277.4262 + ], + "actual_end_rot": [ + 30.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13384.3792, + -23667.5404, + 277.4262 + ], + "start_rot": [ + 30.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 13384.3792, + -23667.5404, + 277.4262 + ], + "actual_end_pos": [ + 13384.3792, + -23667.5404, + 277.4262 + ], + "actual_end_rot": [ + 30.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13384.3792, + -23667.5404, + 277.4262 + ], + "start_rot": [ + 30.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 13384.3792, + -23667.5404, + 277.4262 + ], + "actual_end_pos": [ + 13384.3792, + -23667.5404, + 277.4262 + ], + "actual_end_rot": [ + 30.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 13384.3792, + -23667.5404, + 277.4262 + ], + "start_rot": [ + 30.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 13384.3792, + -23667.5404, + 277.4262 + ], + "actual_end_pos": [ + 13384.3792, + -23667.5404, + 277.4262 + ], + "actual_end_rot": [ + 30.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 13384.3792, + -23667.5404, + 277.4262 + ], + "start_rot": [ + 30.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 13384.3792, + -23667.5404, + 277.4262 + ], + "actual_end_pos": [ + 13384.3792, + -23667.5404, + 277.4262 + ], + "actual_end_rot": [ + 22.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 13384.3792, + -23667.5404, + 277.4262 + ], + "start_rot": [ + 22.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 13338.1852, + -23747.5508, + 239.1579 + ], + "actual_end_pos": [ + 13338.1852, + -23747.5508, + 239.1579 + ], + "actual_end_rot": [ + 22.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 13338.1852, + -23747.5508, + 239.1579 + ], + "start_rot": [ + 22.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 13338.1852, + -23747.5508, + 239.1579 + ], + "actual_end_pos": [ + 13338.1852, + -23747.5508, + 239.1579 + ], + "actual_end_rot": [ + 22.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 13338.1852, + -23747.5508, + 239.1579 + ], + "start_rot": [ + 22.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 13338.1852, + -23747.5508, + 239.1579 + ], + "actual_end_pos": [ + 13338.1852, + -23747.5508, + 239.1579 + ], + "actual_end_rot": [ + 15.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 13338.1852, + -23747.5508, + 239.1579 + ], + "start_rot": [ + 15.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 13338.1852, + -23747.5508, + 239.1579 + ], + "actual_end_pos": [ + 13338.1852, + -23747.5508, + 239.1579 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 13338.1852, + -23747.5508, + 239.1579 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 13268.0794, + -23817.6565, + 226.1052 + ], + "actual_end_pos": [ + 13268.0794, + -23817.6565, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 13268.0794, + -23817.6565, + 226.1052 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 13338.7901, + -23888.3672, + 226.1052 + ], + "actual_end_pos": [ + 13338.7901, + -23888.3672, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 13338.7901, + -23888.3672, + 226.1052 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 13409.5008, + -23959.0778, + 226.1052 + ], + "actual_end_pos": [ + 13409.5008, + -23959.0778, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 13409.5008, + -23959.0778, + 226.1052 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 13339.3951, + -24029.1836, + 213.0526 + ], + "actual_end_pos": [ + 13339.3951, + -24029.1836, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 13339.3951, + -24029.1836, + 213.0526 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 13269.2893, + -24099.2893, + 200.0 + ], + "actual_end_pos": [ + 13269.2893, + -24099.2893, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 13269.2893, + -24099.2893, + 200.0 + ], + "start_rot": [ + 7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 13269.2893, + -24099.2893, + 200.0 + ], + "actual_end_pos": [ + 13269.2893, + -24099.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 13269.2893, + -24099.2893, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 13340.0, + -24170.0, + 200.0 + ], + "actual_end_pos": [ + 13340.0, + -24170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260408_180248__traj_006112_meta.json b/inverse_easy/run_20260408_180248__traj_006112_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c7711b7a69ef256ff9e0a85cc455490fce54779b --- /dev/null +++ b/inverse_easy/run_20260408_180248__traj_006112_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 6112, + "episode_id": 0, + "state_id": 4543, + "sample_index": 4543, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 13340.0, + -23170.0, + 200.0 + ], + "rotation": [ + 0.0, + 315.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_right", + "move_forward", + "turn_left", + "turn_left", + "move_forward", + "look_up", + "move_forward", + "turn_right", + "move_right", + "move_right", + "turn_right", + "move_right", + "look_down", + "turn_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "turn_left", + "look_up", + "move_left", + "turn_left", + "move_left", + "move_left", + "turn_left", + "move_backward", + "look_down", + "move_backward", + "turn_right", + "turn_right", + "move_backward", + "turn_left" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 13340.0, + -23170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 13340.0, + -23170.0, + 200.0 + ], + "actual_end_pos": [ + 13340.0, + -23170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 13340.0, + -23170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 13426.6025, + -23220.0, + 200.0 + ], + "actual_end_pos": [ + 13426.6025, + -23220.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 13426.6025, + -23220.0, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 13426.6025, + -23220.0, + 200.0 + ], + "actual_end_pos": [ + 13426.6025, + -23220.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 13426.6025, + -23220.0, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 13426.6025, + -23220.0, + 200.0 + ], + "actual_end_pos": [ + 13426.6025, + -23220.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 13426.6025, + -23220.0, + 200.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 13476.6025, + -23306.6025, + 200.0 + ], + "actual_end_pos": [ + 13476.6025, + -23306.6025, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 13476.6025, + -23306.6025, + 200.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 13476.6025, + -23306.6025, + 200.0 + ], + "actual_end_pos": [ + 13476.6025, + -23306.6025, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 13476.6025, + -23306.6025, + 200.0 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 13526.1748, + -23392.4642, + 213.0526 + ], + "actual_end_pos": [ + 13526.1748, + -23392.4642, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 13526.1748, + -23392.4642, + 213.0526 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 13526.1748, + -23392.4642, + 213.0526 + ], + "actual_end_pos": [ + 13526.1748, + -23392.4642, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 13526.1748, + -23392.4642, + 213.0526 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 13596.8855, + -23321.7535, + 213.0526 + ], + "actual_end_pos": [ + 13596.8855, + -23321.7535, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 13596.8855, + -23321.7535, + 213.0526 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 13667.5961, + -23251.0428, + 213.0526 + ], + "actual_end_pos": [ + 13667.5961, + -23251.0428, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 13667.5961, + -23251.0428, + 213.0526 + ], + "start_rot": [ + 7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 13667.5961, + -23251.0428, + 213.0526 + ], + "actual_end_pos": [ + 13667.5961, + -23251.0428, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 13667.5961, + -23251.0428, + 213.0526 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 13717.5961, + -23164.4403, + 213.0526 + ], + "actual_end_pos": [ + 13717.5961, + -23164.4403, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 13717.5961, + -23164.4403, + 213.0526 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 13717.5961, + -23164.4403, + 213.0526 + ], + "actual_end_pos": [ + 13717.5961, + -23164.4403, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 13717.5961, + -23164.4403, + 213.0526 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 13717.5961, + -23164.4403, + 213.0526 + ], + "actual_end_pos": [ + 13717.5961, + -23164.4403, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13717.5961, + -23164.4403, + 213.0526 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 13717.5961, + -23164.4403, + 213.0526 + ], + "actual_end_pos": [ + 13717.5961, + -23164.4403, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13717.5961, + -23164.4403, + 213.0526 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 13717.5961, + -23164.4403, + 213.0526 + ], + "actual_end_pos": [ + 13717.5961, + -23164.4403, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13717.5961, + -23164.4403, + 213.0526 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 13717.5961, + -23164.4403, + 213.0526 + ], + "actual_end_pos": [ + 13717.5961, + -23164.4403, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13717.5961, + -23164.4403, + 213.0526 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 13717.5961, + -23164.4403, + 213.0526 + ], + "actual_end_pos": [ + 13717.5961, + -23164.4403, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13717.5961, + -23164.4403, + 213.0526 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 13717.5961, + -23164.4403, + 213.0526 + ], + "actual_end_pos": [ + 13717.5961, + -23164.4403, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13717.5961, + -23164.4403, + 213.0526 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 13717.5961, + -23164.4403, + 213.0526 + ], + "actual_end_pos": [ + 13717.5961, + -23164.4403, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13717.5961, + -23164.4403, + 213.0526 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 13717.5961, + -23164.4403, + 213.0526 + ], + "actual_end_pos": [ + 13717.5961, + -23164.4403, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13717.5961, + -23164.4403, + 213.0526 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 13717.5961, + -23164.4403, + 213.0526 + ], + "actual_end_pos": [ + 13717.5961, + -23164.4403, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13717.5961, + -23164.4403, + 213.0526 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 13717.5961, + -23164.4403, + 213.0526 + ], + "actual_end_pos": [ + 13717.5961, + -23164.4403, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13717.5961, + -23164.4403, + 213.0526 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 13717.5961, + -23164.4403, + 213.0526 + ], + "actual_end_pos": [ + 13717.5961, + -23164.4403, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13717.5961, + -23164.4403, + 213.0526 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 13717.5961, + -23164.4403, + 213.0526 + ], + "actual_end_pos": [ + 13717.5961, + -23164.4403, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13717.5961, + -23164.4403, + 213.0526 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 13717.5961, + -23164.4403, + 213.0526 + ], + "actual_end_pos": [ + 13717.5961, + -23164.4403, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 13717.5961, + -23164.4403, + 213.0526 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + 13717.5961, + -23164.4403, + 213.0526 + ], + "actual_end_pos": [ + 13717.5961, + -23164.4403, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 13717.5961, + -23164.4403, + 213.0526 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 13717.5961, + -23164.4403, + 213.0526 + ], + "actual_end_pos": [ + 13717.5961, + -23164.4403, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 13717.5961, + -23164.4403, + 213.0526 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 13667.5961, + -23251.0428, + 213.0526 + ], + "actual_end_pos": [ + 13667.5961, + -23251.0428, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 13667.5961, + -23251.0428, + 213.0526 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 13667.5961, + -23251.0428, + 213.0526 + ], + "actual_end_pos": [ + 13667.5961, + -23251.0428, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 13667.5961, + -23251.0428, + 213.0526 + ], + "start_rot": [ + 7.5, + -45.0, + -0.0 + ], + "expected_end_pos": [ + 13596.8855, + -23321.7535, + 213.0526 + ], + "actual_end_pos": [ + 13596.8855, + -23321.7535, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 13596.8855, + -23321.7535, + 213.0526 + ], + "start_rot": [ + 7.5, + -45.0, + -0.0 + ], + "expected_end_pos": [ + 13526.1748, + -23392.4642, + 213.0526 + ], + "actual_end_pos": [ + 13526.1748, + -23392.4642, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 13526.1748, + -23392.4642, + 213.0526 + ], + "start_rot": [ + 7.5, + -45.0, + -0.0 + ], + "expected_end_pos": [ + 13526.1748, + -23392.4642, + 213.0526 + ], + "actual_end_pos": [ + 13526.1748, + -23392.4642, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 13526.1748, + -23392.4642, + 213.0526 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 13476.6025, + -23306.6025, + 200.0 + ], + "actual_end_pos": [ + 13476.6025, + -23306.6025, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 13476.6025, + -23306.6025, + 200.0 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 13476.6025, + -23306.6025, + 200.0 + ], + "actual_end_pos": [ + 13476.6025, + -23306.6025, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 13476.6025, + -23306.6025, + 200.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 13426.6025, + -23220.0, + 200.0 + ], + "actual_end_pos": [ + 13426.6025, + -23220.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 13426.6025, + -23220.0, + 200.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 13426.6025, + -23220.0, + 200.0 + ], + "actual_end_pos": [ + 13426.6025, + -23220.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 13426.6025, + -23220.0, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 13426.6025, + -23220.0, + 200.0 + ], + "actual_end_pos": [ + 13426.6025, + -23220.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 13426.6025, + -23220.0, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 13340.0, + -23170.0, + 200.0 + ], + "actual_end_pos": [ + 13340.0, + -23170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 13340.0, + -23170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + 13340.0, + -23170.0, + 200.0 + ], + "actual_end_pos": [ + 13340.0, + -23170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260408_180248__traj_006168_meta.json b/inverse_easy/run_20260408_180248__traj_006168_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cbcf4e038836a61a199ed2f60b79fa2fd3d83874 --- /dev/null +++ b/inverse_easy/run_20260408_180248__traj_006168_meta.json @@ -0,0 +1,1459 @@ +{ + "trajectory_id": 6168, + "episode_id": 0, + "state_id": 4585, + "sample_index": 4585, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 13340.0, + -17170.0, + 200.0 + ], + "rotation": [ + 0.0, + 45.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "move_forward", + "move_left", + "move_forward", + "move_forward", + "move_forward", + "move_right", + "move_right", + "turn_right", + "no_op", + "look_down", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "look_up", + "no_op", + "turn_left", + "move_left", + "move_left", + "move_backward", + "move_backward", + "move_backward", + "move_right", + "move_backward", + "move_right" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 13340.0, + -17170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 13410.7107, + -17240.7107, + 200.0 + ], + "actual_end_pos": [ + 13410.7107, + -17240.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 13410.7107, + -17240.7107, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 13481.4214, + -17170.0, + 200.0 + ], + "actual_end_pos": [ + 13481.4214, + -17170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 13481.4214, + -17170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 13552.132, + -17240.7107, + 200.0 + ], + "actual_end_pos": [ + 13552.132, + -17240.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 13552.132, + -17240.7107, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 13622.8427, + -17170.0, + 200.0 + ], + "actual_end_pos": [ + 13622.8427, + -17170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 13622.8427, + -17170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 13693.5534, + -17099.2893, + 200.0 + ], + "actual_end_pos": [ + 13693.5534, + -17099.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 13693.5534, + -17099.2893, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 13764.2641, + -17028.5786, + 200.0 + ], + "actual_end_pos": [ + 13764.2641, + -17028.5786, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 13764.2641, + -17028.5786, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 13693.5534, + -16957.868, + 200.0 + ], + "actual_end_pos": [ + 13693.5534, + -16957.868, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 13693.5534, + -16957.868, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "actual_end_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "actual_end_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "actual_end_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "actual_end_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "actual_end_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "actual_end_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "actual_end_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "actual_end_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "actual_end_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "actual_end_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "actual_end_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "actual_end_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "actual_end_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "actual_end_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "actual_end_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "actual_end_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "actual_end_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "actual_end_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "actual_end_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "actual_end_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "actual_end_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "actual_end_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "actual_end_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "actual_end_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "actual_end_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 13622.8427, + -16887.1573, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 13693.5534, + -16957.868, + 200.0 + ], + "actual_end_pos": [ + 13693.5534, + -16957.868, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 13693.5534, + -16957.868, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 13764.2641, + -17028.5786, + 200.0 + ], + "actual_end_pos": [ + 13764.2641, + -17028.5786, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 13764.2641, + -17028.5786, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 13693.5534, + -17099.2893, + 200.0 + ], + "actual_end_pos": [ + 13693.5534, + -17099.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 13693.5534, + -17099.2893, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 13622.8427, + -17170.0, + 200.0 + ], + "actual_end_pos": [ + 13622.8427, + -17170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 13622.8427, + -17170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 13552.132, + -17240.7107, + 200.0 + ], + "actual_end_pos": [ + 13552.132, + -17240.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 13552.132, + -17240.7107, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 13481.4214, + -17170.0, + 200.0 + ], + "actual_end_pos": [ + 13481.4214, + -17170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 13481.4214, + -17170.0, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 13410.7107, + -17240.7107, + 200.0 + ], + "actual_end_pos": [ + 13410.7107, + -17240.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 13410.7107, + -17240.7107, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 13340.0, + -17170.0, + 200.0 + ], + "actual_end_pos": [ + 13340.0, + -17170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260409_134704__traj_000037_meta.json b/inverse_easy/run_20260409_134704__traj_000037_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c1b28857a500a34e0fc9a388f7c7bbb54651c775 --- /dev/null +++ b/inverse_easy/run_20260409_134704__traj_000037_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 37, + "episode_id": 0, + "state_id": 29, + "sample_index": 29, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 20280.0, + 5630.0, + 3550.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_right", + "move_left", + "move_backward", + "move_left", + "turn_left", + "move_left", + "move_left", + "turn_right", + "move_forward", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "move_right", + "move_backward", + "turn_left", + "move_right", + "move_right", + "turn_right", + "move_right", + "move_forward", + "move_right", + "turn_left" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 20280.0, + 5630.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 20280.0, + 5630.0, + 3550.0 + ], + "actual_end_pos": [ + 20280.0, + 5630.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 20280.0, + 5630.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 20376.5926, + 5655.8819, + 3550.0 + ], + "actual_end_pos": [ + 20376.5926, + 5655.8819, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 20376.5926, + 5655.8819, + 3550.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 20402.4745, + 5559.2893, + 3550.0 + ], + "actual_end_pos": [ + 20402.4745, + 5559.2893, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 20402.4745, + 5559.2893, + 3550.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 20499.0671, + 5585.1712, + 3550.0 + ], + "actual_end_pos": [ + 20499.0671, + 5585.1712, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 20499.0671, + 5585.1712, + 3550.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 20499.0671, + 5585.1712, + 3550.0 + ], + "actual_end_pos": [ + 20499.0671, + 5585.1712, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 20499.0671, + 5585.1712, + 3550.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 20599.0671, + 5585.1712, + 3550.0 + ], + "actual_end_pos": [ + 20599.0671, + 5585.1712, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 20599.0671, + 5585.1712, + 3550.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 20699.0671, + 5585.1712, + 3550.0 + ], + "actual_end_pos": [ + 20699.0671, + 5585.1712, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 20699.0671, + 5585.1712, + 3550.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 20699.0671, + 5585.1712, + 3550.0 + ], + "actual_end_pos": [ + 20699.0671, + 5585.1712, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 20699.0671, + 5585.1712, + 3550.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 20673.1852, + 5681.7638, + 3550.0 + ], + "actual_end_pos": [ + 20673.1852, + 5681.7638, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 20673.1852, + 5681.7638, + 3550.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 20769.7777, + 5707.6457, + 3550.0 + ], + "actual_end_pos": [ + 20769.7777, + 5707.6457, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 20769.7777, + 5707.6457, + 3550.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 20769.7777, + 5707.6457, + 3550.0 + ], + "actual_end_pos": [ + 20769.7777, + 5707.6457, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 20769.7777, + 5707.6457, + 3550.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 20769.7777, + 5707.6457, + 3550.0 + ], + "actual_end_pos": [ + 20769.7777, + 5707.6457, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 20769.7777, + 5707.6457, + 3550.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 20769.7777, + 5707.6457, + 3550.0 + ], + "actual_end_pos": [ + 20769.7777, + 5707.6457, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 20769.7777, + 5707.6457, + 3550.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 20769.7777, + 5707.6457, + 3550.0 + ], + "actual_end_pos": [ + 20769.7777, + 5707.6457, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 20769.7777, + 5707.6457, + 3550.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 20769.7777, + 5707.6457, + 3550.0 + ], + "actual_end_pos": [ + 20769.7777, + 5707.6457, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 20769.7777, + 5707.6457, + 3550.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 20769.7777, + 5707.6457, + 3550.0 + ], + "actual_end_pos": [ + 20769.7777, + 5707.6457, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 20769.7777, + 5707.6457, + 3550.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 20769.7777, + 5707.6457, + 3550.0 + ], + "actual_end_pos": [ + 20769.7777, + 5707.6457, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 20769.7777, + 5707.6457, + 3550.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 20769.7777, + 5707.6457, + 3550.0 + ], + "actual_end_pos": [ + 20769.7777, + 5707.6457, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 20769.7777, + 5707.6457, + 3550.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 20769.7777, + 5707.6457, + 3550.0 + ], + "actual_end_pos": [ + 20769.7777, + 5707.6457, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 20769.7777, + 5707.6457, + 3550.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 20769.7777, + 5707.6457, + 3550.0 + ], + "actual_end_pos": [ + 20769.7777, + 5707.6457, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 20769.7777, + 5707.6457, + 3550.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 20769.7777, + 5707.6457, + 3550.0 + ], + "actual_end_pos": [ + 20769.7777, + 5707.6457, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 20769.7777, + 5707.6457, + 3550.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 20769.7777, + 5707.6457, + 3550.0 + ], + "actual_end_pos": [ + 20769.7777, + 5707.6457, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 20769.7777, + 5707.6457, + 3550.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 20769.7777, + 5707.6457, + 3550.0 + ], + "actual_end_pos": [ + 20769.7777, + 5707.6457, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 20769.7777, + 5707.6457, + 3550.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 20769.7777, + 5707.6457, + 3550.0 + ], + "actual_end_pos": [ + 20769.7777, + 5707.6457, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 20769.7777, + 5707.6457, + 3550.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 20769.7777, + 5707.6457, + 3550.0 + ], + "actual_end_pos": [ + 20769.7777, + 5707.6457, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 20769.7777, + 5707.6457, + 3550.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 20769.7777, + 5707.6457, + 3550.0 + ], + "actual_end_pos": [ + 20769.7777, + 5707.6457, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 20769.7777, + 5707.6457, + 3550.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 20769.7777, + 5707.6457, + 3550.0 + ], + "actual_end_pos": [ + 20769.7777, + 5707.6457, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 20769.7777, + 5707.6457, + 3550.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 20769.7777, + 5707.6457, + 3550.0 + ], + "actual_end_pos": [ + 20769.7777, + 5707.6457, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 20769.7777, + 5707.6457, + 3550.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 20769.7777, + 5707.6457, + 3550.0 + ], + "actual_end_pos": [ + 20769.7777, + 5707.6457, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 20769.7777, + 5707.6457, + 3550.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 20769.7777, + 5707.6457, + 3550.0 + ], + "actual_end_pos": [ + 20769.7777, + 5707.6457, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 20769.7777, + 5707.6457, + 3550.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 20673.1852, + 5681.7638, + 3550.0 + ], + "actual_end_pos": [ + 20673.1852, + 5681.7638, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 20673.1852, + 5681.7638, + 3550.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 20699.0671, + 5585.1712, + 3550.0 + ], + "actual_end_pos": [ + 20699.0671, + 5585.1712, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 20699.0671, + 5585.1712, + 3550.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 20699.0671, + 5585.1712, + 3550.0 + ], + "actual_end_pos": [ + 20699.0671, + 5585.1712, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 20699.0671, + 5585.1712, + 3550.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 20599.0671, + 5585.1712, + 3550.0 + ], + "actual_end_pos": [ + 20599.0671, + 5585.1712, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 20599.0671, + 5585.1712, + 3550.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 20499.0671, + 5585.1712, + 3550.0 + ], + "actual_end_pos": [ + 20499.0671, + 5585.1712, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 20499.0671, + 5585.1712, + 3550.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 20499.0671, + 5585.1712, + 3550.0 + ], + "actual_end_pos": [ + 20499.0671, + 5585.1712, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 20499.0671, + 5585.1712, + 3550.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 20402.4745, + 5559.2893, + 3550.0 + ], + "actual_end_pos": [ + 20402.4745, + 5559.2893, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 20402.4745, + 5559.2893, + 3550.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 20376.5926, + 5655.8819, + 3550.0 + ], + "actual_end_pos": [ + 20376.5926, + 5655.8819, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 20376.5926, + 5655.8819, + 3550.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 20280.0, + 5630.0, + 3550.0 + ], + "actual_end_pos": [ + 20280.0, + 5630.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 20280.0, + 5630.0, + 3550.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 20280.0, + 5630.0, + 3550.0 + ], + "actual_end_pos": [ + 20280.0, + 5630.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260409_134704__traj_000071_meta.json b/inverse_easy/run_20260409_134704__traj_000071_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1af5654a7748f7076f531ed7ac4bc64d1685875d --- /dev/null +++ b/inverse_easy/run_20260409_134704__traj_000071_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 71, + "episode_id": 0, + "state_id": 55, + "sample_index": 55, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 20780.0, + 2130.0, + 3550.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_right", + "move_backward", + "move_left", + "move_forward", + "move_right", + "turn_right", + "move_forward", + "no_op", + "move_right", + "turn_right", + "move_left", + "move_forward", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "move_right", + "move_backward", + "move_right", + "turn_left", + "move_left", + "no_op", + "move_backward", + "turn_left", + "move_left", + "move_backward", + "move_right", + "move_forward", + "turn_left" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 20780.0, + 2130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 20780.0, + 2130.0, + 3550.0 + ], + "actual_end_pos": [ + 20780.0, + 2130.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 20780.0, + 2130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 20754.1181, + 2226.5926, + 3550.0 + ], + "actual_end_pos": [ + 20754.1181, + 2226.5926, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 20754.1181, + 2226.5926, + 3550.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 20657.5255, + 2200.7107, + 3550.0 + ], + "actual_end_pos": [ + 20657.5255, + 2200.7107, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 20657.5255, + 2200.7107, + 3550.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 20683.4074, + 2104.1181, + 3550.0 + ], + "actual_end_pos": [ + 20683.4074, + 2104.1181, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 20683.4074, + 2104.1181, + 3550.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 20780.0, + 2130.0, + 3550.0 + ], + "actual_end_pos": [ + 20780.0, + 2130.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 20780.0, + 2130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 20780.0, + 2130.0, + 3550.0 + ], + "actual_end_pos": [ + 20780.0, + 2130.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 20780.0, + 2130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 20830.0, + 2043.3975, + 3550.0 + ], + "actual_end_pos": [ + 20830.0, + 2043.3975, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 20830.0, + 2043.3975, + 3550.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 20830.0, + 2043.3975, + 3550.0 + ], + "actual_end_pos": [ + 20830.0, + 2043.3975, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 20830.0, + 2043.3975, + 3550.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 20916.6025, + 2093.3975, + 3550.0 + ], + "actual_end_pos": [ + 20916.6025, + 2093.3975, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 20916.6025, + 2093.3975, + 3550.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 20916.6025, + 2093.3975, + 3550.0 + ], + "actual_end_pos": [ + 20916.6025, + 2093.3975, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 20916.6025, + 2093.3975, + 3550.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 20845.8919, + 2022.6868, + 3550.0 + ], + "actual_end_pos": [ + 20845.8919, + 2022.6868, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 20845.8919, + 2022.6868, + 3550.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 20916.6025, + 1951.9761, + 3550.0 + ], + "actual_end_pos": [ + 20916.6025, + 1951.9761, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 20916.6025, + 1951.9761, + 3550.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 20845.8919, + 1881.2654, + 3550.0 + ], + "actual_end_pos": [ + 20845.8919, + 1881.2654, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 20845.8919, + 1881.2654, + 3550.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 20845.8919, + 1881.2654, + 3550.0 + ], + "actual_end_pos": [ + 20845.8919, + 1881.2654, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 20845.8919, + 1881.2654, + 3550.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 20845.8919, + 1881.2654, + 3550.0 + ], + "actual_end_pos": [ + 20845.8919, + 1881.2654, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 20845.8919, + 1881.2654, + 3550.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 20845.8919, + 1881.2654, + 3550.0 + ], + "actual_end_pos": [ + 20845.8919, + 1881.2654, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 20845.8919, + 1881.2654, + 3550.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 20845.8919, + 1881.2654, + 3550.0 + ], + "actual_end_pos": [ + 20845.8919, + 1881.2654, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 20845.8919, + 1881.2654, + 3550.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 20845.8919, + 1881.2654, + 3550.0 + ], + "actual_end_pos": [ + 20845.8919, + 1881.2654, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 20845.8919, + 1881.2654, + 3550.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 20845.8919, + 1881.2654, + 3550.0 + ], + "actual_end_pos": [ + 20845.8919, + 1881.2654, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 20845.8919, + 1881.2654, + 3550.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 20845.8919, + 1881.2654, + 3550.0 + ], + "actual_end_pos": [ + 20845.8919, + 1881.2654, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 20845.8919, + 1881.2654, + 3550.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 20845.8919, + 1881.2654, + 3550.0 + ], + "actual_end_pos": [ + 20845.8919, + 1881.2654, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 20845.8919, + 1881.2654, + 3550.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 20845.8919, + 1881.2654, + 3550.0 + ], + "actual_end_pos": [ + 20845.8919, + 1881.2654, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 20845.8919, + 1881.2654, + 3550.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 20845.8919, + 1881.2654, + 3550.0 + ], + "actual_end_pos": [ + 20845.8919, + 1881.2654, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 20845.8919, + 1881.2654, + 3550.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 20845.8919, + 1881.2654, + 3550.0 + ], + "actual_end_pos": [ + 20845.8919, + 1881.2654, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 20845.8919, + 1881.2654, + 3550.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 20845.8919, + 1881.2654, + 3550.0 + ], + "actual_end_pos": [ + 20845.8919, + 1881.2654, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 20845.8919, + 1881.2654, + 3550.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 20845.8919, + 1881.2654, + 3550.0 + ], + "actual_end_pos": [ + 20845.8919, + 1881.2654, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 20845.8919, + 1881.2654, + 3550.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 20845.8919, + 1881.2654, + 3550.0 + ], + "actual_end_pos": [ + 20845.8919, + 1881.2654, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 20845.8919, + 1881.2654, + 3550.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 20916.6025, + 1951.9761, + 3550.0 + ], + "actual_end_pos": [ + 20916.6025, + 1951.9761, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 20916.6025, + 1951.9761, + 3550.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 20845.8919, + 2022.6868, + 3550.0 + ], + "actual_end_pos": [ + 20845.8919, + 2022.6868, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 20845.8919, + 2022.6868, + 3550.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 20916.6025, + 2093.3975, + 3550.0 + ], + "actual_end_pos": [ + 20916.6025, + 2093.3975, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 20916.6025, + 2093.3975, + 3550.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 20916.6025, + 2093.3975, + 3550.0 + ], + "actual_end_pos": [ + 20916.6025, + 2093.3975, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 20916.6025, + 2093.3975, + 3550.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 20830.0, + 2043.3975, + 3550.0 + ], + "actual_end_pos": [ + 20830.0, + 2043.3975, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 20830.0, + 2043.3975, + 3550.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 20830.0, + 2043.3975, + 3550.0 + ], + "actual_end_pos": [ + 20830.0, + 2043.3975, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 20830.0, + 2043.3975, + 3550.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 20780.0, + 2130.0, + 3550.0 + ], + "actual_end_pos": [ + 20780.0, + 2130.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 20780.0, + 2130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 20780.0, + 2130.0, + 3550.0 + ], + "actual_end_pos": [ + 20780.0, + 2130.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 20780.0, + 2130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 20683.4074, + 2104.1181, + 3550.0 + ], + "actual_end_pos": [ + 20683.4074, + 2104.1181, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 20683.4074, + 2104.1181, + 3550.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 20657.5255, + 2200.7107, + 3550.0 + ], + "actual_end_pos": [ + 20657.5255, + 2200.7107, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 20657.5255, + 2200.7107, + 3550.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 20754.1181, + 2226.5926, + 3550.0 + ], + "actual_end_pos": [ + 20754.1181, + 2226.5926, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 20754.1181, + 2226.5926, + 3550.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 20780.0, + 2130.0, + 3550.0 + ], + "actual_end_pos": [ + 20780.0, + 2130.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 20780.0, + 2130.0, + 3550.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + 20780.0, + 2130.0, + 3550.0 + ], + "actual_end_pos": [ + 20780.0, + 2130.0, + 3550.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260414_205421__traj_000092_meta.json b/inverse_easy/run_20260414_205421__traj_000092_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bb698b72b833ec5ffb68a39fa4c77268fea7ce90 --- /dev/null +++ b/inverse_easy/run_20260414_205421__traj_000092_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 92, + "episode_id": 0, + "state_id": 63, + "sample_index": 63, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -870.0, + 370.0, + 200.0 + ], + "rotation": [ + 0.0, + 315.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "move_forward", + "look_down", + "move_backward", + "move_right", + "move_forward", + "look_down", + "move_forward", + "move_right", + "move_forward", + "turn_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "turn_left", + "move_backward", + "move_left", + "move_backward", + "look_up", + "move_backward", + "move_left", + "move_forward", + "look_up", + "move_backward", + "move_right" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -870.0, + 370.0, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -940.7107, + 299.2893, + 200.0 + ], + "actual_end_pos": [ + -940.7107, + 299.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -940.7107, + 299.2893, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -870.0, + 228.5786, + 200.0 + ], + "actual_end_pos": [ + -870.0, + 228.5786, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -870.0, + 228.5786, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -870.0, + 228.5786, + 200.0 + ], + "actual_end_pos": [ + -870.0, + 228.5786, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -870.0, + 228.5786, + 200.0 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -940.1057, + 298.6844, + 213.0526 + ], + "actual_end_pos": [ + -940.1057, + 298.6844, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -940.1057, + 298.6844, + 213.0526 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -869.3951, + 369.3951, + 213.0526 + ], + "actual_end_pos": [ + -869.3951, + 369.3951, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -869.3951, + 369.3951, + 213.0526 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -799.2893, + 299.2893, + 200.0 + ], + "actual_end_pos": [ + -799.2893, + 299.2893, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -799.2893, + 299.2893, + 200.0 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -799.2893, + 299.2893, + 200.0 + ], + "actual_end_pos": [ + -799.2893, + 299.2893, + 200.0 + ], + "actual_end_rot": [ + -15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -799.2893, + 299.2893, + 200.0 + ], + "start_rot": [ + -15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -730.9881, + 230.9881, + 174.1181 + ], + "actual_end_pos": [ + -730.9881, + 230.9881, + 174.1181 + ], + "actual_end_rot": [ + -15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -730.9881, + 230.9881, + 174.1181 + ], + "start_rot": [ + -15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -660.2774, + 301.6987, + 174.1181 + ], + "actual_end_pos": [ + -660.2774, + 301.6987, + 174.1181 + ], + "actual_end_rot": [ + -15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -660.2774, + 301.6987, + 174.1181 + ], + "start_rot": [ + -15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -591.9761, + 233.3975, + 148.2362 + ], + "actual_end_pos": [ + -591.9761, + 233.3975, + 148.2362 + ], + "actual_end_rot": [ + -15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -591.9761, + 233.3975, + 148.2362 + ], + "start_rot": [ + -15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -591.9761, + 233.3975, + 148.2362 + ], + "actual_end_pos": [ + -591.9761, + 233.3975, + 148.2362 + ], + "actual_end_rot": [ + -15.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -591.9761, + 233.3975, + 148.2362 + ], + "start_rot": [ + -15.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -591.9761, + 233.3975, + 148.2362 + ], + "actual_end_pos": [ + -591.9761, + 233.3975, + 148.2362 + ], + "actual_end_rot": [ + -15.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -591.9761, + 233.3975, + 148.2362 + ], + "start_rot": [ + -15.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -591.9761, + 233.3975, + 148.2362 + ], + "actual_end_pos": [ + -591.9761, + 233.3975, + 148.2362 + ], + "actual_end_rot": [ + -15.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -591.9761, + 233.3975, + 148.2362 + ], + "start_rot": [ + -15.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -591.9761, + 233.3975, + 148.2362 + ], + "actual_end_pos": [ + -591.9761, + 233.3975, + 148.2362 + ], + "actual_end_rot": [ + -15.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -591.9761, + 233.3975, + 148.2362 + ], + "start_rot": [ + -15.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -591.9761, + 233.3975, + 148.2362 + ], + "actual_end_pos": [ + -591.9761, + 233.3975, + 148.2362 + ], + "actual_end_rot": [ + -15.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -591.9761, + 233.3975, + 148.2362 + ], + "start_rot": [ + -15.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -591.9761, + 233.3975, + 148.2362 + ], + "actual_end_pos": [ + -591.9761, + 233.3975, + 148.2362 + ], + "actual_end_rot": [ + -15.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -591.9761, + 233.3975, + 148.2362 + ], + "start_rot": [ + -15.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -591.9761, + 233.3975, + 148.2362 + ], + "actual_end_pos": [ + -591.9761, + 233.3975, + 148.2362 + ], + "actual_end_rot": [ + -15.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -591.9761, + 233.3975, + 148.2362 + ], + "start_rot": [ + -15.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -591.9761, + 233.3975, + 148.2362 + ], + "actual_end_pos": [ + -591.9761, + 233.3975, + 148.2362 + ], + "actual_end_rot": [ + -15.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -591.9761, + 233.3975, + 148.2362 + ], + "start_rot": [ + -15.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -591.9761, + 233.3975, + 148.2362 + ], + "actual_end_pos": [ + -591.9761, + 233.3975, + 148.2362 + ], + "actual_end_rot": [ + -15.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -591.9761, + 233.3975, + 148.2362 + ], + "start_rot": [ + -15.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -591.9761, + 233.3975, + 148.2362 + ], + "actual_end_pos": [ + -591.9761, + 233.3975, + 148.2362 + ], + "actual_end_rot": [ + -15.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -591.9761, + 233.3975, + 148.2362 + ], + "start_rot": [ + -15.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -591.9761, + 233.3975, + 148.2362 + ], + "actual_end_pos": [ + -591.9761, + 233.3975, + 148.2362 + ], + "actual_end_rot": [ + -15.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -591.9761, + 233.3975, + 148.2362 + ], + "start_rot": [ + -15.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -591.9761, + 233.3975, + 148.2362 + ], + "actual_end_pos": [ + -591.9761, + 233.3975, + 148.2362 + ], + "actual_end_rot": [ + -15.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -591.9761, + 233.3975, + 148.2362 + ], + "start_rot": [ + -15.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -591.9761, + 233.3975, + 148.2362 + ], + "actual_end_pos": [ + -591.9761, + 233.3975, + 148.2362 + ], + "actual_end_rot": [ + -15.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -591.9761, + 233.3975, + 148.2362 + ], + "start_rot": [ + -15.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -591.9761, + 233.3975, + 148.2362 + ], + "actual_end_pos": [ + -591.9761, + 233.3975, + 148.2362 + ], + "actual_end_rot": [ + -15.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -591.9761, + 233.3975, + 148.2362 + ], + "start_rot": [ + -15.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -591.9761, + 233.3975, + 148.2362 + ], + "actual_end_pos": [ + -591.9761, + 233.3975, + 148.2362 + ], + "actual_end_rot": [ + -15.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -591.9761, + 233.3975, + 148.2362 + ], + "start_rot": [ + -15.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -591.9761, + 233.3975, + 148.2362 + ], + "actual_end_pos": [ + -591.9761, + 233.3975, + 148.2362 + ], + "actual_end_rot": [ + -15.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -591.9761, + 233.3975, + 148.2362 + ], + "start_rot": [ + -15.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -591.9761, + 233.3975, + 148.2362 + ], + "actual_end_pos": [ + -591.9761, + 233.3975, + 148.2362 + ], + "actual_end_rot": [ + -15.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -591.9761, + 233.3975, + 148.2362 + ], + "start_rot": [ + -15.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -591.9761, + 233.3975, + 148.2362 + ], + "actual_end_pos": [ + -591.9761, + 233.3975, + 148.2362 + ], + "actual_end_rot": [ + -15.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -591.9761, + 233.3975, + 148.2362 + ], + "start_rot": [ + -15.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -591.9761, + 233.3975, + 148.2362 + ], + "actual_end_pos": [ + -591.9761, + 233.3975, + 148.2362 + ], + "actual_end_rot": [ + -15.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -591.9761, + 233.3975, + 148.2362 + ], + "start_rot": [ + -15.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -591.9761, + 233.3975, + 148.2362 + ], + "actual_end_pos": [ + -591.9761, + 233.3975, + 148.2362 + ], + "actual_end_rot": [ + -15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -591.9761, + 233.3975, + 148.2362 + ], + "start_rot": [ + -15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -660.2774, + 301.6987, + 174.1181 + ], + "actual_end_pos": [ + -660.2774, + 301.6987, + 174.1181 + ], + "actual_end_rot": [ + -15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -660.2774, + 301.6987, + 174.1181 + ], + "start_rot": [ + -15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -730.9881, + 230.9881, + 174.1181 + ], + "actual_end_pos": [ + -730.9881, + 230.9881, + 174.1181 + ], + "actual_end_rot": [ + -15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -730.9881, + 230.9881, + 174.1181 + ], + "start_rot": [ + -15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -799.2893, + 299.2893, + 200.0 + ], + "actual_end_pos": [ + -799.2893, + 299.2893, + 200.0 + ], + "actual_end_rot": [ + -15.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -799.2893, + 299.2893, + 200.0 + ], + "start_rot": [ + -15.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -799.2893, + 299.2893, + 200.0 + ], + "actual_end_pos": [ + -799.2893, + 299.2893, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -799.2893, + 299.2893, + 200.0 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -869.3951, + 369.3951, + 213.0526 + ], + "actual_end_pos": [ + -869.3951, + 369.3951, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -869.3951, + 369.3951, + 213.0526 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -940.1057, + 298.6844, + 213.0526 + ], + "actual_end_pos": [ + -940.1057, + 298.6844, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -940.1057, + 298.6844, + 213.0526 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -870.0, + 228.5786, + 200.0 + ], + "actual_end_pos": [ + -870.0, + 228.5786, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -870.0, + 228.5786, + 200.0 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -870.0, + 228.5786, + 200.0 + ], + "actual_end_pos": [ + -870.0, + 228.5786, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -870.0, + 228.5786, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -940.7107, + 299.2893, + 200.0 + ], + "actual_end_pos": [ + -940.7107, + 299.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -940.7107, + 299.2893, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -870.0, + 370.0, + 200.0 + ], + "actual_end_pos": [ + -870.0, + 370.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260414_205421__traj_000261_meta.json b/inverse_easy/run_20260414_205421__traj_000261_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..238241ec3106b95bc6d35c35cf22f9f203f7d293 --- /dev/null +++ b/inverse_easy/run_20260414_205421__traj_000261_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 261, + "episode_id": 0, + "state_id": 189, + "sample_index": 189, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -670.0, + 570.0, + 200.0 + ], + "rotation": [ + 0.0, + 225.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "move_backward", + "no_op", + "move_right", + "move_backward", + "move_right", + "move_right", + "move_right", + "move_forward", + "no_op", + "turn_right", + "turn_right", + "move_backward", + "move_backward", + "look_down", + "move_backward", + "turn_left", + "move_right", + "look_up", + "no_op", + "no_op", + "look_down", + "move_left", + "turn_right", + "move_forward", + "look_up", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "no_op", + "move_backward", + "move_left", + "move_left", + "move_left", + "move_forward", + "move_left", + "no_op", + "move_forward", + "move_left" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -670.0, + 570.0, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -599.2893, + 499.2893, + 200.0 + ], + "actual_end_pos": [ + -599.2893, + 499.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -599.2893, + 499.2893, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -528.5786, + 570.0, + 200.0 + ], + "actual_end_pos": [ + -528.5786, + 570.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -528.5786, + 570.0, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -528.5786, + 570.0, + 200.0 + ], + "actual_end_pos": [ + -528.5786, + 570.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -528.5786, + 570.0, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -457.868, + 499.2893, + 200.0 + ], + "actual_end_pos": [ + -457.868, + 499.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -457.868, + 499.2893, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -387.1573, + 570.0, + 200.0 + ], + "actual_end_pos": [ + -387.1573, + 570.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -387.1573, + 570.0, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -316.4466, + 499.2893, + 200.0 + ], + "actual_end_pos": [ + -316.4466, + 499.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -316.4466, + 499.2893, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -245.7359, + 428.5787, + 200.0 + ], + "actual_end_pos": [ + -245.7359, + 428.5787, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -245.7359, + 428.5787, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -175.0252, + 357.868, + 200.0 + ], + "actual_end_pos": [ + -175.0252, + 357.868, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -175.0252, + 357.868, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -245.7359, + 287.1573, + 200.0 + ], + "actual_end_pos": [ + -245.7359, + 287.1573, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -245.7359, + 287.1573, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -245.7359, + 287.1573, + 200.0 + ], + "actual_end_pos": [ + -245.7359, + 287.1573, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -245.7359, + 287.1573, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -245.7359, + 287.1573, + 200.0 + ], + "actual_end_pos": [ + -245.7359, + 287.1573, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -245.7359, + 287.1573, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -245.7359, + 287.1573, + 200.0 + ], + "actual_end_pos": [ + -245.7359, + 287.1573, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -245.7359, + 287.1573, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -219.854, + 383.7499, + 200.0 + ], + "actual_end_pos": [ + -219.854, + 383.7499, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -219.854, + 383.7499, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -193.9721, + 480.3425, + 200.0 + ], + "actual_end_pos": [ + -193.9721, + 480.3425, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -193.9721, + 480.3425, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -193.9721, + 480.3425, + 200.0 + ], + "actual_end_pos": [ + -193.9721, + 480.3425, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -193.9721, + 480.3425, + 200.0 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -168.3116, + 576.1087, + 213.0526 + ], + "actual_end_pos": [ + -168.3116, + 576.1087, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -168.3116, + 576.1087, + 213.0526 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -168.3116, + 576.1087, + 213.0526 + ], + "actual_end_pos": [ + -168.3116, + 576.1087, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -168.3116, + 576.1087, + 213.0526 + ], + "start_rot": [ + -7.5, + -120.0, + -0.0 + ], + "expected_end_pos": [ + -81.7091, + 526.1087, + 213.0526 + ], + "actual_end_pos": [ + -81.7091, + 526.1087, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -81.7091, + 526.1087, + 213.0526 + ], + "start_rot": [ + -7.5, + -120.0, + -0.0 + ], + "expected_end_pos": [ + -81.7091, + 526.1087, + 213.0526 + ], + "actual_end_pos": [ + -81.7091, + 526.1087, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -81.7091, + 526.1087, + 213.0526 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -81.7091, + 526.1087, + 213.0526 + ], + "actual_end_pos": [ + -81.7091, + 526.1087, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -81.7091, + 526.1087, + 213.0526 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -81.7091, + 526.1087, + 213.0526 + ], + "actual_end_pos": [ + -81.7091, + 526.1087, + 213.0526 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -81.7091, + 526.1087, + 213.0526 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -81.7091, + 526.1087, + 213.0526 + ], + "actual_end_pos": [ + -81.7091, + 526.1087, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -81.7091, + 526.1087, + 213.0526 + ], + "start_rot": [ + -7.5, + -120.0, + -0.0 + ], + "expected_end_pos": [ + -168.3116, + 576.1087, + 213.0526 + ], + "actual_end_pos": [ + -168.3116, + 576.1087, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -168.3116, + 576.1087, + 213.0526 + ], + "start_rot": [ + -7.5, + -120.0, + -0.0 + ], + "expected_end_pos": [ + -168.3116, + 576.1087, + 213.0526 + ], + "actual_end_pos": [ + -168.3116, + 576.1087, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -168.3116, + 576.1087, + 213.0526 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -193.9721, + 480.3425, + 200.0 + ], + "actual_end_pos": [ + -193.9721, + 480.3425, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -193.9721, + 480.3425, + 200.0 + ], + "start_rot": [ + -7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -193.9721, + 480.3425, + 200.0 + ], + "actual_end_pos": [ + -193.9721, + 480.3425, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -193.9721, + 480.3425, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -219.854, + 383.7499, + 200.0 + ], + "actual_end_pos": [ + -219.854, + 383.7499, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -219.854, + 383.7499, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -245.7359, + 287.1573, + 200.0 + ], + "actual_end_pos": [ + -245.7359, + 287.1573, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -245.7359, + 287.1573, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -245.7359, + 287.1573, + 200.0 + ], + "actual_end_pos": [ + -245.7359, + 287.1573, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -245.7359, + 287.1573, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -245.7359, + 287.1573, + 200.0 + ], + "actual_end_pos": [ + -245.7359, + 287.1573, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -245.7359, + 287.1573, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -245.7359, + 287.1573, + 200.0 + ], + "actual_end_pos": [ + -245.7359, + 287.1573, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -245.7359, + 287.1573, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -175.0252, + 357.868, + 200.0 + ], + "actual_end_pos": [ + -175.0252, + 357.868, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -175.0252, + 357.868, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -245.7359, + 428.5787, + 200.0 + ], + "actual_end_pos": [ + -245.7359, + 428.5787, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -245.7359, + 428.5787, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -316.4466, + 499.2893, + 200.0 + ], + "actual_end_pos": [ + -316.4466, + 499.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -316.4466, + 499.2893, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -387.1573, + 570.0, + 200.0 + ], + "actual_end_pos": [ + -387.1573, + 570.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -387.1573, + 570.0, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -457.868, + 499.2893, + 200.0 + ], + "actual_end_pos": [ + -457.868, + 499.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -457.868, + 499.2893, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -528.5786, + 570.0, + 200.0 + ], + "actual_end_pos": [ + -528.5786, + 570.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -528.5786, + 570.0, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -528.5786, + 570.0, + 200.0 + ], + "actual_end_pos": [ + -528.5786, + 570.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -528.5786, + 570.0, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -599.2893, + 499.2893, + 200.0 + ], + "actual_end_pos": [ + -599.2893, + 499.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -599.2893, + 499.2893, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -670.0, + 570.0, + 200.0 + ], + "actual_end_pos": [ + -670.0, + 570.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260414_205421__traj_000479_meta.json b/inverse_easy/run_20260414_205421__traj_000479_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dde92bb237376bfc3f812a5c831c362079969769 --- /dev/null +++ b/inverse_easy/run_20260414_205421__traj_000479_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 479, + "episode_id": 0, + "state_id": 354, + "sample_index": 354, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -370.0, + 370.0, + 200.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "no_op", + "move_right", + "move_right", + "move_right", + "move_right", + "turn_right", + "look_up", + "move_right", + "move_forward", + "look_up", + "turn_left", + "look_up", + "move_left", + "move_left", + "turn_left", + "move_backward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "move_forward", + "turn_right", + "move_right", + "move_right", + "look_down", + "turn_right", + "look_down", + "move_backward", + "move_left", + "look_down", + "turn_left", + "move_left", + "move_left", + "move_left", + "move_left", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -370.0, + 370.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -370.0, + 370.0, + 200.0 + ], + "actual_end_pos": [ + -370.0, + 370.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -370.0, + 370.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -470.0, + 370.0, + 200.0 + ], + "actual_end_pos": [ + -470.0, + 370.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -470.0, + 370.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -570.0, + 370.0, + 200.0 + ], + "actual_end_pos": [ + -570.0, + 370.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -570.0, + 370.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -670.0, + 370.0, + 200.0 + ], + "actual_end_pos": [ + -670.0, + 370.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -670.0, + 370.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -770.0, + 370.0, + 200.0 + ], + "actual_end_pos": [ + -770.0, + 370.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -770.0, + 370.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -770.0, + 370.0, + 200.0 + ], + "actual_end_pos": [ + -770.0, + 370.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -770.0, + 370.0, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -770.0, + 370.0, + 200.0 + ], + "actual_end_pos": [ + -770.0, + 370.0, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -770.0, + 370.0, + 200.0 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -866.5926, + 344.1181, + 200.0 + ], + "actual_end_pos": [ + -866.5926, + 344.1181, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -866.5926, + 344.1181, + 200.0 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -892.2531, + 439.8843, + 213.0526 + ], + "actual_end_pos": [ + -892.2531, + 439.8843, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -892.2531, + 439.8843, + 213.0526 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -892.2531, + 439.8843, + 213.0526 + ], + "actual_end_pos": [ + -892.2531, + 439.8843, + 213.0526 + ], + "actual_end_rot": [ + 15.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -892.2531, + 439.8843, + 213.0526 + ], + "start_rot": [ + 15.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -892.2531, + 439.8843, + 213.0526 + ], + "actual_end_pos": [ + -892.2531, + 439.8843, + 213.0526 + ], + "actual_end_rot": [ + 15.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -892.2531, + 439.8843, + 213.0526 + ], + "start_rot": [ + 15.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -892.2531, + 439.8843, + 213.0526 + ], + "actual_end_pos": [ + -892.2531, + 439.8843, + 213.0526 + ], + "actual_end_rot": [ + 22.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -892.2531, + 439.8843, + 213.0526 + ], + "start_rot": [ + 22.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -792.2531, + 439.8843, + 213.0526 + ], + "actual_end_pos": [ + -792.2531, + 439.8843, + 213.0526 + ], + "actual_end_rot": [ + 22.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -792.2531, + 439.8843, + 213.0526 + ], + "start_rot": [ + 22.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -692.2531, + 439.8843, + 213.0526 + ], + "actual_end_pos": [ + -692.2531, + 439.8843, + 213.0526 + ], + "actual_end_rot": [ + 22.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -692.2531, + 439.8843, + 213.0526 + ], + "start_rot": [ + 22.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -692.2531, + 439.8843, + 213.0526 + ], + "actual_end_pos": [ + -692.2531, + 439.8843, + 213.0526 + ], + "actual_end_rot": [ + 22.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -692.2531, + 439.8843, + 213.0526 + ], + "start_rot": [ + 22.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -716.1648, + 350.6444, + 174.7843 + ], + "actual_end_pos": [ + -716.1648, + 350.6444, + 174.7843 + ], + "actual_end_rot": [ + 22.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -716.1648, + 350.6444, + 174.7843 + ], + "start_rot": [ + 22.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -716.1648, + 350.6444, + 174.7843 + ], + "actual_end_pos": [ + -716.1648, + 350.6444, + 174.7843 + ], + "actual_end_rot": [ + 22.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -716.1648, + 350.6444, + 174.7843 + ], + "start_rot": [ + 22.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -716.1648, + 350.6444, + 174.7843 + ], + "actual_end_pos": [ + -716.1648, + 350.6444, + 174.7843 + ], + "actual_end_rot": [ + 22.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -716.1648, + 350.6444, + 174.7843 + ], + "start_rot": [ + 22.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -716.1648, + 350.6444, + 174.7843 + ], + "actual_end_pos": [ + -716.1648, + 350.6444, + 174.7843 + ], + "actual_end_rot": [ + 22.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -716.1648, + 350.6444, + 174.7843 + ], + "start_rot": [ + 22.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -716.1648, + 350.6444, + 174.7843 + ], + "actual_end_pos": [ + -716.1648, + 350.6444, + 174.7843 + ], + "actual_end_rot": [ + 22.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -716.1648, + 350.6444, + 174.7843 + ], + "start_rot": [ + 22.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -716.1648, + 350.6444, + 174.7843 + ], + "actual_end_pos": [ + -716.1648, + 350.6444, + 174.7843 + ], + "actual_end_rot": [ + 22.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -716.1648, + 350.6444, + 174.7843 + ], + "start_rot": [ + 22.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -716.1648, + 350.6444, + 174.7843 + ], + "actual_end_pos": [ + -716.1648, + 350.6444, + 174.7843 + ], + "actual_end_rot": [ + 22.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -716.1648, + 350.6444, + 174.7843 + ], + "start_rot": [ + 22.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -716.1648, + 350.6444, + 174.7843 + ], + "actual_end_pos": [ + -716.1648, + 350.6444, + 174.7843 + ], + "actual_end_rot": [ + 22.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -716.1648, + 350.6444, + 174.7843 + ], + "start_rot": [ + 22.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -716.1648, + 350.6444, + 174.7843 + ], + "actual_end_pos": [ + -716.1648, + 350.6444, + 174.7843 + ], + "actual_end_rot": [ + 22.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -716.1648, + 350.6444, + 174.7843 + ], + "start_rot": [ + 22.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -692.2531, + 439.8843, + 213.0526 + ], + "actual_end_pos": [ + -692.2531, + 439.8843, + 213.0526 + ], + "actual_end_rot": [ + 22.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -692.2531, + 439.8843, + 213.0526 + ], + "start_rot": [ + 22.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -692.2531, + 439.8843, + 213.0526 + ], + "actual_end_pos": [ + -692.2531, + 439.8843, + 213.0526 + ], + "actual_end_rot": [ + 22.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -692.2531, + 439.8843, + 213.0526 + ], + "start_rot": [ + 22.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -792.2531, + 439.8843, + 213.0526 + ], + "actual_end_pos": [ + -792.2531, + 439.8843, + 213.0526 + ], + "actual_end_rot": [ + 22.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -792.2531, + 439.8843, + 213.0526 + ], + "start_rot": [ + 22.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -892.2531, + 439.8843, + 213.0526 + ], + "actual_end_pos": [ + -892.2531, + 439.8843, + 213.0526 + ], + "actual_end_rot": [ + 22.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -892.2531, + 439.8843, + 213.0526 + ], + "start_rot": [ + 22.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -892.2531, + 439.8843, + 213.0526 + ], + "actual_end_pos": [ + -892.2531, + 439.8843, + 213.0526 + ], + "actual_end_rot": [ + 15.0, + 90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -892.2531, + 439.8843, + 213.0526 + ], + "start_rot": [ + 15.0, + 90.0, + -0.0 + ], + "expected_end_pos": [ + -892.2531, + 439.8843, + 213.0526 + ], + "actual_end_pos": [ + -892.2531, + 439.8843, + 213.0526 + ], + "actual_end_rot": [ + 15.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -892.2531, + 439.8843, + 213.0526 + ], + "start_rot": [ + 15.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -892.2531, + 439.8843, + 213.0526 + ], + "actual_end_pos": [ + -892.2531, + 439.8843, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -892.2531, + 439.8843, + 213.0526 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -866.5926, + 344.1181, + 200.0 + ], + "actual_end_pos": [ + -866.5926, + 344.1181, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -866.5926, + 344.1181, + 200.0 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -770.0, + 370.0, + 200.0 + ], + "actual_end_pos": [ + -770.0, + 370.0, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -770.0, + 370.0, + 200.0 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -770.0, + 370.0, + 200.0 + ], + "actual_end_pos": [ + -770.0, + 370.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -770.0, + 370.0, + 200.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -770.0, + 370.0, + 200.0 + ], + "actual_end_pos": [ + -770.0, + 370.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -770.0, + 370.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -670.0, + 370.0, + 200.0 + ], + "actual_end_pos": [ + -670.0, + 370.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -670.0, + 370.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -570.0, + 370.0, + 200.0 + ], + "actual_end_pos": [ + -570.0, + 370.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -570.0, + 370.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -470.0, + 370.0, + 200.0 + ], + "actual_end_pos": [ + -470.0, + 370.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -470.0, + 370.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -370.0, + 370.0, + 200.0 + ], + "actual_end_pos": [ + -370.0, + 370.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -370.0, + 370.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -370.0, + 370.0, + 200.0 + ], + "actual_end_pos": [ + -370.0, + 370.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260414_205421__traj_000757_meta.json b/inverse_easy/run_20260414_205421__traj_000757_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5c8107780f15bd0ce9d58a1a14f12e181b6be55a --- /dev/null +++ b/inverse_easy/run_20260414_205421__traj_000757_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 757, + "episode_id": 0, + "state_id": 558, + "sample_index": 558, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -70.0, + -30.0, + 200.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_left", + "turn_left", + "move_right", + "move_backward", + "move_backward", + "move_left", + "move_left", + "move_backward", + "move_backward", + "look_down", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "look_up", + "move_forward", + "move_forward", + "move_right", + "move_right", + "move_forward", + "move_forward", + "move_left", + "turn_right", + "turn_right" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -70.0, + -30.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -70.0, + -30.0, + 200.0 + ], + "actual_end_pos": [ + -70.0, + -30.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -70.0, + -30.0, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -70.0, + -30.0, + 200.0 + ], + "actual_end_pos": [ + -70.0, + -30.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -70.0, + -30.0, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 16.6025, + -80.0, + 200.0 + ], + "actual_end_pos": [ + 16.6025, + -80.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 16.6025, + -80.0, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 66.6025, + 6.6025, + 200.0 + ], + "actual_end_pos": [ + 66.6025, + 6.6025, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 66.6025, + 6.6025, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 116.6025, + 93.2051, + 200.0 + ], + "actual_end_pos": [ + 116.6025, + 93.2051, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 116.6025, + 93.2051, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 30.0, + 143.2051, + 200.0 + ], + "actual_end_pos": [ + 30.0, + 143.2051, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30.0, + 143.2051, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -56.6025, + 193.2051, + 200.0 + ], + "actual_end_pos": [ + -56.6025, + 193.2051, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -56.6025, + 193.2051, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -6.6025, + 279.8076, + 200.0 + ], + "actual_end_pos": [ + -6.6025, + 279.8076, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -6.6025, + 279.8076, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 43.3975, + 366.4102, + 200.0 + ], + "actual_end_pos": [ + 43.3975, + 366.4102, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 43.3975, + 366.4102, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 43.3975, + 366.4102, + 200.0 + ], + "actual_end_pos": [ + 43.3975, + 366.4102, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 43.3975, + 366.4102, + 200.0 + ], + "start_rot": [ + -7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 43.3975, + 366.4102, + 200.0 + ], + "actual_end_pos": [ + 43.3975, + 366.4102, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 43.3975, + 366.4102, + 200.0 + ], + "start_rot": [ + -7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 43.3975, + 366.4102, + 200.0 + ], + "actual_end_pos": [ + 43.3975, + 366.4102, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 43.3975, + 366.4102, + 200.0 + ], + "start_rot": [ + -7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 43.3975, + 366.4102, + 200.0 + ], + "actual_end_pos": [ + 43.3975, + 366.4102, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 43.3975, + 366.4102, + 200.0 + ], + "start_rot": [ + -7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 43.3975, + 366.4102, + 200.0 + ], + "actual_end_pos": [ + 43.3975, + 366.4102, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 43.3975, + 366.4102, + 200.0 + ], + "start_rot": [ + -7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 43.3975, + 366.4102, + 200.0 + ], + "actual_end_pos": [ + 43.3975, + 366.4102, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 43.3975, + 366.4102, + 200.0 + ], + "start_rot": [ + -7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 43.3975, + 366.4102, + 200.0 + ], + "actual_end_pos": [ + 43.3975, + 366.4102, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 43.3975, + 366.4102, + 200.0 + ], + "start_rot": [ + -7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 43.3975, + 366.4102, + 200.0 + ], + "actual_end_pos": [ + 43.3975, + 366.4102, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 43.3975, + 366.4102, + 200.0 + ], + "start_rot": [ + -7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 43.3975, + 366.4102, + 200.0 + ], + "actual_end_pos": [ + 43.3975, + 366.4102, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 43.3975, + 366.4102, + 200.0 + ], + "start_rot": [ + -7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 43.3975, + 366.4102, + 200.0 + ], + "actual_end_pos": [ + 43.3975, + 366.4102, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 43.3975, + 366.4102, + 200.0 + ], + "start_rot": [ + -7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 43.3975, + 366.4102, + 200.0 + ], + "actual_end_pos": [ + 43.3975, + 366.4102, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 43.3975, + 366.4102, + 200.0 + ], + "start_rot": [ + -7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 43.3975, + 366.4102, + 200.0 + ], + "actual_end_pos": [ + 43.3975, + 366.4102, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 43.3975, + 366.4102, + 200.0 + ], + "start_rot": [ + -7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 43.3975, + 366.4102, + 200.0 + ], + "actual_end_pos": [ + 43.3975, + 366.4102, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 43.3975, + 366.4102, + 200.0 + ], + "start_rot": [ + -7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 43.3975, + 366.4102, + 200.0 + ], + "actual_end_pos": [ + 43.3975, + 366.4102, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 43.3975, + 366.4102, + 200.0 + ], + "start_rot": [ + -7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 43.3975, + 366.4102, + 200.0 + ], + "actual_end_pos": [ + 43.3975, + 366.4102, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 43.3975, + 366.4102, + 200.0 + ], + "start_rot": [ + -7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 43.3975, + 366.4102, + 200.0 + ], + "actual_end_pos": [ + 43.3975, + 366.4102, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 43.3975, + 366.4102, + 200.0 + ], + "start_rot": [ + -7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 43.3975, + 366.4102, + 200.0 + ], + "actual_end_pos": [ + 43.3975, + 366.4102, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 43.3975, + 366.4102, + 200.0 + ], + "start_rot": [ + -7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 43.3975, + 366.4102, + 200.0 + ], + "actual_end_pos": [ + 43.3975, + 366.4102, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 43.3975, + 366.4102, + 200.0 + ], + "start_rot": [ + -7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 43.3975, + 366.4102, + 200.0 + ], + "actual_end_pos": [ + 43.3975, + 366.4102, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 43.3975, + 366.4102, + 200.0 + ], + "start_rot": [ + -7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 43.3975, + 366.4102, + 200.0 + ], + "actual_end_pos": [ + 43.3975, + 366.4102, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 43.3975, + 366.4102, + 200.0 + ], + "start_rot": [ + -7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 43.3975, + 366.4102, + 200.0 + ], + "actual_end_pos": [ + 43.3975, + 366.4102, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 43.3975, + 366.4102, + 200.0 + ], + "start_rot": [ + -7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 43.3975, + 366.4102, + 200.0 + ], + "actual_end_pos": [ + 43.3975, + 366.4102, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 43.3975, + 366.4102, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -6.6025, + 279.8076, + 200.0 + ], + "actual_end_pos": [ + -6.6025, + 279.8076, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -6.6025, + 279.8076, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -56.6025, + 193.2051, + 200.0 + ], + "actual_end_pos": [ + -56.6025, + 193.2051, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -56.6025, + 193.2051, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 30.0, + 143.2051, + 200.0 + ], + "actual_end_pos": [ + 30.0, + 143.2051, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 30.0, + 143.2051, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 116.6025, + 93.2051, + 200.0 + ], + "actual_end_pos": [ + 116.6025, + 93.2051, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 116.6025, + 93.2051, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 66.6025, + 6.6025, + 200.0 + ], + "actual_end_pos": [ + 66.6025, + 6.6025, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 66.6025, + 6.6025, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 16.6025, + -80.0, + 200.0 + ], + "actual_end_pos": [ + 16.6025, + -80.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 16.6025, + -80.0, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -70.0, + -30.0, + 200.0 + ], + "actual_end_pos": [ + -70.0, + -30.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -70.0, + -30.0, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + -70.0, + -30.0, + 200.0 + ], + "actual_end_pos": [ + -70.0, + -30.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -70.0, + -30.0, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -70.0, + -30.0, + 200.0 + ], + "actual_end_pos": [ + -70.0, + -30.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260414_205421__traj_000812_meta.json b/inverse_easy/run_20260414_205421__traj_000812_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..413d192eb5b4bd0412ee42b58ec718821827410d --- /dev/null +++ b/inverse_easy/run_20260414_205421__traj_000812_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 812, + "episode_id": 0, + "state_id": 599, + "sample_index": 599, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 30.0, + -430.0, + 200.0 + ], + "rotation": [ + 0.0, + 315.0, + 0.0 + ] + }, + "action_sequence": [ + "no_op", + "move_forward", + "turn_left", + "turn_right", + "move_right", + "turn_left", + "move_forward", + "look_up", + "move_left", + "move_backward", + "look_down", + "move_backward", + "move_left", + "no_op", + "turn_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "turn_left", + "no_op", + "move_right", + "move_forward", + "look_up", + "move_forward", + "move_right", + "look_down", + "move_backward", + "turn_right", + "move_left", + "turn_left", + "turn_right", + "move_backward", + "no_op" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30.0, + -430.0, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 30.0, + -430.0, + 200.0 + ], + "actual_end_pos": [ + 30.0, + -430.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30.0, + -430.0, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 100.7107, + -500.7107, + 200.0 + ], + "actual_end_pos": [ + 100.7107, + -500.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 100.7107, + -500.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 100.7107, + -500.7107, + 200.0 + ], + "actual_end_pos": [ + 100.7107, + -500.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 100.7107, + -500.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 100.7107, + -500.7107, + 200.0 + ], + "actual_end_pos": [ + 100.7107, + -500.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 100.7107, + -500.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 171.4214, + -430.0, + 200.0 + ], + "actual_end_pos": [ + 171.4214, + -430.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 171.4214, + -430.0, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 171.4214, + -430.0, + 200.0 + ], + "actual_end_pos": [ + 171.4214, + -430.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 171.4214, + -430.0, + 200.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 221.4214, + -516.6025, + 200.0 + ], + "actual_end_pos": [ + 221.4214, + -516.6025, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 221.4214, + -516.6025, + 200.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 221.4214, + -516.6025, + 200.0 + ], + "actual_end_pos": [ + 221.4214, + -516.6025, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 221.4214, + -516.6025, + 200.0 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 134.8188, + -566.6025, + 200.0 + ], + "actual_end_pos": [ + 134.8188, + -566.6025, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 134.8188, + -566.6025, + 200.0 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 85.2466, + -480.7409, + 186.9474 + ], + "actual_end_pos": [ + 85.2466, + -480.7409, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 85.2466, + -480.7409, + 186.9474 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 85.2466, + -480.7409, + 186.9474 + ], + "actual_end_pos": [ + 85.2466, + -480.7409, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 85.2466, + -480.7409, + 186.9474 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 35.2466, + -394.1384, + 186.9474 + ], + "actual_end_pos": [ + 35.2466, + -394.1384, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 35.2466, + -394.1384, + 186.9474 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -51.356, + -444.1384, + 186.9474 + ], + "actual_end_pos": [ + -51.356, + -444.1384, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -51.356, + -444.1384, + 186.9474 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -51.356, + -444.1384, + 186.9474 + ], + "actual_end_pos": [ + -51.356, + -444.1384, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -51.356, + -444.1384, + 186.9474 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -51.356, + -444.1384, + 186.9474 + ], + "actual_end_pos": [ + -51.356, + -444.1384, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -51.356, + -444.1384, + 186.9474 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -51.356, + -444.1384, + 186.9474 + ], + "actual_end_pos": [ + -51.356, + -444.1384, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -51.356, + -444.1384, + 186.9474 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -51.356, + -444.1384, + 186.9474 + ], + "actual_end_pos": [ + -51.356, + -444.1384, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -51.356, + -444.1384, + 186.9474 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -51.356, + -444.1384, + 186.9474 + ], + "actual_end_pos": [ + -51.356, + -444.1384, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -51.356, + -444.1384, + 186.9474 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -51.356, + -444.1384, + 186.9474 + ], + "actual_end_pos": [ + -51.356, + -444.1384, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -51.356, + -444.1384, + 186.9474 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -51.356, + -444.1384, + 186.9474 + ], + "actual_end_pos": [ + -51.356, + -444.1384, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -51.356, + -444.1384, + 186.9474 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -51.356, + -444.1384, + 186.9474 + ], + "actual_end_pos": [ + -51.356, + -444.1384, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -51.356, + -444.1384, + 186.9474 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -51.356, + -444.1384, + 186.9474 + ], + "actual_end_pos": [ + -51.356, + -444.1384, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -51.356, + -444.1384, + 186.9474 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -51.356, + -444.1384, + 186.9474 + ], + "actual_end_pos": [ + -51.356, + -444.1384, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -51.356, + -444.1384, + 186.9474 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -51.356, + -444.1384, + 186.9474 + ], + "actual_end_pos": [ + -51.356, + -444.1384, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -51.356, + -444.1384, + 186.9474 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -51.356, + -444.1384, + 186.9474 + ], + "actual_end_pos": [ + -51.356, + -444.1384, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -51.356, + -444.1384, + 186.9474 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -51.356, + -444.1384, + 186.9474 + ], + "actual_end_pos": [ + -51.356, + -444.1384, + 186.9474 + ], + "actual_end_rot": [ + -0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -51.356, + -444.1384, + 186.9474 + ], + "start_rot": [ + -0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -51.356, + -444.1384, + 186.9474 + ], + "actual_end_pos": [ + -51.356, + -444.1384, + 186.9474 + ], + "actual_end_rot": [ + -0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -51.356, + -444.1384, + 186.9474 + ], + "start_rot": [ + -0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 35.2466, + -394.1384, + 186.9474 + ], + "actual_end_pos": [ + 35.2466, + -394.1384, + 186.9474 + ], + "actual_end_rot": [ + -0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 35.2466, + -394.1384, + 186.9474 + ], + "start_rot": [ + -0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 85.2466, + -480.7409, + 186.9474 + ], + "actual_end_pos": [ + 85.2466, + -480.7409, + 186.9474 + ], + "actual_end_rot": [ + -0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 85.2466, + -480.7409, + 186.9474 + ], + "start_rot": [ + -0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 85.2466, + -480.7409, + 186.9474 + ], + "actual_end_pos": [ + 85.2466, + -480.7409, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 85.2466, + -480.7409, + 186.9474 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 134.8188, + -566.6025, + 200.0 + ], + "actual_end_pos": [ + 134.8188, + -566.6025, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 134.8188, + -566.6025, + 200.0 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 221.4214, + -516.6025, + 200.0 + ], + "actual_end_pos": [ + 221.4214, + -516.6025, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 221.4214, + -516.6025, + 200.0 + ], + "start_rot": [ + 7.5, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 221.4214, + -516.6025, + 200.0 + ], + "actual_end_pos": [ + 221.4214, + -516.6025, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 221.4214, + -516.6025, + 200.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 171.4214, + -430.0, + 200.0 + ], + "actual_end_pos": [ + 171.4214, + -430.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 171.4214, + -430.0, + 200.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 171.4214, + -430.0, + 200.0 + ], + "actual_end_pos": [ + 171.4214, + -430.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 171.4214, + -430.0, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 100.7107, + -500.7107, + 200.0 + ], + "actual_end_pos": [ + 100.7107, + -500.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 100.7107, + -500.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 100.7107, + -500.7107, + 200.0 + ], + "actual_end_pos": [ + 100.7107, + -500.7107, + 200.0 + ], + "actual_end_rot": [ + -0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 100.7107, + -500.7107, + 200.0 + ], + "start_rot": [ + -0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + 100.7107, + -500.7107, + 200.0 + ], + "actual_end_pos": [ + 100.7107, + -500.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 100.7107, + -500.7107, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 30.0, + -430.0, + 200.0 + ], + "actual_end_pos": [ + 30.0, + -430.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30.0, + -430.0, + 200.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + 30.0, + -430.0, + 200.0 + ], + "actual_end_pos": [ + 30.0, + -430.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260414_205421__traj_000924_meta.json b/inverse_easy/run_20260414_205421__traj_000924_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9a25c9a9811d5782d464ffb1f56cf79c2bc9271b --- /dev/null +++ b/inverse_easy/run_20260414_205421__traj_000924_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 924, + "episode_id": 0, + "state_id": 678, + "sample_index": 678, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 30.0, + 570.0, + 200.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "look_up", + "move_forward", + "no_op", + "move_left", + "move_forward", + "move_left", + "turn_right", + "move_right", + "turn_left", + "move_right", + "move_forward", + "move_forward", + "move_forward", + "move_right", + "look_up", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "look_down", + "move_left", + "move_backward", + "move_backward", + "move_backward", + "move_left", + "turn_right", + "move_left", + "turn_left", + "move_right", + "move_backward", + "move_right", + "no_op", + "move_backward", + "look_down", + "move_backward" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30.0, + 570.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 30.0, + 470.0, + 200.0 + ], + "actual_end_pos": [ + 30.0, + 470.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 30.0, + 470.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 30.0, + 470.0, + 200.0 + ], + "actual_end_pos": [ + 30.0, + 470.0, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 30.0, + 470.0, + 200.0 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 30.0, + 370.8555, + 213.0526 + ], + "actual_end_pos": [ + 30.0, + 370.8555, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30.0, + 370.8555, + 213.0526 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 30.0, + 370.8555, + 213.0526 + ], + "actual_end_pos": [ + 30.0, + 370.8555, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 30.0, + 370.8555, + 213.0526 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -70.0, + 370.8555, + 213.0526 + ], + "actual_end_pos": [ + -70.0, + 370.8555, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -70.0, + 370.8555, + 213.0526 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -70.0, + 271.711, + 226.1052 + ], + "actual_end_pos": [ + -70.0, + 271.711, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -70.0, + 271.711, + 226.1052 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -170.0, + 271.711, + 226.1052 + ], + "actual_end_pos": [ + -170.0, + 271.711, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -170.0, + 271.711, + 226.1052 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -170.0, + 271.711, + 226.1052 + ], + "actual_end_pos": [ + -170.0, + 271.711, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -170.0, + 271.711, + 226.1052 + ], + "start_rot": [ + 7.5, + -75.0, + -0.0 + ], + "expected_end_pos": [ + -73.4074, + 297.5929, + 226.1052 + ], + "actual_end_pos": [ + -73.4074, + 297.5929, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -73.4074, + 297.5929, + 226.1052 + ], + "start_rot": [ + 7.5, + -75.0, + -0.0 + ], + "expected_end_pos": [ + -73.4074, + 297.5929, + 226.1052 + ], + "actual_end_pos": [ + -73.4074, + 297.5929, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -73.4074, + 297.5929, + 226.1052 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 26.5926, + 297.5929, + 226.1052 + ], + "actual_end_pos": [ + 26.5926, + 297.5929, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 26.5926, + 297.5929, + 226.1052 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 26.5926, + 198.4484, + 239.1579 + ], + "actual_end_pos": [ + 26.5926, + 198.4484, + 239.1579 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 26.5926, + 198.4484, + 239.1579 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 26.5926, + 99.304, + 252.2105 + ], + "actual_end_pos": [ + 26.5926, + 99.304, + 252.2105 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 26.5926, + 99.304, + 252.2105 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 26.5926, + 0.1595, + 265.2631 + ], + "actual_end_pos": [ + 26.5926, + 0.1595, + 265.2631 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 26.5926, + 0.1595, + 265.2631 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 126.5926, + 0.1595, + 265.2631 + ], + "actual_end_pos": [ + 126.5926, + 0.1595, + 265.2631 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 126.5926, + 0.1595, + 265.2631 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 126.5926, + 0.1595, + 265.2631 + ], + "actual_end_pos": [ + 126.5926, + 0.1595, + 265.2631 + ], + "actual_end_rot": [ + 15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 126.5926, + 0.1595, + 265.2631 + ], + "start_rot": [ + 15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 126.5926, + 0.1595, + 265.2631 + ], + "actual_end_pos": [ + 126.5926, + 0.1595, + 265.2631 + ], + "actual_end_rot": [ + 15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 126.5926, + 0.1595, + 265.2631 + ], + "start_rot": [ + 15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 126.5926, + 0.1595, + 265.2631 + ], + "actual_end_pos": [ + 126.5926, + 0.1595, + 265.2631 + ], + "actual_end_rot": [ + 15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 126.5926, + 0.1595, + 265.2631 + ], + "start_rot": [ + 15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 126.5926, + 0.1595, + 265.2631 + ], + "actual_end_pos": [ + 126.5926, + 0.1595, + 265.2631 + ], + "actual_end_rot": [ + 15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 126.5926, + 0.1595, + 265.2631 + ], + "start_rot": [ + 15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 126.5926, + 0.1595, + 265.2631 + ], + "actual_end_pos": [ + 126.5926, + 0.1595, + 265.2631 + ], + "actual_end_rot": [ + 15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 126.5926, + 0.1595, + 265.2631 + ], + "start_rot": [ + 15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 126.5926, + 0.1595, + 265.2631 + ], + "actual_end_pos": [ + 126.5926, + 0.1595, + 265.2631 + ], + "actual_end_rot": [ + 15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 126.5926, + 0.1595, + 265.2631 + ], + "start_rot": [ + 15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 126.5926, + 0.1595, + 265.2631 + ], + "actual_end_pos": [ + 126.5926, + 0.1595, + 265.2631 + ], + "actual_end_rot": [ + 15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 126.5926, + 0.1595, + 265.2631 + ], + "start_rot": [ + 15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 126.5926, + 0.1595, + 265.2631 + ], + "actual_end_pos": [ + 126.5926, + 0.1595, + 265.2631 + ], + "actual_end_rot": [ + 15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 126.5926, + 0.1595, + 265.2631 + ], + "start_rot": [ + 15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 126.5926, + 0.1595, + 265.2631 + ], + "actual_end_pos": [ + 126.5926, + 0.1595, + 265.2631 + ], + "actual_end_rot": [ + 15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 126.5926, + 0.1595, + 265.2631 + ], + "start_rot": [ + 15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 126.5926, + 0.1595, + 265.2631 + ], + "actual_end_pos": [ + 126.5926, + 0.1595, + 265.2631 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 126.5926, + 0.1595, + 265.2631 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 26.5926, + 0.1595, + 265.2631 + ], + "actual_end_pos": [ + 26.5926, + 0.1595, + 265.2631 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 26.5926, + 0.1595, + 265.2631 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 26.5926, + 99.304, + 252.2105 + ], + "actual_end_pos": [ + 26.5926, + 99.304, + 252.2105 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 26.5926, + 99.304, + 252.2105 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 26.5926, + 198.4484, + 239.1579 + ], + "actual_end_pos": [ + 26.5926, + 198.4484, + 239.1579 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 26.5926, + 198.4484, + 239.1579 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 26.5926, + 297.5929, + 226.1052 + ], + "actual_end_pos": [ + 26.5926, + 297.5929, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 26.5926, + 297.5929, + 226.1052 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -73.4074, + 297.5929, + 226.1052 + ], + "actual_end_pos": [ + -73.4074, + 297.5929, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -73.4074, + 297.5929, + 226.1052 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -73.4074, + 297.5929, + 226.1052 + ], + "actual_end_pos": [ + -73.4074, + 297.5929, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -73.4074, + 297.5929, + 226.1052 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -170.0, + 271.711, + 226.1052 + ], + "actual_end_pos": [ + -170.0, + 271.711, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -170.0, + 271.711, + 226.1052 + ], + "start_rot": [ + 7.5, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -170.0, + 271.711, + 226.1052 + ], + "actual_end_pos": [ + -170.0, + 271.711, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -170.0, + 271.711, + 226.1052 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -70.0, + 271.711, + 226.1052 + ], + "actual_end_pos": [ + -70.0, + 271.711, + 226.1052 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -70.0, + 271.711, + 226.1052 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -70.0, + 370.8555, + 213.0526 + ], + "actual_end_pos": [ + -70.0, + 370.8555, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -70.0, + 370.8555, + 213.0526 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 30.0, + 370.8555, + 213.0526 + ], + "actual_end_pos": [ + 30.0, + 370.8555, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 30.0, + 370.8555, + 213.0526 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 30.0, + 370.8555, + 213.0526 + ], + "actual_end_pos": [ + 30.0, + 370.8555, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30.0, + 370.8555, + 213.0526 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 30.0, + 470.0, + 200.0 + ], + "actual_end_pos": [ + 30.0, + 470.0, + 200.0 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 30.0, + 470.0, + 200.0 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 30.0, + 470.0, + 200.0 + ], + "actual_end_pos": [ + 30.0, + 470.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 30.0, + 470.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + -0.0 + ], + "expected_end_pos": [ + 30.0, + 570.0, + 200.0 + ], + "actual_end_pos": [ + 30.0, + 570.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260414_205421__traj_000942_meta.json b/inverse_easy/run_20260414_205421__traj_000942_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..645024ad39aee745250f46fbe30d496911546e45 --- /dev/null +++ b/inverse_easy/run_20260414_205421__traj_000942_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 942, + "episode_id": 0, + "state_id": 691, + "sample_index": 691, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 130.0, + -330.0, + 200.0 + ], + "rotation": [ + 0.0, + 135.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "move_left", + "look_up", + "move_right", + "move_forward", + "look_up", + "move_right", + "turn_right", + "move_right", + "move_right", + "move_forward", + "look_down", + "turn_right", + "turn_right", + "move_left", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "move_left", + "move_right", + "turn_right", + "turn_right", + "move_backward", + "move_backward", + "move_right", + "turn_left", + "turn_left", + "look_up", + "move_backward", + "move_left", + "move_left", + "turn_left", + "move_left", + "look_down", + "move_backward", + "move_left", + "look_down", + "move_right", + "move_right" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 130.0, + -330.0, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 200.7107, + -259.2893, + 200.0 + ], + "actual_end_pos": [ + 200.7107, + -259.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 200.7107, + -259.2893, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 271.4214, + -188.5786, + 200.0 + ], + "actual_end_pos": [ + 271.4214, + -188.5786, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 271.4214, + -188.5786, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 271.4214, + -188.5786, + 200.0 + ], + "actual_end_pos": [ + 271.4214, + -188.5786, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 271.4214, + -188.5786, + 200.0 + ], + "start_rot": [ + 7.5, + 135.0, + -0.0 + ], + "expected_end_pos": [ + 200.7107, + -259.2893, + 200.0 + ], + "actual_end_pos": [ + 200.7107, + -259.2893, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 200.7107, + -259.2893, + 200.0 + ], + "start_rot": [ + 7.5, + 135.0, + -0.0 + ], + "expected_end_pos": [ + 130.6049, + -189.1836, + 213.0526 + ], + "actual_end_pos": [ + 130.6049, + -189.1836, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + 135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 130.6049, + -189.1836, + 213.0526 + ], + "start_rot": [ + 7.5, + 135.0, + -0.0 + ], + "expected_end_pos": [ + 130.6049, + -189.1836, + 213.0526 + ], + "actual_end_pos": [ + 130.6049, + -189.1836, + 213.0526 + ], + "actual_end_rot": [ + 15.0, + 135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 130.6049, + -189.1836, + 213.0526 + ], + "start_rot": [ + 15.0, + 135.0, + -0.0 + ], + "expected_end_pos": [ + 59.8943, + -259.8943, + 213.0526 + ], + "actual_end_pos": [ + 59.8943, + -259.8943, + 213.0526 + ], + "actual_end_rot": [ + 15.0, + 135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 59.8943, + -259.8943, + 213.0526 + ], + "start_rot": [ + 15.0, + 135.0, + -0.0 + ], + "expected_end_pos": [ + 59.8943, + -259.8943, + 213.0526 + ], + "actual_end_pos": [ + 59.8943, + -259.8943, + 213.0526 + ], + "actual_end_rot": [ + 15.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 59.8943, + -259.8943, + 213.0526 + ], + "start_rot": [ + 15.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 9.8943, + -346.4968, + 213.0526 + ], + "actual_end_pos": [ + 9.8943, + -346.4968, + 213.0526 + ], + "actual_end_rot": [ + 15.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 9.8943, + -346.4968, + 213.0526 + ], + "start_rot": [ + 15.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -40.1057, + -433.0993, + 213.0526 + ], + "actual_end_pos": [ + -40.1057, + -433.0993, + 213.0526 + ], + "actual_end_rot": [ + 15.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -40.1057, + -433.0993, + 213.0526 + ], + "start_rot": [ + 15.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -123.7574, + -384.803, + 238.9345 + ], + "actual_end_pos": [ + -123.7574, + -384.803, + 238.9345 + ], + "actual_end_rot": [ + 15.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -123.7574, + -384.803, + 238.9345 + ], + "start_rot": [ + 15.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -123.7574, + -384.803, + 238.9345 + ], + "actual_end_pos": [ + -123.7574, + -384.803, + 238.9345 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -123.7574, + -384.803, + 238.9345 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -123.7574, + -384.803, + 238.9345 + ], + "actual_end_pos": [ + -123.7574, + -384.803, + 238.9345 + ], + "actual_end_rot": [ + 7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -123.7574, + -384.803, + 238.9345 + ], + "start_rot": [ + 7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -123.7574, + -384.803, + 238.9345 + ], + "actual_end_pos": [ + -123.7574, + -384.803, + 238.9345 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -123.7574, + -384.803, + 238.9345 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -123.7574, + -284.803, + 238.9345 + ], + "actual_end_pos": [ + -123.7574, + -284.803, + 238.9345 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -123.7574, + -284.803, + 238.9345 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -222.9019, + -284.803, + 251.9871 + ], + "actual_end_pos": [ + -222.9019, + -284.803, + 251.9871 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -222.9019, + -284.803, + 251.9871 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -322.0463, + -284.803, + 265.0398 + ], + "actual_end_pos": [ + -322.0463, + -284.803, + 265.0398 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -322.0463, + -284.803, + 265.0398 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -322.0463, + -284.803, + 265.0398 + ], + "actual_end_pos": [ + -322.0463, + -284.803, + 265.0398 + ], + "actual_end_rot": [ + 7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -322.0463, + -284.803, + 265.0398 + ], + "start_rot": [ + 7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -322.0463, + -284.803, + 265.0398 + ], + "actual_end_pos": [ + -322.0463, + -284.803, + 265.0398 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -322.0463, + -284.803, + 265.0398 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -272.0463, + -198.2005, + 265.0398 + ], + "actual_end_pos": [ + -272.0463, + -198.2005, + 265.0398 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -272.0463, + -198.2005, + 265.0398 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -322.0463, + -284.803, + 265.0398 + ], + "actual_end_pos": [ + -322.0463, + -284.803, + 265.0398 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -322.0463, + -284.803, + 265.0398 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -322.0463, + -284.803, + 265.0398 + ], + "actual_end_pos": [ + -322.0463, + -284.803, + 265.0398 + ], + "actual_end_rot": [ + 7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -322.0463, + -284.803, + 265.0398 + ], + "start_rot": [ + 7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -322.0463, + -284.803, + 265.0398 + ], + "actual_end_pos": [ + -322.0463, + -284.803, + 265.0398 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -322.0463, + -284.803, + 265.0398 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -222.9019, + -284.803, + 251.9871 + ], + "actual_end_pos": [ + -222.9019, + -284.803, + 251.9871 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -222.9019, + -284.803, + 251.9871 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -123.7574, + -284.803, + 238.9345 + ], + "actual_end_pos": [ + -123.7574, + -284.803, + 238.9345 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -123.7574, + -284.803, + 238.9345 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -123.7574, + -384.803, + 238.9345 + ], + "actual_end_pos": [ + -123.7574, + -384.803, + 238.9345 + ], + "actual_end_rot": [ + 7.5, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -123.7574, + -384.803, + 238.9345 + ], + "start_rot": [ + 7.5, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -123.7574, + -384.803, + 238.9345 + ], + "actual_end_pos": [ + -123.7574, + -384.803, + 238.9345 + ], + "actual_end_rot": [ + 7.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -123.7574, + -384.803, + 238.9345 + ], + "start_rot": [ + 7.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -123.7574, + -384.803, + 238.9345 + ], + "actual_end_pos": [ + -123.7574, + -384.803, + 238.9345 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -123.7574, + -384.803, + 238.9345 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -123.7574, + -384.803, + 238.9345 + ], + "actual_end_pos": [ + -123.7574, + -384.803, + 238.9345 + ], + "actual_end_rot": [ + 15.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -123.7574, + -384.803, + 238.9345 + ], + "start_rot": [ + 15.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -40.1057, + -433.0993, + 213.0526 + ], + "actual_end_pos": [ + -40.1057, + -433.0993, + 213.0526 + ], + "actual_end_rot": [ + 15.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -40.1057, + -433.0993, + 213.0526 + ], + "start_rot": [ + 15.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 9.8943, + -346.4968, + 213.0526 + ], + "actual_end_pos": [ + 9.8943, + -346.4968, + 213.0526 + ], + "actual_end_rot": [ + 15.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 9.8943, + -346.4968, + 213.0526 + ], + "start_rot": [ + 15.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 59.8943, + -259.8943, + 213.0526 + ], + "actual_end_pos": [ + 59.8943, + -259.8943, + 213.0526 + ], + "actual_end_rot": [ + 15.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 59.8943, + -259.8943, + 213.0526 + ], + "start_rot": [ + 15.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + 59.8943, + -259.8943, + 213.0526 + ], + "actual_end_pos": [ + 59.8943, + -259.8943, + 213.0526 + ], + "actual_end_rot": [ + 15.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 59.8943, + -259.8943, + 213.0526 + ], + "start_rot": [ + 15.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 130.6049, + -189.1836, + 213.0526 + ], + "actual_end_pos": [ + 130.6049, + -189.1836, + 213.0526 + ], + "actual_end_rot": [ + 15.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 130.6049, + -189.1836, + 213.0526 + ], + "start_rot": [ + 15.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 130.6049, + -189.1836, + 213.0526 + ], + "actual_end_pos": [ + 130.6049, + -189.1836, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 130.6049, + -189.1836, + 213.0526 + ], + "start_rot": [ + 7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 200.7107, + -259.2893, + 200.0 + ], + "actual_end_pos": [ + 200.7107, + -259.2893, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 200.7107, + -259.2893, + 200.0 + ], + "start_rot": [ + 7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 271.4214, + -188.5786, + 200.0 + ], + "actual_end_pos": [ + 271.4214, + -188.5786, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 271.4214, + -188.5786, + 200.0 + ], + "start_rot": [ + 7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 271.4214, + -188.5786, + 200.0 + ], + "actual_end_pos": [ + 271.4214, + -188.5786, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 271.4214, + -188.5786, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 200.7107, + -259.2893, + 200.0 + ], + "actual_end_pos": [ + 200.7107, + -259.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 200.7107, + -259.2893, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 130.0, + -330.0, + 200.0 + ], + "actual_end_pos": [ + 130.0, + -330.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260414_205421__traj_001043_meta.json b/inverse_easy/run_20260414_205421__traj_001043_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..25fd5f58a99a8eb835b51fabb04b90fceac9565a --- /dev/null +++ b/inverse_easy/run_20260414_205421__traj_001043_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 1043, + "episode_id": 0, + "state_id": 762, + "sample_index": 762, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 230.0, + -330.0, + 200.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "look_down", + "turn_left", + "turn_left", + "move_right", + "move_forward", + "no_op", + "move_backward", + "move_left", + "move_left", + "move_backward", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "move_left", + "move_forward", + "move_right", + "move_right", + "move_forward", + "no_op", + "move_backward", + "move_left", + "turn_right", + "turn_right", + "look_up" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 230.0, + -330.0, + 200.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 230.0, + -330.0, + 200.0 + ], + "actual_end_pos": [ + 230.0, + -330.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 230.0, + -330.0, + 200.0 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 230.0, + -330.0, + 200.0 + ], + "actual_end_pos": [ + 230.0, + -330.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 230.0, + -330.0, + 200.0 + ], + "start_rot": [ + -7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 230.0, + -330.0, + 200.0 + ], + "actual_end_pos": [ + 230.0, + -330.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 230.0, + -330.0, + 200.0 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 143.3975, + -280.0, + 200.0 + ], + "actual_end_pos": [ + 143.3975, + -280.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 143.3975, + -280.0, + 200.0 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 192.9697, + -194.1384, + 186.9474 + ], + "actual_end_pos": [ + 192.9697, + -194.1384, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 192.9697, + -194.1384, + 186.9474 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 192.9697, + -194.1384, + 186.9474 + ], + "actual_end_pos": [ + 192.9697, + -194.1384, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 192.9697, + -194.1384, + 186.9474 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 143.3975, + -280.0, + 200.0 + ], + "actual_end_pos": [ + 143.3975, + -280.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 143.3975, + -280.0, + 200.0 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 230.0, + -330.0, + 200.0 + ], + "actual_end_pos": [ + 230.0, + -330.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 230.0, + -330.0, + 200.0 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 316.6025, + -380.0, + 200.0 + ], + "actual_end_pos": [ + 316.6025, + -380.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 316.6025, + -380.0, + 200.0 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 267.0303, + -465.8616, + 213.0526 + ], + "actual_end_pos": [ + 267.0303, + -465.8616, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 267.0303, + -465.8616, + 213.0526 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 180.4278, + -415.8616, + 213.0526 + ], + "actual_end_pos": [ + 180.4278, + -415.8616, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 180.4278, + -415.8616, + 213.0526 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 180.4278, + -415.8616, + 213.0526 + ], + "actual_end_pos": [ + 180.4278, + -415.8616, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 180.4278, + -415.8616, + 213.0526 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 180.4278, + -415.8616, + 213.0526 + ], + "actual_end_pos": [ + 180.4278, + -415.8616, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 180.4278, + -415.8616, + 213.0526 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 180.4278, + -415.8616, + 213.0526 + ], + "actual_end_pos": [ + 180.4278, + -415.8616, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 180.4278, + -415.8616, + 213.0526 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 180.4278, + -415.8616, + 213.0526 + ], + "actual_end_pos": [ + 180.4278, + -415.8616, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 180.4278, + -415.8616, + 213.0526 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 180.4278, + -415.8616, + 213.0526 + ], + "actual_end_pos": [ + 180.4278, + -415.8616, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 180.4278, + -415.8616, + 213.0526 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 180.4278, + -415.8616, + 213.0526 + ], + "actual_end_pos": [ + 180.4278, + -415.8616, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 180.4278, + -415.8616, + 213.0526 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 180.4278, + -415.8616, + 213.0526 + ], + "actual_end_pos": [ + 180.4278, + -415.8616, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 180.4278, + -415.8616, + 213.0526 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 180.4278, + -415.8616, + 213.0526 + ], + "actual_end_pos": [ + 180.4278, + -415.8616, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 180.4278, + -415.8616, + 213.0526 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 180.4278, + -415.8616, + 213.0526 + ], + "actual_end_pos": [ + 180.4278, + -415.8616, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 180.4278, + -415.8616, + 213.0526 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 180.4278, + -415.8616, + 213.0526 + ], + "actual_end_pos": [ + 180.4278, + -415.8616, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 180.4278, + -415.8616, + 213.0526 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 180.4278, + -415.8616, + 213.0526 + ], + "actual_end_pos": [ + 180.4278, + -415.8616, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 180.4278, + -415.8616, + 213.0526 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 180.4278, + -415.8616, + 213.0526 + ], + "actual_end_pos": [ + 180.4278, + -415.8616, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 180.4278, + -415.8616, + 213.0526 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 180.4278, + -415.8616, + 213.0526 + ], + "actual_end_pos": [ + 180.4278, + -415.8616, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 180.4278, + -415.8616, + 213.0526 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 180.4278, + -415.8616, + 213.0526 + ], + "actual_end_pos": [ + 180.4278, + -415.8616, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 180.4278, + -415.8616, + 213.0526 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 180.4278, + -415.8616, + 213.0526 + ], + "actual_end_pos": [ + 180.4278, + -415.8616, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 180.4278, + -415.8616, + 213.0526 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 180.4278, + -415.8616, + 213.0526 + ], + "actual_end_pos": [ + 180.4278, + -415.8616, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 180.4278, + -415.8616, + 213.0526 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 180.4278, + -415.8616, + 213.0526 + ], + "actual_end_pos": [ + 180.4278, + -415.8616, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 180.4278, + -415.8616, + 213.0526 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 180.4278, + -415.8616, + 213.0526 + ], + "actual_end_pos": [ + 180.4278, + -415.8616, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 180.4278, + -415.8616, + 213.0526 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 267.0303, + -465.8616, + 213.0526 + ], + "actual_end_pos": [ + 267.0303, + -465.8616, + 213.0526 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 267.0303, + -465.8616, + 213.0526 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 316.6025, + -380.0, + 200.0 + ], + "actual_end_pos": [ + 316.6025, + -380.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 316.6025, + -380.0, + 200.0 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 230.0, + -330.0, + 200.0 + ], + "actual_end_pos": [ + 230.0, + -330.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 230.0, + -330.0, + 200.0 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 143.3975, + -280.0, + 200.0 + ], + "actual_end_pos": [ + 143.3975, + -280.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 143.3975, + -280.0, + 200.0 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 192.9697, + -194.1384, + 186.9474 + ], + "actual_end_pos": [ + 192.9697, + -194.1384, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 192.9697, + -194.1384, + 186.9474 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 192.9697, + -194.1384, + 186.9474 + ], + "actual_end_pos": [ + 192.9697, + -194.1384, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 192.9697, + -194.1384, + 186.9474 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 143.3975, + -280.0, + 200.0 + ], + "actual_end_pos": [ + 143.3975, + -280.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 143.3975, + -280.0, + 200.0 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 230.0, + -330.0, + 200.0 + ], + "actual_end_pos": [ + 230.0, + -330.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 230.0, + -330.0, + 200.0 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 230.0, + -330.0, + 200.0 + ], + "actual_end_pos": [ + 230.0, + -330.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 230.0, + -330.0, + 200.0 + ], + "start_rot": [ + -7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 230.0, + -330.0, + 200.0 + ], + "actual_end_pos": [ + 230.0, + -330.0, + 200.0 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 230.0, + -330.0, + 200.0 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 230.0, + -330.0, + 200.0 + ], + "actual_end_pos": [ + 230.0, + -330.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260414_205421__traj_001051_meta.json b/inverse_easy/run_20260414_205421__traj_001051_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dc7f84832c1d2334a0774531f39a555ee78a8f8c --- /dev/null +++ b/inverse_easy/run_20260414_205421__traj_001051_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 1051, + "episode_id": 0, + "state_id": 769, + "sample_index": 769, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 230.0, + -230.0, + 200.0 + ], + "rotation": [ + 0.0, + 45.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "turn_right", + "move_forward", + "look_up", + "move_backward", + "look_down", + "no_op", + "move_right", + "move_forward", + "look_down", + "move_forward", + "turn_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "turn_right", + "move_backward", + "look_up", + "move_backward", + "move_left", + "no_op", + "look_up", + "move_forward", + "look_down", + "move_backward", + "turn_left", + "move_left" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 230.0, + -230.0, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 159.2893, + -159.2893, + 200.0 + ], + "actual_end_pos": [ + 159.2893, + -159.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 159.2893, + -159.2893, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 159.2893, + -159.2893, + 200.0 + ], + "actual_end_pos": [ + 159.2893, + -159.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 159.2893, + -159.2893, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 209.2893, + -72.6868, + 200.0 + ], + "actual_end_pos": [ + 209.2893, + -72.6868, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 209.2893, + -72.6868, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 209.2893, + -72.6868, + 200.0 + ], + "actual_end_pos": [ + 209.2893, + -72.6868, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 209.2893, + -72.6868, + 200.0 + ], + "start_rot": [ + 7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 159.7171, + -158.5484, + 186.9474 + ], + "actual_end_pos": [ + 159.7171, + -158.5484, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 159.7171, + -158.5484, + 186.9474 + ], + "start_rot": [ + 7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 159.7171, + -158.5484, + 186.9474 + ], + "actual_end_pos": [ + 159.7171, + -158.5484, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 159.7171, + -158.5484, + 186.9474 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 159.7171, + -158.5484, + 186.9474 + ], + "actual_end_pos": [ + 159.7171, + -158.5484, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 159.7171, + -158.5484, + 186.9474 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 73.1145, + -108.5484, + 186.9474 + ], + "actual_end_pos": [ + 73.1145, + -108.5484, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 73.1145, + -108.5484, + 186.9474 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 123.1145, + -21.9459, + 186.9474 + ], + "actual_end_pos": [ + 123.1145, + -21.9459, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 123.1145, + -21.9459, + 186.9474 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 123.1145, + -21.9459, + 186.9474 + ], + "actual_end_pos": [ + 123.1145, + -21.9459, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 123.1145, + -21.9459, + 186.9474 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 172.6868, + 63.9158, + 173.8948 + ], + "actual_end_pos": [ + 172.6868, + 63.9158, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 172.6868, + 63.9158, + 173.8948 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 172.6868, + 63.9158, + 173.8948 + ], + "actual_end_pos": [ + 172.6868, + 63.9158, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 172.6868, + 63.9158, + 173.8948 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 172.6868, + 63.9158, + 173.8948 + ], + "actual_end_pos": [ + 172.6868, + 63.9158, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 172.6868, + 63.9158, + 173.8948 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 172.6868, + 63.9158, + 173.8948 + ], + "actual_end_pos": [ + 172.6868, + 63.9158, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 172.6868, + 63.9158, + 173.8948 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 172.6868, + 63.9158, + 173.8948 + ], + "actual_end_pos": [ + 172.6868, + 63.9158, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 172.6868, + 63.9158, + 173.8948 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 172.6868, + 63.9158, + 173.8948 + ], + "actual_end_pos": [ + 172.6868, + 63.9158, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 172.6868, + 63.9158, + 173.8948 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 172.6868, + 63.9158, + 173.8948 + ], + "actual_end_pos": [ + 172.6868, + 63.9158, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 172.6868, + 63.9158, + 173.8948 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 172.6868, + 63.9158, + 173.8948 + ], + "actual_end_pos": [ + 172.6868, + 63.9158, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 172.6868, + 63.9158, + 173.8948 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 172.6868, + 63.9158, + 173.8948 + ], + "actual_end_pos": [ + 172.6868, + 63.9158, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 172.6868, + 63.9158, + 173.8948 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 172.6868, + 63.9158, + 173.8948 + ], + "actual_end_pos": [ + 172.6868, + 63.9158, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 172.6868, + 63.9158, + 173.8948 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 172.6868, + 63.9158, + 173.8948 + ], + "actual_end_pos": [ + 172.6868, + 63.9158, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 172.6868, + 63.9158, + 173.8948 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 172.6868, + 63.9158, + 173.8948 + ], + "actual_end_pos": [ + 172.6868, + 63.9158, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 172.6868, + 63.9158, + 173.8948 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 172.6868, + 63.9158, + 173.8948 + ], + "actual_end_pos": [ + 172.6868, + 63.9158, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 172.6868, + 63.9158, + 173.8948 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 172.6868, + 63.9158, + 173.8948 + ], + "actual_end_pos": [ + 172.6868, + 63.9158, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 172.6868, + 63.9158, + 173.8948 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 172.6868, + 63.9158, + 173.8948 + ], + "actual_end_pos": [ + 172.6868, + 63.9158, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 172.6868, + 63.9158, + 173.8948 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 172.6868, + 63.9158, + 173.8948 + ], + "actual_end_pos": [ + 172.6868, + 63.9158, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 172.6868, + 63.9158, + 173.8948 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 172.6868, + 63.9158, + 173.8948 + ], + "actual_end_pos": [ + 172.6868, + 63.9158, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 172.6868, + 63.9158, + 173.8948 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 172.6868, + 63.9158, + 173.8948 + ], + "actual_end_pos": [ + 172.6868, + 63.9158, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 172.6868, + 63.9158, + 173.8948 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 172.6868, + 63.9158, + 173.8948 + ], + "actual_end_pos": [ + 172.6868, + 63.9158, + 173.8948 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 172.6868, + 63.9158, + 173.8948 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 123.1145, + -21.9459, + 186.9474 + ], + "actual_end_pos": [ + 123.1145, + -21.9459, + 186.9474 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 123.1145, + -21.9459, + 186.9474 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 123.1145, + -21.9459, + 186.9474 + ], + "actual_end_pos": [ + 123.1145, + -21.9459, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 123.1145, + -21.9459, + 186.9474 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 73.1145, + -108.5484, + 186.9474 + ], + "actual_end_pos": [ + 73.1145, + -108.5484, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 73.1145, + -108.5484, + 186.9474 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 159.7171, + -158.5484, + 186.9474 + ], + "actual_end_pos": [ + 159.7171, + -158.5484, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 159.7171, + -158.5484, + 186.9474 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 159.7171, + -158.5484, + 186.9474 + ], + "actual_end_pos": [ + 159.7171, + -158.5484, + 186.9474 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 159.7171, + -158.5484, + 186.9474 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 159.7171, + -158.5484, + 186.9474 + ], + "actual_end_pos": [ + 159.7171, + -158.5484, + 186.9474 + ], + "actual_end_rot": [ + 7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 159.7171, + -158.5484, + 186.9474 + ], + "start_rot": [ + 7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 209.2893, + -72.6868, + 200.0 + ], + "actual_end_pos": [ + 209.2893, + -72.6868, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 209.2893, + -72.6868, + 200.0 + ], + "start_rot": [ + 7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 209.2893, + -72.6868, + 200.0 + ], + "actual_end_pos": [ + 209.2893, + -72.6868, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 209.2893, + -72.6868, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 159.2893, + -159.2893, + 200.0 + ], + "actual_end_pos": [ + 159.2893, + -159.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 159.2893, + -159.2893, + 200.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 159.2893, + -159.2893, + 200.0 + ], + "actual_end_pos": [ + 159.2893, + -159.2893, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 159.2893, + -159.2893, + 200.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 230.0, + -230.0, + 200.0 + ], + "actual_end_pos": [ + 230.0, + -230.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260414_205421__traj_001065_meta.json b/inverse_easy/run_20260414_205421__traj_001065_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cd2d0a8424541bca1e2d7ffab3d2762524ab3426 --- /dev/null +++ b/inverse_easy/run_20260414_205421__traj_001065_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 1065, + "episode_id": 0, + "state_id": 779, + "sample_index": 779, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 230.0, + -130.0, + 200.0 + ], + "rotation": [ + 0.0, + 135.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_left", + "look_up", + "turn_left", + "move_left", + "move_forward", + "move_right", + "look_up", + "move_right", + "move_forward", + "move_right", + "turn_right", + "move_right", + "move_right", + "move_forward", + "turn_right", + "move_left", + "no_op", + "move_left", + "no_op", + "no_op", + "move_right", + "no_op", + "move_right", + "turn_left", + "move_backward", + "move_left", + "move_left", + "turn_left", + "move_left", + "move_backward", + "move_left", + "look_down", + "move_left", + "move_backward", + "move_right", + "turn_right", + "look_down", + "move_right", + "move_forward" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 230.0, + -130.0, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 300.7107, + -200.7107, + 200.0 + ], + "actual_end_pos": [ + 300.7107, + -200.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 300.7107, + -200.7107, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 371.4214, + -130.0, + 200.0 + ], + "actual_end_pos": [ + 371.4214, + -130.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 371.4214, + -130.0, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 371.4214, + -130.0, + 200.0 + ], + "actual_end_pos": [ + 371.4214, + -130.0, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 371.4214, + -130.0, + 200.0 + ], + "start_rot": [ + 7.5, + 135.0, + -0.0 + ], + "expected_end_pos": [ + 371.4214, + -130.0, + 200.0 + ], + "actual_end_pos": [ + 371.4214, + -130.0, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 371.4214, + -130.0, + 200.0 + ], + "start_rot": [ + 7.5, + 120.0, + -0.0 + ], + "expected_end_pos": [ + 458.0239, + -80.0, + 200.0 + ], + "actual_end_pos": [ + 458.0239, + -80.0, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 458.0239, + -80.0, + 200.0 + ], + "start_rot": [ + 7.5, + 120.0, + -0.0 + ], + "expected_end_pos": [ + 408.4517, + 5.8616, + 213.0526 + ], + "actual_end_pos": [ + 408.4517, + 5.8616, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + 120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 408.4517, + 5.8616, + 213.0526 + ], + "start_rot": [ + 7.5, + 120.0, + -0.0 + ], + "expected_end_pos": [ + 321.8491, + -44.1384, + 213.0526 + ], + "actual_end_pos": [ + 321.8491, + -44.1384, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + 120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 321.8491, + -44.1384, + 213.0526 + ], + "start_rot": [ + 7.5, + 120.0, + -0.0 + ], + "expected_end_pos": [ + 321.8491, + -44.1384, + 213.0526 + ], + "actual_end_pos": [ + 321.8491, + -44.1384, + 213.0526 + ], + "actual_end_rot": [ + 15.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 321.8491, + -44.1384, + 213.0526 + ], + "start_rot": [ + 15.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 235.2466, + -94.1384, + 213.0526 + ], + "actual_end_pos": [ + 235.2466, + -94.1384, + 213.0526 + ], + "actual_end_rot": [ + 15.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 235.2466, + -94.1384, + 213.0526 + ], + "start_rot": [ + 15.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 186.9503, + -10.4867, + 238.9345 + ], + "actual_end_pos": [ + 186.9503, + -10.4867, + 238.9345 + ], + "actual_end_rot": [ + 15.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 186.9503, + -10.4867, + 238.9345 + ], + "start_rot": [ + 15.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 100.3477, + -60.4867, + 238.9345 + ], + "actual_end_pos": [ + 100.3477, + -60.4867, + 238.9345 + ], + "actual_end_rot": [ + 15.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 100.3477, + -60.4867, + 238.9345 + ], + "start_rot": [ + 15.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 100.3477, + -60.4867, + 238.9345 + ], + "actual_end_pos": [ + 100.3477, + -60.4867, + 238.9345 + ], + "actual_end_rot": [ + 15.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 100.3477, + -60.4867, + 238.9345 + ], + "start_rot": [ + 15.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29.6371, + -131.1974, + 238.9345 + ], + "actual_end_pos": [ + 29.6371, + -131.1974, + 238.9345 + ], + "actual_end_rot": [ + 15.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 29.6371, + -131.1974, + 238.9345 + ], + "start_rot": [ + 15.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -41.0736, + -201.9081, + 238.9345 + ], + "actual_end_pos": [ + -41.0736, + -201.9081, + 238.9345 + ], + "actual_end_rot": [ + 15.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -41.0736, + -201.9081, + 238.9345 + ], + "start_rot": [ + 15.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -109.3749, + -133.6068, + 264.8164 + ], + "actual_end_pos": [ + -109.3749, + -133.6068, + 264.8164 + ], + "actual_end_rot": [ + 15.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -109.3749, + -133.6068, + 264.8164 + ], + "start_rot": [ + 15.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -109.3749, + -133.6068, + 264.8164 + ], + "actual_end_pos": [ + -109.3749, + -133.6068, + 264.8164 + ], + "actual_end_rot": [ + 15.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -109.3749, + -133.6068, + 264.8164 + ], + "start_rot": [ + 15.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -59.3749, + -47.0043, + 264.8164 + ], + "actual_end_pos": [ + -59.3749, + -47.0043, + 264.8164 + ], + "actual_end_rot": [ + 15.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -59.3749, + -47.0043, + 264.8164 + ], + "start_rot": [ + 15.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -59.3749, + -47.0043, + 264.8164 + ], + "actual_end_pos": [ + -59.3749, + -47.0043, + 264.8164 + ], + "actual_end_rot": [ + 15.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -59.3749, + -47.0043, + 264.8164 + ], + "start_rot": [ + 15.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -9.3749, + 39.5983, + 264.8164 + ], + "actual_end_pos": [ + -9.3749, + 39.5983, + 264.8164 + ], + "actual_end_rot": [ + 15.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -9.3749, + 39.5983, + 264.8164 + ], + "start_rot": [ + 15.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -9.3749, + 39.5983, + 264.8164 + ], + "actual_end_pos": [ + -9.3749, + 39.5983, + 264.8164 + ], + "actual_end_rot": [ + 15.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -9.3749, + 39.5983, + 264.8164 + ], + "start_rot": [ + 15.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -9.3749, + 39.5983, + 264.8164 + ], + "actual_end_pos": [ + -9.3749, + 39.5983, + 264.8164 + ], + "actual_end_rot": [ + 15.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -9.3749, + 39.5983, + 264.8164 + ], + "start_rot": [ + 15.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -59.3749, + -47.0043, + 264.8164 + ], + "actual_end_pos": [ + -59.3749, + -47.0043, + 264.8164 + ], + "actual_end_rot": [ + 15.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -59.3749, + -47.0043, + 264.8164 + ], + "start_rot": [ + 15.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -59.3749, + -47.0043, + 264.8164 + ], + "actual_end_pos": [ + -59.3749, + -47.0043, + 264.8164 + ], + "actual_end_rot": [ + 15.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -59.3749, + -47.0043, + 264.8164 + ], + "start_rot": [ + 15.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -109.3749, + -133.6068, + 264.8164 + ], + "actual_end_pos": [ + -109.3749, + -133.6068, + 264.8164 + ], + "actual_end_rot": [ + 15.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -109.3749, + -133.6068, + 264.8164 + ], + "start_rot": [ + 15.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -109.3749, + -133.6068, + 264.8164 + ], + "actual_end_pos": [ + -109.3749, + -133.6068, + 264.8164 + ], + "actual_end_rot": [ + 15.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -109.3749, + -133.6068, + 264.8164 + ], + "start_rot": [ + 15.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -41.0736, + -201.9081, + 238.9345 + ], + "actual_end_pos": [ + -41.0736, + -201.9081, + 238.9345 + ], + "actual_end_rot": [ + 15.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -41.0736, + -201.9081, + 238.9345 + ], + "start_rot": [ + 15.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 29.6371, + -131.1974, + 238.9345 + ], + "actual_end_pos": [ + 29.6371, + -131.1974, + 238.9345 + ], + "actual_end_rot": [ + 15.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 29.6371, + -131.1974, + 238.9345 + ], + "start_rot": [ + 15.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 100.3477, + -60.4867, + 238.9345 + ], + "actual_end_pos": [ + 100.3477, + -60.4867, + 238.9345 + ], + "actual_end_rot": [ + 15.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 100.3477, + -60.4867, + 238.9345 + ], + "start_rot": [ + 15.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 100.3477, + -60.4867, + 238.9345 + ], + "actual_end_pos": [ + 100.3477, + -60.4867, + 238.9345 + ], + "actual_end_rot": [ + 15.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 100.3477, + -60.4867, + 238.9345 + ], + "start_rot": [ + 15.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 186.9503, + -10.4867, + 238.9345 + ], + "actual_end_pos": [ + 186.9503, + -10.4867, + 238.9345 + ], + "actual_end_rot": [ + 15.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 186.9503, + -10.4867, + 238.9345 + ], + "start_rot": [ + 15.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 235.2466, + -94.1384, + 213.0526 + ], + "actual_end_pos": [ + 235.2466, + -94.1384, + 213.0526 + ], + "actual_end_rot": [ + 15.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 235.2466, + -94.1384, + 213.0526 + ], + "start_rot": [ + 15.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 321.8491, + -44.1384, + 213.0526 + ], + "actual_end_pos": [ + 321.8491, + -44.1384, + 213.0526 + ], + "actual_end_rot": [ + 15.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 321.8491, + -44.1384, + 213.0526 + ], + "start_rot": [ + 15.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 321.8491, + -44.1384, + 213.0526 + ], + "actual_end_pos": [ + 321.8491, + -44.1384, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 321.8491, + -44.1384, + 213.0526 + ], + "start_rot": [ + 7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 408.4517, + 5.8616, + 213.0526 + ], + "actual_end_pos": [ + 408.4517, + 5.8616, + 213.0526 + ], + "actual_end_rot": [ + 7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 408.4517, + 5.8616, + 213.0526 + ], + "start_rot": [ + 7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 458.0239, + -80.0, + 200.0 + ], + "actual_end_pos": [ + 458.0239, + -80.0, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 458.0239, + -80.0, + 200.0 + ], + "start_rot": [ + 7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 371.4214, + -130.0, + 200.0 + ], + "actual_end_pos": [ + 371.4214, + -130.0, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 371.4214, + -130.0, + 200.0 + ], + "start_rot": [ + 7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 371.4214, + -130.0, + 200.0 + ], + "actual_end_pos": [ + 371.4214, + -130.0, + 200.0 + ], + "actual_end_rot": [ + 7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 371.4214, + -130.0, + 200.0 + ], + "start_rot": [ + 7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 371.4214, + -130.0, + 200.0 + ], + "actual_end_pos": [ + 371.4214, + -130.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 371.4214, + -130.0, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 300.7107, + -200.7107, + 200.0 + ], + "actual_end_pos": [ + 300.7107, + -200.7107, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 300.7107, + -200.7107, + 200.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + 230.0, + -130.0, + 200.0 + ], + "actual_end_pos": [ + 230.0, + -130.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260414_205421__traj_001251_meta.json b/inverse_easy/run_20260414_205421__traj_001251_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..42ae2f61aaa6989d0fbe0b4af244e156b974cd6b --- /dev/null +++ b/inverse_easy/run_20260414_205421__traj_001251_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 1251, + "episode_id": 0, + "state_id": 918, + "sample_index": 918, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 330.0, + 470.0, + 200.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_forward", + "move_forward", + "turn_left", + "move_forward", + "turn_left", + "turn_left", + "move_left", + "turn_left", + "look_down", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "look_up", + "turn_right", + "move_right", + "turn_right", + "turn_right", + "move_backward", + "turn_right", + "move_backward", + "move_backward", + "move_backward" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 330.0, + 470.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 330.0, + 370.0, + 200.0 + ], + "actual_end_pos": [ + 330.0, + 370.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 330.0, + 370.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 330.0, + 270.0, + 200.0 + ], + "actual_end_pos": [ + 330.0, + 270.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 330.0, + 270.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 330.0, + 170.0, + 200.0 + ], + "actual_end_pos": [ + 330.0, + 170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 330.0, + 170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 330.0, + 170.0, + 200.0 + ], + "actual_end_pos": [ + 330.0, + 170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 330.0, + 170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 304.1181, + 73.4074, + 200.0 + ], + "actual_end_pos": [ + 304.1181, + 73.4074, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 304.1181, + 73.4074, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 304.1181, + 73.4074, + 200.0 + ], + "actual_end_pos": [ + 304.1181, + 73.4074, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 304.1181, + 73.4074, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 304.1181, + 73.4074, + 200.0 + ], + "actual_end_pos": [ + 304.1181, + 73.4074, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 304.1181, + 73.4074, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "actual_end_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "actual_end_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "actual_end_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "actual_end_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "actual_end_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "actual_end_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "actual_end_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "actual_end_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "actual_end_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "actual_end_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "actual_end_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "actual_end_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "actual_end_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "actual_end_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "actual_end_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "actual_end_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "actual_end_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "actual_end_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "actual_end_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "actual_end_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "actual_end_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "actual_end_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "actual_end_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "actual_end_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "start_rot": [ + 0.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "actual_end_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 233.4074, + 144.1181, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 304.1181, + 73.4074, + 200.0 + ], + "actual_end_pos": [ + 304.1181, + 73.4074, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 304.1181, + 73.4074, + 200.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 304.1181, + 73.4074, + 200.0 + ], + "actual_end_pos": [ + 304.1181, + 73.4074, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 304.1181, + 73.4074, + 200.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 304.1181, + 73.4074, + 200.0 + ], + "actual_end_pos": [ + 304.1181, + 73.4074, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 304.1181, + 73.4074, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 330.0, + 170.0, + 200.0 + ], + "actual_end_pos": [ + 330.0, + 170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 330.0, + 170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 330.0, + 170.0, + 200.0 + ], + "actual_end_pos": [ + 330.0, + 170.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 330.0, + 170.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 330.0, + 270.0, + 200.0 + ], + "actual_end_pos": [ + 330.0, + 270.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 330.0, + 270.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 330.0, + 370.0, + 200.0 + ], + "actual_end_pos": [ + 330.0, + 370.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 330.0, + 370.0, + 200.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 330.0, + 470.0, + 200.0 + ], + "actual_end_pos": [ + 330.0, + 470.0, + 200.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260415_212208__traj_000022_meta.json b/inverse_easy/run_20260415_212208__traj_000022_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a5eebf4a74dfd05e96de2b3b9bda11cfaaec3292 --- /dev/null +++ b/inverse_easy/run_20260415_212208__traj_000022_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 22, + "episode_id": 0, + "state_id": 19, + "sample_index": 19, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -28640.0, + -24440.0, + 800.0 + ], + "rotation": [ + 0.0, + 135.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "move_right", + "look_up", + "turn_right", + "move_backward", + "move_backward", + "look_up", + "look_up", + "move_right", + "move_forward", + "turn_right", + "move_left", + "move_forward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "move_backward", + "move_right", + "turn_left", + "move_backward", + "move_left", + "look_down", + "look_down", + "move_forward", + "move_forward", + "turn_left", + "look_down", + "move_left", + "move_left" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -28640.0, + -24440.0, + 800.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -28710.7107, + -24510.7107, + 800.0 + ], + "actual_end_pos": [ + -28710.7107, + -24510.7107, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -28710.7107, + -24510.7107, + 800.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -28781.4214, + -24581.4214, + 800.0 + ], + "actual_end_pos": [ + -28781.4214, + -24581.4214, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -28781.4214, + -24581.4214, + 800.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -28781.4214, + -24581.4214, + 800.0 + ], + "actual_end_pos": [ + -28781.4214, + -24581.4214, + 800.0 + ], + "actual_end_rot": [ + 7.5, + 135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -28781.4214, + -24581.4214, + 800.0 + ], + "start_rot": [ + 7.5, + 135.0, + -0.0 + ], + "expected_end_pos": [ + -28781.4214, + -24581.4214, + 800.0 + ], + "actual_end_pos": [ + -28781.4214, + -24581.4214, + 800.0 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -28781.4214, + -24581.4214, + 800.0 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -28695.5597, + -24630.9936, + 786.9474 + ], + "actual_end_pos": [ + -28695.5597, + -24630.9936, + 786.9474 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -28695.5597, + -24630.9936, + 786.9474 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -28609.6981, + -24680.5658, + 773.8948 + ], + "actual_end_pos": [ + -28609.6981, + -24680.5658, + 773.8948 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -28609.6981, + -24680.5658, + 773.8948 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -28609.6981, + -24680.5658, + 773.8948 + ], + "actual_end_pos": [ + -28609.6981, + -24680.5658, + 773.8948 + ], + "actual_end_rot": [ + 15.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -28609.6981, + -24680.5658, + 773.8948 + ], + "start_rot": [ + 15.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -28609.6981, + -24680.5658, + 773.8948 + ], + "actual_end_pos": [ + -28609.6981, + -24680.5658, + 773.8948 + ], + "actual_end_rot": [ + 22.5, + 150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -28609.6981, + -24680.5658, + 773.8948 + ], + "start_rot": [ + 22.5, + 150.0, + -0.0 + ], + "expected_end_pos": [ + -28659.6981, + -24767.1684, + 773.8948 + ], + "actual_end_pos": [ + -28659.6981, + -24767.1684, + 773.8948 + ], + "actual_end_rot": [ + 22.5, + 150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -28659.6981, + -24767.1684, + 773.8948 + ], + "start_rot": [ + 22.5, + 150.0, + -0.0 + ], + "expected_end_pos": [ + -28739.7084, + -24720.9744, + 812.1631 + ], + "actual_end_pos": [ + -28739.7084, + -24720.9744, + 812.1631 + ], + "actual_end_rot": [ + 22.5, + 150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -28739.7084, + -24720.9744, + 812.1631 + ], + "start_rot": [ + 22.5, + 150.0, + -0.0 + ], + "expected_end_pos": [ + -28739.7084, + -24720.9744, + 812.1631 + ], + "actual_end_pos": [ + -28739.7084, + -24720.9744, + 812.1631 + ], + "actual_end_rot": [ + 22.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -28739.7084, + -24720.9744, + 812.1631 + ], + "start_rot": [ + 22.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -28713.8265, + -24624.3818, + 812.1631 + ], + "actual_end_pos": [ + -28713.8265, + -24624.3818, + 812.1631 + ], + "actual_end_rot": [ + 22.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -28713.8265, + -24624.3818, + 812.1631 + ], + "start_rot": [ + 22.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -28803.0664, + -24600.4701, + 850.4314 + ], + "actual_end_pos": [ + -28803.0664, + -24600.4701, + 850.4314 + ], + "actual_end_rot": [ + 22.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28803.0664, + -24600.4701, + 850.4314 + ], + "start_rot": [ + 22.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -28803.0664, + -24600.4701, + 850.4314 + ], + "actual_end_pos": [ + -28803.0664, + -24600.4701, + 850.4314 + ], + "actual_end_rot": [ + 22.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28803.0664, + -24600.4701, + 850.4314 + ], + "start_rot": [ + 22.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -28803.0664, + -24600.4701, + 850.4314 + ], + "actual_end_pos": [ + -28803.0664, + -24600.4701, + 850.4314 + ], + "actual_end_rot": [ + 22.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28803.0664, + -24600.4701, + 850.4314 + ], + "start_rot": [ + 22.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -28803.0664, + -24600.4701, + 850.4314 + ], + "actual_end_pos": [ + -28803.0664, + -24600.4701, + 850.4314 + ], + "actual_end_rot": [ + 22.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28803.0664, + -24600.4701, + 850.4314 + ], + "start_rot": [ + 22.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -28803.0664, + -24600.4701, + 850.4314 + ], + "actual_end_pos": [ + -28803.0664, + -24600.4701, + 850.4314 + ], + "actual_end_rot": [ + 22.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28803.0664, + -24600.4701, + 850.4314 + ], + "start_rot": [ + 22.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -28803.0664, + -24600.4701, + 850.4314 + ], + "actual_end_pos": [ + -28803.0664, + -24600.4701, + 850.4314 + ], + "actual_end_rot": [ + 22.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28803.0664, + -24600.4701, + 850.4314 + ], + "start_rot": [ + 22.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -28803.0664, + -24600.4701, + 850.4314 + ], + "actual_end_pos": [ + -28803.0664, + -24600.4701, + 850.4314 + ], + "actual_end_rot": [ + 22.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28803.0664, + -24600.4701, + 850.4314 + ], + "start_rot": [ + 22.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -28803.0664, + -24600.4701, + 850.4314 + ], + "actual_end_pos": [ + -28803.0664, + -24600.4701, + 850.4314 + ], + "actual_end_rot": [ + 22.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28803.0664, + -24600.4701, + 850.4314 + ], + "start_rot": [ + 22.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -28803.0664, + -24600.4701, + 850.4314 + ], + "actual_end_pos": [ + -28803.0664, + -24600.4701, + 850.4314 + ], + "actual_end_rot": [ + 22.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28803.0664, + -24600.4701, + 850.4314 + ], + "start_rot": [ + 22.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -28803.0664, + -24600.4701, + 850.4314 + ], + "actual_end_pos": [ + -28803.0664, + -24600.4701, + 850.4314 + ], + "actual_end_rot": [ + 22.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28803.0664, + -24600.4701, + 850.4314 + ], + "start_rot": [ + 22.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -28803.0664, + -24600.4701, + 850.4314 + ], + "actual_end_pos": [ + -28803.0664, + -24600.4701, + 850.4314 + ], + "actual_end_rot": [ + 22.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28803.0664, + -24600.4701, + 850.4314 + ], + "start_rot": [ + 22.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -28803.0664, + -24600.4701, + 850.4314 + ], + "actual_end_pos": [ + -28803.0664, + -24600.4701, + 850.4314 + ], + "actual_end_rot": [ + 22.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28803.0664, + -24600.4701, + 850.4314 + ], + "start_rot": [ + 22.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -28803.0664, + -24600.4701, + 850.4314 + ], + "actual_end_pos": [ + -28803.0664, + -24600.4701, + 850.4314 + ], + "actual_end_rot": [ + 22.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28803.0664, + -24600.4701, + 850.4314 + ], + "start_rot": [ + 22.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -28803.0664, + -24600.4701, + 850.4314 + ], + "actual_end_pos": [ + -28803.0664, + -24600.4701, + 850.4314 + ], + "actual_end_rot": [ + 22.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28803.0664, + -24600.4701, + 850.4314 + ], + "start_rot": [ + 22.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -28803.0664, + -24600.4701, + 850.4314 + ], + "actual_end_pos": [ + -28803.0664, + -24600.4701, + 850.4314 + ], + "actual_end_rot": [ + 22.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -28803.0664, + -24600.4701, + 850.4314 + ], + "start_rot": [ + 22.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -28713.8265, + -24624.3818, + 812.1631 + ], + "actual_end_pos": [ + -28713.8265, + -24624.3818, + 812.1631 + ], + "actual_end_rot": [ + 22.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -28713.8265, + -24624.3818, + 812.1631 + ], + "start_rot": [ + 22.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -28739.7084, + -24720.9744, + 812.1631 + ], + "actual_end_pos": [ + -28739.7084, + -24720.9744, + 812.1631 + ], + "actual_end_rot": [ + 22.5, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -28739.7084, + -24720.9744, + 812.1631 + ], + "start_rot": [ + 22.5, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -28739.7084, + -24720.9744, + 812.1631 + ], + "actual_end_pos": [ + -28739.7084, + -24720.9744, + 812.1631 + ], + "actual_end_rot": [ + 22.5, + 150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -28739.7084, + -24720.9744, + 812.1631 + ], + "start_rot": [ + 22.5, + 150.0, + -0.0 + ], + "expected_end_pos": [ + -28659.6981, + -24767.1684, + 773.8948 + ], + "actual_end_pos": [ + -28659.6981, + -24767.1684, + 773.8948 + ], + "actual_end_rot": [ + 22.5, + 150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -28659.6981, + -24767.1684, + 773.8948 + ], + "start_rot": [ + 22.5, + 150.0, + -0.0 + ], + "expected_end_pos": [ + -28609.6981, + -24680.5658, + 773.8948 + ], + "actual_end_pos": [ + -28609.6981, + -24680.5658, + 773.8948 + ], + "actual_end_rot": [ + 22.5, + 150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -28609.6981, + -24680.5658, + 773.8948 + ], + "start_rot": [ + 22.5, + 150.0, + -0.0 + ], + "expected_end_pos": [ + -28609.6981, + -24680.5658, + 773.8948 + ], + "actual_end_pos": [ + -28609.6981, + -24680.5658, + 773.8948 + ], + "actual_end_rot": [ + 15.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -28609.6981, + -24680.5658, + 773.8948 + ], + "start_rot": [ + 15.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -28609.6981, + -24680.5658, + 773.8948 + ], + "actual_end_pos": [ + -28609.6981, + -24680.5658, + 773.8948 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -28609.6981, + -24680.5658, + 773.8948 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -28695.5597, + -24630.9936, + 786.9474 + ], + "actual_end_pos": [ + -28695.5597, + -24630.9936, + 786.9474 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -28695.5597, + -24630.9936, + 786.9474 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -28781.4214, + -24581.4214, + 800.0 + ], + "actual_end_pos": [ + -28781.4214, + -24581.4214, + 800.0 + ], + "actual_end_rot": [ + 7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -28781.4214, + -24581.4214, + 800.0 + ], + "start_rot": [ + 7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -28781.4214, + -24581.4214, + 800.0 + ], + "actual_end_pos": [ + -28781.4214, + -24581.4214, + 800.0 + ], + "actual_end_rot": [ + 7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -28781.4214, + -24581.4214, + 800.0 + ], + "start_rot": [ + 7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -28781.4214, + -24581.4214, + 800.0 + ], + "actual_end_pos": [ + -28781.4214, + -24581.4214, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -28781.4214, + -24581.4214, + 800.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -28710.7107, + -24510.7107, + 800.0 + ], + "actual_end_pos": [ + -28710.7107, + -24510.7107, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -28710.7107, + -24510.7107, + 800.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -28640.0, + -24440.0, + 800.0 + ], + "actual_end_pos": [ + -28640.0, + -24440.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260415_212208__traj_000078_meta.json b/inverse_easy/run_20260415_212208__traj_000078_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d76e0a15c719a943ce43fc35dd76fb49341f0800 --- /dev/null +++ b/inverse_easy/run_20260415_212208__traj_000078_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 78, + "episode_id": 0, + "state_id": 59, + "sample_index": 59, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -28640.0, + -22440.0, + 800.0 + ], + "rotation": [ + 0.0, + 135.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_left", + "turn_left", + "move_forward", + "look_down", + "move_left", + "no_op", + "move_left", + "look_down", + "move_left", + "move_forward", + "move_left", + "turn_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "turn_left", + "move_right", + "move_backward", + "move_right", + "look_up", + "move_right", + "no_op", + "move_right", + "look_up", + "move_backward", + "turn_right", + "turn_right" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -28640.0, + -22440.0, + 800.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -28640.0, + -22440.0, + 800.0 + ], + "actual_end_pos": [ + -28640.0, + -22440.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -28640.0, + -22440.0, + 800.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -28640.0, + -22440.0, + 800.0 + ], + "actual_end_pos": [ + -28640.0, + -22440.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -28640.0, + -22440.0, + 800.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -28665.8819, + -22343.4074, + 800.0 + ], + "actual_end_pos": [ + -28665.8819, + -22343.4074, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -28665.8819, + -22343.4074, + 800.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -28665.8819, + -22343.4074, + 800.0 + ], + "actual_end_pos": [ + -28665.8819, + -22343.4074, + 800.0 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -28665.8819, + -22343.4074, + 800.0 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -28569.2893, + -22317.5255, + 800.0 + ], + "actual_end_pos": [ + -28569.2893, + -22317.5255, + 800.0 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28569.2893, + -22317.5255, + 800.0 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -28569.2893, + -22317.5255, + 800.0 + ], + "actual_end_pos": [ + -28569.2893, + -22317.5255, + 800.0 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -28569.2893, + -22317.5255, + 800.0 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -28472.6967, + -22291.6436, + 800.0 + ], + "actual_end_pos": [ + -28472.6967, + -22291.6436, + 800.0 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -28472.6967, + -22291.6436, + 800.0 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -28472.6967, + -22291.6436, + 800.0 + ], + "actual_end_pos": [ + -28472.6967, + -22291.6436, + 800.0 + ], + "actual_end_rot": [ + -15.0, + 105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -28472.6967, + -22291.6436, + 800.0 + ], + "start_rot": [ + -15.0, + 105.0, + -0.0 + ], + "expected_end_pos": [ + -28376.1042, + -22265.7617, + 800.0 + ], + "actual_end_pos": [ + -28376.1042, + -22265.7617, + 800.0 + ], + "actual_end_rot": [ + -15.0, + 105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -28376.1042, + -22265.7617, + 800.0 + ], + "start_rot": [ + -15.0, + 105.0, + -0.0 + ], + "expected_end_pos": [ + -28401.1042, + -22172.4604, + 774.1181 + ], + "actual_end_pos": [ + -28401.1042, + -22172.4604, + 774.1181 + ], + "actual_end_rot": [ + -15.0, + 105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -28401.1042, + -22172.4604, + 774.1181 + ], + "start_rot": [ + -15.0, + 105.0, + -0.0 + ], + "expected_end_pos": [ + -28304.5116, + -22146.5785, + 774.1181 + ], + "actual_end_pos": [ + -28304.5116, + -22146.5785, + 774.1181 + ], + "actual_end_rot": [ + -15.0, + 105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -28304.5116, + -22146.5785, + 774.1181 + ], + "start_rot": [ + -15.0, + 105.0, + -0.0 + ], + "expected_end_pos": [ + -28304.5116, + -22146.5785, + 774.1181 + ], + "actual_end_pos": [ + -28304.5116, + -22146.5785, + 774.1181 + ], + "actual_end_rot": [ + -15.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28304.5116, + -22146.5785, + 774.1181 + ], + "start_rot": [ + -15.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -28304.5116, + -22146.5785, + 774.1181 + ], + "actual_end_pos": [ + -28304.5116, + -22146.5785, + 774.1181 + ], + "actual_end_rot": [ + -15.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28304.5116, + -22146.5785, + 774.1181 + ], + "start_rot": [ + -15.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -28304.5116, + -22146.5785, + 774.1181 + ], + "actual_end_pos": [ + -28304.5116, + -22146.5785, + 774.1181 + ], + "actual_end_rot": [ + -15.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28304.5116, + -22146.5785, + 774.1181 + ], + "start_rot": [ + -15.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -28304.5116, + -22146.5785, + 774.1181 + ], + "actual_end_pos": [ + -28304.5116, + -22146.5785, + 774.1181 + ], + "actual_end_rot": [ + -15.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28304.5116, + -22146.5785, + 774.1181 + ], + "start_rot": [ + -15.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -28304.5116, + -22146.5785, + 774.1181 + ], + "actual_end_pos": [ + -28304.5116, + -22146.5785, + 774.1181 + ], + "actual_end_rot": [ + -15.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28304.5116, + -22146.5785, + 774.1181 + ], + "start_rot": [ + -15.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -28304.5116, + -22146.5785, + 774.1181 + ], + "actual_end_pos": [ + -28304.5116, + -22146.5785, + 774.1181 + ], + "actual_end_rot": [ + -15.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28304.5116, + -22146.5785, + 774.1181 + ], + "start_rot": [ + -15.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -28304.5116, + -22146.5785, + 774.1181 + ], + "actual_end_pos": [ + -28304.5116, + -22146.5785, + 774.1181 + ], + "actual_end_rot": [ + -15.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28304.5116, + -22146.5785, + 774.1181 + ], + "start_rot": [ + -15.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -28304.5116, + -22146.5785, + 774.1181 + ], + "actual_end_pos": [ + -28304.5116, + -22146.5785, + 774.1181 + ], + "actual_end_rot": [ + -15.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28304.5116, + -22146.5785, + 774.1181 + ], + "start_rot": [ + -15.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -28304.5116, + -22146.5785, + 774.1181 + ], + "actual_end_pos": [ + -28304.5116, + -22146.5785, + 774.1181 + ], + "actual_end_rot": [ + -15.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28304.5116, + -22146.5785, + 774.1181 + ], + "start_rot": [ + -15.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -28304.5116, + -22146.5785, + 774.1181 + ], + "actual_end_pos": [ + -28304.5116, + -22146.5785, + 774.1181 + ], + "actual_end_rot": [ + -15.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28304.5116, + -22146.5785, + 774.1181 + ], + "start_rot": [ + -15.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -28304.5116, + -22146.5785, + 774.1181 + ], + "actual_end_pos": [ + -28304.5116, + -22146.5785, + 774.1181 + ], + "actual_end_rot": [ + -15.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28304.5116, + -22146.5785, + 774.1181 + ], + "start_rot": [ + -15.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -28304.5116, + -22146.5785, + 774.1181 + ], + "actual_end_pos": [ + -28304.5116, + -22146.5785, + 774.1181 + ], + "actual_end_rot": [ + -15.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28304.5116, + -22146.5785, + 774.1181 + ], + "start_rot": [ + -15.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -28304.5116, + -22146.5785, + 774.1181 + ], + "actual_end_pos": [ + -28304.5116, + -22146.5785, + 774.1181 + ], + "actual_end_rot": [ + -15.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28304.5116, + -22146.5785, + 774.1181 + ], + "start_rot": [ + -15.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -28304.5116, + -22146.5785, + 774.1181 + ], + "actual_end_pos": [ + -28304.5116, + -22146.5785, + 774.1181 + ], + "actual_end_rot": [ + -15.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28304.5116, + -22146.5785, + 774.1181 + ], + "start_rot": [ + -15.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -28304.5116, + -22146.5785, + 774.1181 + ], + "actual_end_pos": [ + -28304.5116, + -22146.5785, + 774.1181 + ], + "actual_end_rot": [ + -15.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28304.5116, + -22146.5785, + 774.1181 + ], + "start_rot": [ + -15.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -28304.5116, + -22146.5785, + 774.1181 + ], + "actual_end_pos": [ + -28304.5116, + -22146.5785, + 774.1181 + ], + "actual_end_rot": [ + -15.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28304.5116, + -22146.5785, + 774.1181 + ], + "start_rot": [ + -15.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -28304.5116, + -22146.5785, + 774.1181 + ], + "actual_end_pos": [ + -28304.5116, + -22146.5785, + 774.1181 + ], + "actual_end_rot": [ + -15.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -28304.5116, + -22146.5785, + 774.1181 + ], + "start_rot": [ + -15.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -28304.5116, + -22146.5785, + 774.1181 + ], + "actual_end_pos": [ + -28304.5116, + -22146.5785, + 774.1181 + ], + "actual_end_rot": [ + -15.0, + 105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -28304.5116, + -22146.5785, + 774.1181 + ], + "start_rot": [ + -15.0, + 105.0, + -0.0 + ], + "expected_end_pos": [ + -28401.1042, + -22172.4604, + 774.1181 + ], + "actual_end_pos": [ + -28401.1042, + -22172.4604, + 774.1181 + ], + "actual_end_rot": [ + -15.0, + 105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -28401.1042, + -22172.4604, + 774.1181 + ], + "start_rot": [ + -15.0, + 105.0, + -0.0 + ], + "expected_end_pos": [ + -28376.1042, + -22265.7617, + 800.0 + ], + "actual_end_pos": [ + -28376.1042, + -22265.7617, + 800.0 + ], + "actual_end_rot": [ + -15.0, + 105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -28376.1042, + -22265.7617, + 800.0 + ], + "start_rot": [ + -15.0, + 105.0, + -0.0 + ], + "expected_end_pos": [ + -28472.6967, + -22291.6436, + 800.0 + ], + "actual_end_pos": [ + -28472.6967, + -22291.6436, + 800.0 + ], + "actual_end_rot": [ + -15.0, + 105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -28472.6967, + -22291.6436, + 800.0 + ], + "start_rot": [ + -15.0, + 105.0, + -0.0 + ], + "expected_end_pos": [ + -28472.6967, + -22291.6436, + 800.0 + ], + "actual_end_pos": [ + -28472.6967, + -22291.6436, + 800.0 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -28472.6967, + -22291.6436, + 800.0 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -28569.2893, + -22317.5255, + 800.0 + ], + "actual_end_pos": [ + -28569.2893, + -22317.5255, + 800.0 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28569.2893, + -22317.5255, + 800.0 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -28569.2893, + -22317.5255, + 800.0 + ], + "actual_end_pos": [ + -28569.2893, + -22317.5255, + 800.0 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -28569.2893, + -22317.5255, + 800.0 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -28665.8819, + -22343.4074, + 800.0 + ], + "actual_end_pos": [ + -28665.8819, + -22343.4074, + 800.0 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -28665.8819, + -22343.4074, + 800.0 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -28665.8819, + -22343.4074, + 800.0 + ], + "actual_end_pos": [ + -28665.8819, + -22343.4074, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -28665.8819, + -22343.4074, + 800.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -28640.0, + -22440.0, + 800.0 + ], + "actual_end_pos": [ + -28640.0, + -22440.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -28640.0, + -22440.0, + 800.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -28640.0, + -22440.0, + 800.0 + ], + "actual_end_pos": [ + -28640.0, + -22440.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -28640.0, + -22440.0, + 800.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -28640.0, + -22440.0, + 800.0 + ], + "actual_end_pos": [ + -28640.0, + -22440.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260415_212208__traj_000187_meta.json b/inverse_easy/run_20260415_212208__traj_000187_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3b5667a7cceb6fb8100cc0760681089b2f3e5362 --- /dev/null +++ b/inverse_easy/run_20260415_212208__traj_000187_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 187, + "episode_id": 0, + "state_id": 142, + "sample_index": 142, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -28640.0, + -18440.0, + 800.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_left", + "move_forward", + "move_forward", + "move_right", + "move_backward", + "move_backward", + "move_backward", + "move_left", + "move_forward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "move_backward", + "move_right", + "move_forward", + "move_forward", + "move_forward", + "move_left", + "move_backward", + "move_backward", + "move_right", + "move_forward" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -28640.0, + -18440.0, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -28640.0, + -18340.0, + 800.0 + ], + "actual_end_pos": [ + -28640.0, + -18340.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -28640.0, + -18340.0, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -28740.0, + -18340.0, + 800.0 + ], + "actual_end_pos": [ + -28740.0, + -18340.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -28740.0, + -18340.0, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -28740.0, + -18440.0, + 800.0 + ], + "actual_end_pos": [ + -28740.0, + -18440.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -28740.0, + -18440.0, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -28740.0, + -18540.0, + 800.0 + ], + "actual_end_pos": [ + -28740.0, + -18540.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -28740.0, + -18540.0, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -28640.0, + -18540.0, + 800.0 + ], + "actual_end_pos": [ + -28640.0, + -18540.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -28640.0, + -18540.0, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -28640.0, + -18440.0, + 800.0 + ], + "actual_end_pos": [ + -28640.0, + -18440.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -28640.0, + -18440.0, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -28640.0, + -18340.0, + 800.0 + ], + "actual_end_pos": [ + -28640.0, + -18340.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -28640.0, + -18340.0, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -28640.0, + -18240.0, + 800.0 + ], + "actual_end_pos": [ + -28640.0, + -18240.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -28640.0, + -18240.0, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -28740.0, + -18240.0, + 800.0 + ], + "actual_end_pos": [ + -28740.0, + -18240.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -28740.0, + -18240.0, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -28740.0, + -18340.0, + 800.0 + ], + "actual_end_pos": [ + -28740.0, + -18340.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28740.0, + -18340.0, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -28740.0, + -18340.0, + 800.0 + ], + "actual_end_pos": [ + -28740.0, + -18340.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28740.0, + -18340.0, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -28740.0, + -18340.0, + 800.0 + ], + "actual_end_pos": [ + -28740.0, + -18340.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28740.0, + -18340.0, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -28740.0, + -18340.0, + 800.0 + ], + "actual_end_pos": [ + -28740.0, + -18340.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28740.0, + -18340.0, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -28740.0, + -18340.0, + 800.0 + ], + "actual_end_pos": [ + -28740.0, + -18340.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28740.0, + -18340.0, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -28740.0, + -18340.0, + 800.0 + ], + "actual_end_pos": [ + -28740.0, + -18340.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28740.0, + -18340.0, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -28740.0, + -18340.0, + 800.0 + ], + "actual_end_pos": [ + -28740.0, + -18340.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28740.0, + -18340.0, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -28740.0, + -18340.0, + 800.0 + ], + "actual_end_pos": [ + -28740.0, + -18340.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28740.0, + -18340.0, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -28740.0, + -18340.0, + 800.0 + ], + "actual_end_pos": [ + -28740.0, + -18340.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28740.0, + -18340.0, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -28740.0, + -18340.0, + 800.0 + ], + "actual_end_pos": [ + -28740.0, + -18340.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28740.0, + -18340.0, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -28740.0, + -18340.0, + 800.0 + ], + "actual_end_pos": [ + -28740.0, + -18340.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28740.0, + -18340.0, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -28740.0, + -18340.0, + 800.0 + ], + "actual_end_pos": [ + -28740.0, + -18340.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28740.0, + -18340.0, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -28740.0, + -18340.0, + 800.0 + ], + "actual_end_pos": [ + -28740.0, + -18340.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28740.0, + -18340.0, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -28740.0, + -18340.0, + 800.0 + ], + "actual_end_pos": [ + -28740.0, + -18340.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28740.0, + -18340.0, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -28740.0, + -18340.0, + 800.0 + ], + "actual_end_pos": [ + -28740.0, + -18340.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28740.0, + -18340.0, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -28740.0, + -18340.0, + 800.0 + ], + "actual_end_pos": [ + -28740.0, + -18340.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28740.0, + -18340.0, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -28740.0, + -18340.0, + 800.0 + ], + "actual_end_pos": [ + -28740.0, + -18340.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28740.0, + -18340.0, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -28740.0, + -18340.0, + 800.0 + ], + "actual_end_pos": [ + -28740.0, + -18340.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28740.0, + -18340.0, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -28740.0, + -18340.0, + 800.0 + ], + "actual_end_pos": [ + -28740.0, + -18340.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28740.0, + -18340.0, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -28740.0, + -18340.0, + 800.0 + ], + "actual_end_pos": [ + -28740.0, + -18340.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -28740.0, + -18340.0, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -28740.0, + -18340.0, + 800.0 + ], + "actual_end_pos": [ + -28740.0, + -18340.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -28740.0, + -18340.0, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -28740.0, + -18240.0, + 800.0 + ], + "actual_end_pos": [ + -28740.0, + -18240.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -28740.0, + -18240.0, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -28640.0, + -18240.0, + 800.0 + ], + "actual_end_pos": [ + -28640.0, + -18240.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -28640.0, + -18240.0, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -28640.0, + -18340.0, + 800.0 + ], + "actual_end_pos": [ + -28640.0, + -18340.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -28640.0, + -18340.0, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -28640.0, + -18440.0, + 800.0 + ], + "actual_end_pos": [ + -28640.0, + -18440.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -28640.0, + -18440.0, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -28640.0, + -18540.0, + 800.0 + ], + "actual_end_pos": [ + -28640.0, + -18540.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -28640.0, + -18540.0, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -28740.0, + -18540.0, + 800.0 + ], + "actual_end_pos": [ + -28740.0, + -18540.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -28740.0, + -18540.0, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -28740.0, + -18440.0, + 800.0 + ], + "actual_end_pos": [ + -28740.0, + -18440.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -28740.0, + -18440.0, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -28740.0, + -18340.0, + 800.0 + ], + "actual_end_pos": [ + -28740.0, + -18340.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -28740.0, + -18340.0, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -28640.0, + -18340.0, + 800.0 + ], + "actual_end_pos": [ + -28640.0, + -18340.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -28640.0, + -18340.0, + 800.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -28640.0, + -18440.0, + 800.0 + ], + "actual_end_pos": [ + -28640.0, + -18440.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260415_212208__traj_001952_meta.json b/inverse_easy/run_20260415_212208__traj_001952_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ac03a4613bea316b3f77ed50452034a832613199 --- /dev/null +++ b/inverse_easy/run_20260415_212208__traj_001952_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 1952, + "episode_id": 0, + "state_id": 1432, + "sample_index": 1432, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -25040.0, + -19240.0, + 800.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_forward", + "move_right", + "move_backward", + "turn_left", + "look_down", + "move_forward", + "look_down", + "move_left", + "move_forward", + "turn_right", + "move_left", + "move_backward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "move_forward", + "move_right", + "turn_left", + "move_backward", + "move_right", + "look_up", + "move_backward", + "look_up", + "turn_right", + "move_forward", + "move_left", + "move_backward", + "move_backward" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -25040.0, + -19240.0, + 800.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -24940.0, + -19240.0, + 800.0 + ], + "actual_end_pos": [ + -24940.0, + -19240.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -24940.0, + -19240.0, + 800.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -24840.0, + -19240.0, + 800.0 + ], + "actual_end_pos": [ + -24840.0, + -19240.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -24840.0, + -19240.0, + 800.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -24840.0, + -19140.0, + 800.0 + ], + "actual_end_pos": [ + -24840.0, + -19140.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -24840.0, + -19140.0, + 800.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -24940.0, + -19140.0, + 800.0 + ], + "actual_end_pos": [ + -24940.0, + -19140.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -24940.0, + -19140.0, + 800.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -24940.0, + -19140.0, + 800.0 + ], + "actual_end_pos": [ + -24940.0, + -19140.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -24940.0, + -19140.0, + 800.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -24940.0, + -19140.0, + 800.0 + ], + "actual_end_pos": [ + -24940.0, + -19140.0, + 800.0 + ], + "actual_end_rot": [ + -7.5, + -15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -24940.0, + -19140.0, + 800.0 + ], + "start_rot": [ + -7.5, + -15.0, + -0.0 + ], + "expected_end_pos": [ + -24844.2338, + -19165.6605, + 786.9474 + ], + "actual_end_pos": [ + -24844.2338, + -19165.6605, + 786.9474 + ], + "actual_end_rot": [ + -7.5, + -15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -24844.2338, + -19165.6605, + 786.9474 + ], + "start_rot": [ + -7.5, + -15.0, + -0.0 + ], + "expected_end_pos": [ + -24844.2338, + -19165.6605, + 786.9474 + ], + "actual_end_pos": [ + -24844.2338, + -19165.6605, + 786.9474 + ], + "actual_end_rot": [ + -15.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -24844.2338, + -19165.6605, + 786.9474 + ], + "start_rot": [ + -15.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -24870.1157, + -19262.2531, + 786.9474 + ], + "actual_end_pos": [ + -24870.1157, + -19262.2531, + 786.9474 + ], + "actual_end_rot": [ + -15.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -24870.1157, + -19262.2531, + 786.9474 + ], + "start_rot": [ + -15.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -24776.8144, + -19287.2531, + 761.0655 + ], + "actual_end_pos": [ + -24776.8144, + -19287.2531, + 761.0655 + ], + "actual_end_rot": [ + -15.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -24776.8144, + -19287.2531, + 761.0655 + ], + "start_rot": [ + -15.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -24776.8144, + -19287.2531, + 761.0655 + ], + "actual_end_pos": [ + -24776.8144, + -19287.2531, + 761.0655 + ], + "actual_end_rot": [ + -15.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -24776.8144, + -19287.2531, + 761.0655 + ], + "start_rot": [ + -15.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -24776.8144, + -19387.2531, + 761.0655 + ], + "actual_end_pos": [ + -24776.8144, + -19387.2531, + 761.0655 + ], + "actual_end_rot": [ + -15.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -24776.8144, + -19387.2531, + 761.0655 + ], + "start_rot": [ + -15.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -24873.407, + -19387.2531, + 786.9474 + ], + "actual_end_pos": [ + -24873.407, + -19387.2531, + 786.9474 + ], + "actual_end_rot": [ + -15.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -24873.407, + -19387.2531, + 786.9474 + ], + "start_rot": [ + -15.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -24873.407, + -19387.2531, + 786.9474 + ], + "actual_end_pos": [ + -24873.407, + -19387.2531, + 786.9474 + ], + "actual_end_rot": [ + -15.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -24873.407, + -19387.2531, + 786.9474 + ], + "start_rot": [ + -15.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -24873.407, + -19387.2531, + 786.9474 + ], + "actual_end_pos": [ + -24873.407, + -19387.2531, + 786.9474 + ], + "actual_end_rot": [ + -15.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -24873.407, + -19387.2531, + 786.9474 + ], + "start_rot": [ + -15.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -24873.407, + -19387.2531, + 786.9474 + ], + "actual_end_pos": [ + -24873.407, + -19387.2531, + 786.9474 + ], + "actual_end_rot": [ + -15.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -24873.407, + -19387.2531, + 786.9474 + ], + "start_rot": [ + -15.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -24873.407, + -19387.2531, + 786.9474 + ], + "actual_end_pos": [ + -24873.407, + -19387.2531, + 786.9474 + ], + "actual_end_rot": [ + -15.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -24873.407, + -19387.2531, + 786.9474 + ], + "start_rot": [ + -15.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -24873.407, + -19387.2531, + 786.9474 + ], + "actual_end_pos": [ + -24873.407, + -19387.2531, + 786.9474 + ], + "actual_end_rot": [ + -15.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -24873.407, + -19387.2531, + 786.9474 + ], + "start_rot": [ + -15.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -24873.407, + -19387.2531, + 786.9474 + ], + "actual_end_pos": [ + -24873.407, + -19387.2531, + 786.9474 + ], + "actual_end_rot": [ + -15.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -24873.407, + -19387.2531, + 786.9474 + ], + "start_rot": [ + -15.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -24873.407, + -19387.2531, + 786.9474 + ], + "actual_end_pos": [ + -24873.407, + -19387.2531, + 786.9474 + ], + "actual_end_rot": [ + -15.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -24873.407, + -19387.2531, + 786.9474 + ], + "start_rot": [ + -15.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -24873.407, + -19387.2531, + 786.9474 + ], + "actual_end_pos": [ + -24873.407, + -19387.2531, + 786.9474 + ], + "actual_end_rot": [ + -15.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -24873.407, + -19387.2531, + 786.9474 + ], + "start_rot": [ + -15.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -24873.407, + -19387.2531, + 786.9474 + ], + "actual_end_pos": [ + -24873.407, + -19387.2531, + 786.9474 + ], + "actual_end_rot": [ + -15.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -24873.407, + -19387.2531, + 786.9474 + ], + "start_rot": [ + -15.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -24873.407, + -19387.2531, + 786.9474 + ], + "actual_end_pos": [ + -24873.407, + -19387.2531, + 786.9474 + ], + "actual_end_rot": [ + -15.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -24873.407, + -19387.2531, + 786.9474 + ], + "start_rot": [ + -15.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -24873.407, + -19387.2531, + 786.9474 + ], + "actual_end_pos": [ + -24873.407, + -19387.2531, + 786.9474 + ], + "actual_end_rot": [ + -15.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -24873.407, + -19387.2531, + 786.9474 + ], + "start_rot": [ + -15.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -24873.407, + -19387.2531, + 786.9474 + ], + "actual_end_pos": [ + -24873.407, + -19387.2531, + 786.9474 + ], + "actual_end_rot": [ + -15.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -24873.407, + -19387.2531, + 786.9474 + ], + "start_rot": [ + -15.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -24873.407, + -19387.2531, + 786.9474 + ], + "actual_end_pos": [ + -24873.407, + -19387.2531, + 786.9474 + ], + "actual_end_rot": [ + -15.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -24873.407, + -19387.2531, + 786.9474 + ], + "start_rot": [ + -15.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -24873.407, + -19387.2531, + 786.9474 + ], + "actual_end_pos": [ + -24873.407, + -19387.2531, + 786.9474 + ], + "actual_end_rot": [ + -15.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -24873.407, + -19387.2531, + 786.9474 + ], + "start_rot": [ + -15.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -24776.8144, + -19387.2531, + 761.0655 + ], + "actual_end_pos": [ + -24776.8144, + -19387.2531, + 761.0655 + ], + "actual_end_rot": [ + -15.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -24776.8144, + -19387.2531, + 761.0655 + ], + "start_rot": [ + -15.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -24776.8144, + -19287.2531, + 761.0655 + ], + "actual_end_pos": [ + -24776.8144, + -19287.2531, + 761.0655 + ], + "actual_end_rot": [ + -15.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -24776.8144, + -19287.2531, + 761.0655 + ], + "start_rot": [ + -15.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -24776.8144, + -19287.2531, + 761.0655 + ], + "actual_end_pos": [ + -24776.8144, + -19287.2531, + 761.0655 + ], + "actual_end_rot": [ + -15.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -24776.8144, + -19287.2531, + 761.0655 + ], + "start_rot": [ + -15.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -24870.1157, + -19262.2531, + 786.9474 + ], + "actual_end_pos": [ + -24870.1157, + -19262.2531, + 786.9474 + ], + "actual_end_rot": [ + -15.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -24870.1157, + -19262.2531, + 786.9474 + ], + "start_rot": [ + -15.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -24844.2338, + -19165.6605, + 786.9474 + ], + "actual_end_pos": [ + -24844.2338, + -19165.6605, + 786.9474 + ], + "actual_end_rot": [ + -15.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -24844.2338, + -19165.6605, + 786.9474 + ], + "start_rot": [ + -15.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -24844.2338, + -19165.6605, + 786.9474 + ], + "actual_end_pos": [ + -24844.2338, + -19165.6605, + 786.9474 + ], + "actual_end_rot": [ + -7.5, + -15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -24844.2338, + -19165.6605, + 786.9474 + ], + "start_rot": [ + -7.5, + -15.0, + -0.0 + ], + "expected_end_pos": [ + -24940.0, + -19140.0, + 800.0 + ], + "actual_end_pos": [ + -24940.0, + -19140.0, + 800.0 + ], + "actual_end_rot": [ + -7.5, + -15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -24940.0, + -19140.0, + 800.0 + ], + "start_rot": [ + -7.5, + -15.0, + -0.0 + ], + "expected_end_pos": [ + -24940.0, + -19140.0, + 800.0 + ], + "actual_end_pos": [ + -24940.0, + -19140.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -24940.0, + -19140.0, + 800.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -24940.0, + -19140.0, + 800.0 + ], + "actual_end_pos": [ + -24940.0, + -19140.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -24940.0, + -19140.0, + 800.0 + ], + "start_rot": [ + 0.0, + 0.0, + -0.0 + ], + "expected_end_pos": [ + -24840.0, + -19140.0, + 800.0 + ], + "actual_end_pos": [ + -24840.0, + -19140.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -24840.0, + -19140.0, + 800.0 + ], + "start_rot": [ + 0.0, + 0.0, + -0.0 + ], + "expected_end_pos": [ + -24840.0, + -19240.0, + 800.0 + ], + "actual_end_pos": [ + -24840.0, + -19240.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -24840.0, + -19240.0, + 800.0 + ], + "start_rot": [ + 0.0, + 0.0, + -0.0 + ], + "expected_end_pos": [ + -24940.0, + -19240.0, + 800.0 + ], + "actual_end_pos": [ + -24940.0, + -19240.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -24940.0, + -19240.0, + 800.0 + ], + "start_rot": [ + 0.0, + 0.0, + -0.0 + ], + "expected_end_pos": [ + -25040.0, + -19240.0, + 800.0 + ], + "actual_end_pos": [ + -25040.0, + -19240.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260415_212208__traj_001963_meta.json b/inverse_easy/run_20260415_212208__traj_001963_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7a55a6b831ebae0377d17f38401341af43253b0d --- /dev/null +++ b/inverse_easy/run_20260415_212208__traj_001963_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 1963, + "episode_id": 0, + "state_id": 1439, + "sample_index": 1439, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -25040.0, + -19240.0, + 800.0 + ], + "rotation": [ + 0.0, + 315.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "turn_right", + "move_right", + "move_forward", + "move_right", + "look_down", + "turn_left", + "look_up", + "move_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "move_right", + "move_right", + "look_down", + "turn_right", + "look_up", + "move_left", + "move_backward", + "move_left", + "turn_left", + "move_forward" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -25040.0, + -19240.0, + 800.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -25110.7107, + -19169.2893, + 800.0 + ], + "actual_end_pos": [ + -25110.7107, + -19169.2893, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -25110.7107, + -19169.2893, + 800.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -25110.7107, + -19169.2893, + 800.0 + ], + "actual_end_pos": [ + -25110.7107, + -19169.2893, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -25110.7107, + -19169.2893, + 800.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -25060.7107, + -19082.6868, + 800.0 + ], + "actual_end_pos": [ + -25060.7107, + -19082.6868, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -25060.7107, + -19082.6868, + 800.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -24974.1081, + -19132.6868, + 800.0 + ], + "actual_end_pos": [ + -24974.1081, + -19132.6868, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -24974.1081, + -19132.6868, + 800.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -24924.1081, + -19046.0842, + 800.0 + ], + "actual_end_pos": [ + -24924.1081, + -19046.0842, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -24924.1081, + -19046.0842, + 800.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -24924.1081, + -19046.0842, + 800.0 + ], + "actual_end_pos": [ + -24924.1081, + -19046.0842, + 800.0 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -24924.1081, + -19046.0842, + 800.0 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -24924.1081, + -19046.0842, + 800.0 + ], + "actual_end_pos": [ + -24924.1081, + -19046.0842, + 800.0 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -24924.1081, + -19046.0842, + 800.0 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -24924.1081, + -19046.0842, + 800.0 + ], + "actual_end_pos": [ + -24924.1081, + -19046.0842, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -24924.1081, + -19046.0842, + 800.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -24994.8188, + -19116.7949, + 800.0 + ], + "actual_end_pos": [ + -24994.8188, + -19116.7949, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -24994.8188, + -19116.7949, + 800.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -25065.5295, + -19187.5056, + 800.0 + ], + "actual_end_pos": [ + -25065.5295, + -19187.5056, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -25065.5295, + -19187.5056, + 800.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -25065.5295, + -19187.5056, + 800.0 + ], + "actual_end_pos": [ + -25065.5295, + -19187.5056, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -25065.5295, + -19187.5056, + 800.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -25065.5295, + -19187.5056, + 800.0 + ], + "actual_end_pos": [ + -25065.5295, + -19187.5056, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -25065.5295, + -19187.5056, + 800.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -25065.5295, + -19187.5056, + 800.0 + ], + "actual_end_pos": [ + -25065.5295, + -19187.5056, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -25065.5295, + -19187.5056, + 800.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -25065.5295, + -19187.5056, + 800.0 + ], + "actual_end_pos": [ + -25065.5295, + -19187.5056, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -25065.5295, + -19187.5056, + 800.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -25065.5295, + -19187.5056, + 800.0 + ], + "actual_end_pos": [ + -25065.5295, + -19187.5056, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -25065.5295, + -19187.5056, + 800.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -25065.5295, + -19187.5056, + 800.0 + ], + "actual_end_pos": [ + -25065.5295, + -19187.5056, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -25065.5295, + -19187.5056, + 800.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -25065.5295, + -19187.5056, + 800.0 + ], + "actual_end_pos": [ + -25065.5295, + -19187.5056, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -25065.5295, + -19187.5056, + 800.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -25065.5295, + -19187.5056, + 800.0 + ], + "actual_end_pos": [ + -25065.5295, + -19187.5056, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -25065.5295, + -19187.5056, + 800.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -25065.5295, + -19187.5056, + 800.0 + ], + "actual_end_pos": [ + -25065.5295, + -19187.5056, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -25065.5295, + -19187.5056, + 800.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -25065.5295, + -19187.5056, + 800.0 + ], + "actual_end_pos": [ + -25065.5295, + -19187.5056, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -25065.5295, + -19187.5056, + 800.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -25065.5295, + -19187.5056, + 800.0 + ], + "actual_end_pos": [ + -25065.5295, + -19187.5056, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -25065.5295, + -19187.5056, + 800.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -25065.5295, + -19187.5056, + 800.0 + ], + "actual_end_pos": [ + -25065.5295, + -19187.5056, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -25065.5295, + -19187.5056, + 800.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -25065.5295, + -19187.5056, + 800.0 + ], + "actual_end_pos": [ + -25065.5295, + -19187.5056, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -25065.5295, + -19187.5056, + 800.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -25065.5295, + -19187.5056, + 800.0 + ], + "actual_end_pos": [ + -25065.5295, + -19187.5056, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -25065.5295, + -19187.5056, + 800.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -25065.5295, + -19187.5056, + 800.0 + ], + "actual_end_pos": [ + -25065.5295, + -19187.5056, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -25065.5295, + -19187.5056, + 800.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -25065.5295, + -19187.5056, + 800.0 + ], + "actual_end_pos": [ + -25065.5295, + -19187.5056, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -25065.5295, + -19187.5056, + 800.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -25065.5295, + -19187.5056, + 800.0 + ], + "actual_end_pos": [ + -25065.5295, + -19187.5056, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -25065.5295, + -19187.5056, + 800.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -25065.5295, + -19187.5056, + 800.0 + ], + "actual_end_pos": [ + -25065.5295, + -19187.5056, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -25065.5295, + -19187.5056, + 800.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -25065.5295, + -19187.5056, + 800.0 + ], + "actual_end_pos": [ + -25065.5295, + -19187.5056, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -25065.5295, + -19187.5056, + 800.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -25065.5295, + -19187.5056, + 800.0 + ], + "actual_end_pos": [ + -25065.5295, + -19187.5056, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -25065.5295, + -19187.5056, + 800.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -24994.8188, + -19116.7949, + 800.0 + ], + "actual_end_pos": [ + -24994.8188, + -19116.7949, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -24994.8188, + -19116.7949, + 800.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -24924.1081, + -19046.0842, + 800.0 + ], + "actual_end_pos": [ + -24924.1081, + -19046.0842, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -24924.1081, + -19046.0842, + 800.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -24924.1081, + -19046.0842, + 800.0 + ], + "actual_end_pos": [ + -24924.1081, + -19046.0842, + 800.0 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -24924.1081, + -19046.0842, + 800.0 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -24924.1081, + -19046.0842, + 800.0 + ], + "actual_end_pos": [ + -24924.1081, + -19046.0842, + 800.0 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -24924.1081, + -19046.0842, + 800.0 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -24924.1081, + -19046.0842, + 800.0 + ], + "actual_end_pos": [ + -24924.1081, + -19046.0842, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -24924.1081, + -19046.0842, + 800.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -24974.1081, + -19132.6868, + 800.0 + ], + "actual_end_pos": [ + -24974.1081, + -19132.6868, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -24974.1081, + -19132.6868, + 800.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -25060.7107, + -19082.6868, + 800.0 + ], + "actual_end_pos": [ + -25060.7107, + -19082.6868, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -25060.7107, + -19082.6868, + 800.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -25110.7107, + -19169.2893, + 800.0 + ], + "actual_end_pos": [ + -25110.7107, + -19169.2893, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -25110.7107, + -19169.2893, + 800.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -25110.7107, + -19169.2893, + 800.0 + ], + "actual_end_pos": [ + -25110.7107, + -19169.2893, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -25110.7107, + -19169.2893, + 800.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -25040.0, + -19240.0, + 800.0 + ], + "actual_end_pos": [ + -25040.0, + -19240.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260415_212208__traj_002271_meta.json b/inverse_easy/run_20260415_212208__traj_002271_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f00843ca5ed050a0ddbbcca8e66d2709705712be --- /dev/null +++ b/inverse_easy/run_20260415_212208__traj_002271_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 2271, + "episode_id": 0, + "state_id": 1673, + "sample_index": 1673, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -24240.0, + -22840.0, + 800.0 + ], + "rotation": [ + 0.0, + 45.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "move_forward", + "move_forward", + "move_right", + "move_forward", + "move_forward", + "turn_left", + "look_down", + "move_forward", + "look_down", + "move_forward", + "move_forward", + "look_down", + "no_op", + "turn_left", + "turn_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "turn_right", + "turn_right", + "no_op", + "look_up", + "move_backward", + "move_backward", + "look_up", + "move_backward", + "look_up", + "turn_right", + "move_backward", + "move_backward", + "move_left", + "move_backward", + "move_backward", + "move_right" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -24240.0, + -22840.0, + 800.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -24169.2893, + -22910.7107, + 800.0 + ], + "actual_end_pos": [ + -24169.2893, + -22910.7107, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -24169.2893, + -22910.7107, + 800.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -24098.5786, + -22840.0, + 800.0 + ], + "actual_end_pos": [ + -24098.5786, + -22840.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -24098.5786, + -22840.0, + 800.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -24027.868, + -22769.2893, + 800.0 + ], + "actual_end_pos": [ + -24027.868, + -22769.2893, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -24027.868, + -22769.2893, + 800.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -24098.5786, + -22698.5786, + 800.0 + ], + "actual_end_pos": [ + -24098.5786, + -22698.5786, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -24098.5786, + -22698.5786, + 800.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -24027.868, + -22627.868, + 800.0 + ], + "actual_end_pos": [ + -24027.868, + -22627.868, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -24027.868, + -22627.868, + 800.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -23957.1573, + -22557.1573, + 800.0 + ], + "actual_end_pos": [ + -23957.1573, + -22557.1573, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -23957.1573, + -22557.1573, + 800.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -23957.1573, + -22557.1573, + 800.0 + ], + "actual_end_pos": [ + -23957.1573, + -22557.1573, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -23957.1573, + -22557.1573, + 800.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -23957.1573, + -22557.1573, + 800.0 + ], + "actual_end_pos": [ + -23957.1573, + -22557.1573, + 800.0 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -23957.1573, + -22557.1573, + 800.0 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -23871.2956, + -22507.585, + 786.9474 + ], + "actual_end_pos": [ + -23871.2956, + -22507.585, + 786.9474 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -23871.2956, + -22507.585, + 786.9474 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -23871.2956, + -22507.585, + 786.9474 + ], + "actual_end_pos": [ + -23871.2956, + -22507.585, + 786.9474 + ], + "actual_end_rot": [ + -15.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -23871.2956, + -22507.585, + 786.9474 + ], + "start_rot": [ + -15.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -23787.644, + -22459.2888, + 761.0655 + ], + "actual_end_pos": [ + -23787.644, + -22459.2888, + 761.0655 + ], + "actual_end_rot": [ + -15.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -23787.644, + -22459.2888, + 761.0655 + ], + "start_rot": [ + -15.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -23703.9924, + -22410.9925, + 735.1836 + ], + "actual_end_pos": [ + -23703.9924, + -22410.9925, + 735.1836 + ], + "actual_end_rot": [ + -15.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -23703.9924, + -22410.9925, + 735.1836 + ], + "start_rot": [ + -15.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -23703.9924, + -22410.9925, + 735.1836 + ], + "actual_end_pos": [ + -23703.9924, + -22410.9925, + 735.1836 + ], + "actual_end_rot": [ + -22.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -23703.9924, + -22410.9925, + 735.1836 + ], + "start_rot": [ + -22.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -23703.9924, + -22410.9925, + 735.1836 + ], + "actual_end_pos": [ + -23703.9924, + -22410.9925, + 735.1836 + ], + "actual_end_rot": [ + -22.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -23703.9924, + -22410.9925, + 735.1836 + ], + "start_rot": [ + -22.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -23703.9924, + -22410.9925, + 735.1836 + ], + "actual_end_pos": [ + -23703.9924, + -22410.9925, + 735.1836 + ], + "actual_end_rot": [ + -22.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -23703.9924, + -22410.9925, + 735.1836 + ], + "start_rot": [ + -22.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -23703.9924, + -22410.9925, + 735.1836 + ], + "actual_end_pos": [ + -23703.9924, + -22410.9925, + 735.1836 + ], + "actual_end_rot": [ + -22.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -23703.9924, + -22410.9925, + 735.1836 + ], + "start_rot": [ + -22.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -23703.9924, + -22410.9925, + 735.1836 + ], + "actual_end_pos": [ + -23703.9924, + -22410.9925, + 735.1836 + ], + "actual_end_rot": [ + -22.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -23703.9924, + -22410.9925, + 735.1836 + ], + "start_rot": [ + -22.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -23703.9924, + -22410.9925, + 735.1836 + ], + "actual_end_pos": [ + -23703.9924, + -22410.9925, + 735.1836 + ], + "actual_end_rot": [ + -22.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -23703.9924, + -22410.9925, + 735.1836 + ], + "start_rot": [ + -22.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -23703.9924, + -22410.9925, + 735.1836 + ], + "actual_end_pos": [ + -23703.9924, + -22410.9925, + 735.1836 + ], + "actual_end_rot": [ + -22.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -23703.9924, + -22410.9925, + 735.1836 + ], + "start_rot": [ + -22.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -23703.9924, + -22410.9925, + 735.1836 + ], + "actual_end_pos": [ + -23703.9924, + -22410.9925, + 735.1836 + ], + "actual_end_rot": [ + -22.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -23703.9924, + -22410.9925, + 735.1836 + ], + "start_rot": [ + -22.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -23703.9924, + -22410.9925, + 735.1836 + ], + "actual_end_pos": [ + -23703.9924, + -22410.9925, + 735.1836 + ], + "actual_end_rot": [ + -22.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -23703.9924, + -22410.9925, + 735.1836 + ], + "start_rot": [ + -22.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -23703.9924, + -22410.9925, + 735.1836 + ], + "actual_end_pos": [ + -23703.9924, + -22410.9925, + 735.1836 + ], + "actual_end_rot": [ + -22.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -23703.9924, + -22410.9925, + 735.1836 + ], + "start_rot": [ + -22.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -23703.9924, + -22410.9925, + 735.1836 + ], + "actual_end_pos": [ + -23703.9924, + -22410.9925, + 735.1836 + ], + "actual_end_rot": [ + -22.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -23703.9924, + -22410.9925, + 735.1836 + ], + "start_rot": [ + -22.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -23703.9924, + -22410.9925, + 735.1836 + ], + "actual_end_pos": [ + -23703.9924, + -22410.9925, + 735.1836 + ], + "actual_end_rot": [ + -22.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -23703.9924, + -22410.9925, + 735.1836 + ], + "start_rot": [ + -22.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -23703.9924, + -22410.9925, + 735.1836 + ], + "actual_end_pos": [ + -23703.9924, + -22410.9925, + 735.1836 + ], + "actual_end_rot": [ + -22.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -23703.9924, + -22410.9925, + 735.1836 + ], + "start_rot": [ + -22.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -23703.9924, + -22410.9925, + 735.1836 + ], + "actual_end_pos": [ + -23703.9924, + -22410.9925, + 735.1836 + ], + "actual_end_rot": [ + -22.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -23703.9924, + -22410.9925, + 735.1836 + ], + "start_rot": [ + -22.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -23703.9924, + -22410.9925, + 735.1836 + ], + "actual_end_pos": [ + -23703.9924, + -22410.9925, + 735.1836 + ], + "actual_end_rot": [ + -22.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -23703.9924, + -22410.9925, + 735.1836 + ], + "start_rot": [ + -22.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -23703.9924, + -22410.9925, + 735.1836 + ], + "actual_end_pos": [ + -23703.9924, + -22410.9925, + 735.1836 + ], + "actual_end_rot": [ + -15.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -23703.9924, + -22410.9925, + 735.1836 + ], + "start_rot": [ + -15.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -23787.644, + -22459.2888, + 761.0655 + ], + "actual_end_pos": [ + -23787.644, + -22459.2888, + 761.0655 + ], + "actual_end_rot": [ + -15.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -23787.644, + -22459.2888, + 761.0655 + ], + "start_rot": [ + -15.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -23871.2956, + -22507.585, + 786.9474 + ], + "actual_end_pos": [ + -23871.2956, + -22507.585, + 786.9474 + ], + "actual_end_rot": [ + -15.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -23871.2956, + -22507.585, + 786.9474 + ], + "start_rot": [ + -15.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -23871.2956, + -22507.585, + 786.9474 + ], + "actual_end_pos": [ + -23871.2956, + -22507.585, + 786.9474 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -23871.2956, + -22507.585, + 786.9474 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -23957.1573, + -22557.1573, + 800.0 + ], + "actual_end_pos": [ + -23957.1573, + -22557.1573, + 800.0 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -23957.1573, + -22557.1573, + 800.0 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -23957.1573, + -22557.1573, + 800.0 + ], + "actual_end_pos": [ + -23957.1573, + -22557.1573, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -23957.1573, + -22557.1573, + 800.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -23957.1573, + -22557.1573, + 800.0 + ], + "actual_end_pos": [ + -23957.1573, + -22557.1573, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -23957.1573, + -22557.1573, + 800.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -24027.868, + -22627.868, + 800.0 + ], + "actual_end_pos": [ + -24027.868, + -22627.868, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -24027.868, + -22627.868, + 800.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -24098.5786, + -22698.5786, + 800.0 + ], + "actual_end_pos": [ + -24098.5786, + -22698.5786, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -24098.5786, + -22698.5786, + 800.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -24027.868, + -22769.2893, + 800.0 + ], + "actual_end_pos": [ + -24027.868, + -22769.2893, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -24027.868, + -22769.2893, + 800.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -24098.5786, + -22840.0, + 800.0 + ], + "actual_end_pos": [ + -24098.5786, + -22840.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -24098.5786, + -22840.0, + 800.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -24169.2893, + -22910.7107, + 800.0 + ], + "actual_end_pos": [ + -24169.2893, + -22910.7107, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -24169.2893, + -22910.7107, + 800.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -24240.0, + -22840.0, + 800.0 + ], + "actual_end_pos": [ + -24240.0, + -22840.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260415_212208__traj_002534_meta.json b/inverse_easy/run_20260415_212208__traj_002534_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a5c7acd0c052a89ef0a35a9acfdad3eea4b0f729 --- /dev/null +++ b/inverse_easy/run_20260415_212208__traj_002534_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 2534, + "episode_id": 0, + "state_id": 1873, + "sample_index": 1873, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -23840.0, + -21240.0, + 800.0 + ], + "rotation": [ + 0.0, + 45.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "look_down", + "no_op", + "no_op", + "turn_left", + "move_forward", + "move_left", + "turn_left", + "move_forward", + "turn_left", + "move_forward", + "move_left", + "turn_right", + "move_backward", + "move_right", + "turn_left", + "move_backward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "move_forward", + "turn_right", + "move_left", + "move_forward", + "turn_left", + "move_right", + "move_backward", + "turn_right", + "move_backward", + "turn_right", + "move_right", + "move_backward", + "turn_right", + "no_op", + "no_op", + "look_up", + "move_left" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -23840.0, + -21240.0, + 800.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -23910.7107, + -21169.2893, + 800.0 + ], + "actual_end_pos": [ + -23910.7107, + -21169.2893, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -23910.7107, + -21169.2893, + 800.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -23910.7107, + -21169.2893, + 800.0 + ], + "actual_end_pos": [ + -23910.7107, + -21169.2893, + 800.0 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -23910.7107, + -21169.2893, + 800.0 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -23910.7107, + -21169.2893, + 800.0 + ], + "actual_end_pos": [ + -23910.7107, + -21169.2893, + 800.0 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -23910.7107, + -21169.2893, + 800.0 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -23910.7107, + -21169.2893, + 800.0 + ], + "actual_end_pos": [ + -23910.7107, + -21169.2893, + 800.0 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -23910.7107, + -21169.2893, + 800.0 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -23910.7107, + -21169.2893, + 800.0 + ], + "actual_end_pos": [ + -23910.7107, + -21169.2893, + 800.0 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -23910.7107, + -21169.2893, + 800.0 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -23824.849, + -21119.7171, + 786.9474 + ], + "actual_end_pos": [ + -23824.849, + -21119.7171, + 786.9474 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -23824.849, + -21119.7171, + 786.9474 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -23774.849, + -21206.3196, + 786.9474 + ], + "actual_end_pos": [ + -23774.849, + -21206.3196, + 786.9474 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -23774.849, + -21206.3196, + 786.9474 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -23774.849, + -21206.3196, + 786.9474 + ], + "actual_end_pos": [ + -23774.849, + -21206.3196, + 786.9474 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -23774.849, + -21206.3196, + 786.9474 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -23679.0828, + -21180.6591, + 773.8948 + ], + "actual_end_pos": [ + -23679.0828, + -21180.6591, + 773.8948 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -23679.0828, + -21180.6591, + 773.8948 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -23679.0828, + -21180.6591, + 773.8948 + ], + "actual_end_pos": [ + -23679.0828, + -21180.6591, + 773.8948 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -23679.0828, + -21180.6591, + 773.8948 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -23579.9383, + -21180.6591, + 760.8421 + ], + "actual_end_pos": [ + -23579.9383, + -21180.6591, + 760.8421 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -23579.9383, + -21180.6591, + 760.8421 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -23579.9383, + -21280.6591, + 760.8421 + ], + "actual_end_pos": [ + -23579.9383, + -21280.6591, + 760.8421 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -23579.9383, + -21280.6591, + 760.8421 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -23579.9383, + -21280.6591, + 760.8421 + ], + "actual_end_pos": [ + -23579.9383, + -21280.6591, + 760.8421 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -23579.9383, + -21280.6591, + 760.8421 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -23675.7045, + -21306.3196, + 773.8948 + ], + "actual_end_pos": [ + -23675.7045, + -21306.3196, + 773.8948 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -23675.7045, + -21306.3196, + 773.8948 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -23701.5865, + -21209.727, + 773.8948 + ], + "actual_end_pos": [ + -23701.5865, + -21209.727, + 773.8948 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -23701.5865, + -21209.727, + 773.8948 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -23701.5865, + -21209.727, + 773.8948 + ], + "actual_end_pos": [ + -23701.5865, + -21209.727, + 773.8948 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -23701.5865, + -21209.727, + 773.8948 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -23800.7309, + -21209.727, + 786.9474 + ], + "actual_end_pos": [ + -23800.7309, + -21209.727, + 786.9474 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -23800.7309, + -21209.727, + 786.9474 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -23800.7309, + -21209.727, + 786.9474 + ], + "actual_end_pos": [ + -23800.7309, + -21209.727, + 786.9474 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -23800.7309, + -21209.727, + 786.9474 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -23800.7309, + -21209.727, + 786.9474 + ], + "actual_end_pos": [ + -23800.7309, + -21209.727, + 786.9474 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -23800.7309, + -21209.727, + 786.9474 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -23800.7309, + -21209.727, + 786.9474 + ], + "actual_end_pos": [ + -23800.7309, + -21209.727, + 786.9474 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -23800.7309, + -21209.727, + 786.9474 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -23800.7309, + -21209.727, + 786.9474 + ], + "actual_end_pos": [ + -23800.7309, + -21209.727, + 786.9474 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -23800.7309, + -21209.727, + 786.9474 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -23800.7309, + -21209.727, + 786.9474 + ], + "actual_end_pos": [ + -23800.7309, + -21209.727, + 786.9474 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -23800.7309, + -21209.727, + 786.9474 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -23800.7309, + -21209.727, + 786.9474 + ], + "actual_end_pos": [ + -23800.7309, + -21209.727, + 786.9474 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -23800.7309, + -21209.727, + 786.9474 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -23701.5865, + -21209.727, + 773.8948 + ], + "actual_end_pos": [ + -23701.5865, + -21209.727, + 773.8948 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -23701.5865, + -21209.727, + 773.8948 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -23701.5865, + -21209.727, + 773.8948 + ], + "actual_end_pos": [ + -23701.5865, + -21209.727, + 773.8948 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -23701.5865, + -21209.727, + 773.8948 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -23675.7045, + -21306.3196, + 773.8948 + ], + "actual_end_pos": [ + -23675.7045, + -21306.3196, + 773.8948 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -23675.7045, + -21306.3196, + 773.8948 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -23579.9383, + -21280.6591, + 760.8421 + ], + "actual_end_pos": [ + -23579.9383, + -21280.6591, + 760.8421 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -23579.9383, + -21280.6591, + 760.8421 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -23579.9383, + -21280.6591, + 760.8421 + ], + "actual_end_pos": [ + -23579.9383, + -21280.6591, + 760.8421 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -23579.9383, + -21280.6591, + 760.8421 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -23579.9383, + -21180.6591, + 760.8421 + ], + "actual_end_pos": [ + -23579.9383, + -21180.6591, + 760.8421 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -23579.9383, + -21180.6591, + 760.8421 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -23679.0828, + -21180.6591, + 773.8948 + ], + "actual_end_pos": [ + -23679.0828, + -21180.6591, + 773.8948 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -23679.0828, + -21180.6591, + 773.8948 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -23679.0828, + -21180.6591, + 773.8948 + ], + "actual_end_pos": [ + -23679.0828, + -21180.6591, + 773.8948 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -23679.0828, + -21180.6591, + 773.8948 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -23774.849, + -21206.3196, + 786.9474 + ], + "actual_end_pos": [ + -23774.849, + -21206.3196, + 786.9474 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -23774.849, + -21206.3196, + 786.9474 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -23774.849, + -21206.3196, + 786.9474 + ], + "actual_end_pos": [ + -23774.849, + -21206.3196, + 786.9474 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -23774.849, + -21206.3196, + 786.9474 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -23824.849, + -21119.7171, + 786.9474 + ], + "actual_end_pos": [ + -23824.849, + -21119.7171, + 786.9474 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -23824.849, + -21119.7171, + 786.9474 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -23910.7107, + -21169.2893, + 800.0 + ], + "actual_end_pos": [ + -23910.7107, + -21169.2893, + 800.0 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -23910.7107, + -21169.2893, + 800.0 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -23910.7107, + -21169.2893, + 800.0 + ], + "actual_end_pos": [ + -23910.7107, + -21169.2893, + 800.0 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -23910.7107, + -21169.2893, + 800.0 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -23910.7107, + -21169.2893, + 800.0 + ], + "actual_end_pos": [ + -23910.7107, + -21169.2893, + 800.0 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -23910.7107, + -21169.2893, + 800.0 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -23910.7107, + -21169.2893, + 800.0 + ], + "actual_end_pos": [ + -23910.7107, + -21169.2893, + 800.0 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -23910.7107, + -21169.2893, + 800.0 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -23910.7107, + -21169.2893, + 800.0 + ], + "actual_end_pos": [ + -23910.7107, + -21169.2893, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -23910.7107, + -21169.2893, + 800.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -23840.0, + -21240.0, + 800.0 + ], + "actual_end_pos": [ + -23840.0, + -21240.0, + 800.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260419_133642__traj_000178_meta.json b/inverse_easy/run_20260419_133642__traj_000178_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fe6e1592b86946d185b1247a6adce059d735d19e --- /dev/null +++ b/inverse_easy/run_20260419_133642__traj_000178_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 178, + "episode_id": 0, + "state_id": 125, + "sample_index": 125, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 2555.0, + 445.0, + 250.0 + ], + "rotation": [ + 0.0, + 225.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "move_forward", + "move_forward", + "move_forward", + "look_up", + "move_forward", + "no_op", + "look_down", + "move_left", + "move_backward", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "move_left", + "move_forward", + "move_right", + "look_up", + "no_op", + "move_backward", + "look_down", + "move_backward", + "move_backward", + "move_backward", + "move_left" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2555.0, + 445.0, + 250.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2625.7107, + 374.2893, + 250.0 + ], + "actual_end_pos": [ + 2625.7107, + 374.2893, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2625.7107, + 374.2893, + 250.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2555.0, + 303.5786, + 250.0 + ], + "actual_end_pos": [ + 2555.0, + 303.5786, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2555.0, + 303.5786, + 250.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2484.2893, + 232.868, + 250.0 + ], + "actual_end_pos": [ + 2484.2893, + 232.868, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2484.2893, + 232.868, + 250.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2413.5786, + 162.1573, + 250.0 + ], + "actual_end_pos": [ + 2413.5786, + 162.1573, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 2413.5786, + 162.1573, + 250.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2413.5786, + 162.1573, + 250.0 + ], + "actual_end_pos": [ + 2413.5786, + 162.1573, + 250.0 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2413.5786, + 162.1573, + 250.0 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2343.4729, + 92.0515, + 263.0526 + ], + "actual_end_pos": [ + 2343.4729, + 92.0515, + 263.0526 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2343.4729, + 92.0515, + 263.0526 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2343.4729, + 92.0515, + 263.0526 + ], + "actual_end_pos": [ + 2343.4729, + 92.0515, + 263.0526 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 2343.4729, + 92.0515, + 263.0526 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2343.4729, + 92.0515, + 263.0526 + ], + "actual_end_pos": [ + 2343.4729, + 92.0515, + 263.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2343.4729, + 92.0515, + 263.0526 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2272.7622, + 162.7622, + 263.0526 + ], + "actual_end_pos": [ + 2272.7622, + 162.7622, + 263.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2272.7622, + 162.7622, + 263.0526 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2343.4729, + 233.4729, + 263.0526 + ], + "actual_end_pos": [ + 2343.4729, + 233.4729, + 263.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2343.4729, + 233.4729, + 263.0526 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2414.1836, + 162.7622, + 263.0526 + ], + "actual_end_pos": [ + 2414.1836, + 162.7622, + 263.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2414.1836, + 162.7622, + 263.0526 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2414.1836, + 162.7622, + 263.0526 + ], + "actual_end_pos": [ + 2414.1836, + 162.7622, + 263.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2414.1836, + 162.7622, + 263.0526 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2414.1836, + 162.7622, + 263.0526 + ], + "actual_end_pos": [ + 2414.1836, + 162.7622, + 263.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2414.1836, + 162.7622, + 263.0526 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2414.1836, + 162.7622, + 263.0526 + ], + "actual_end_pos": [ + 2414.1836, + 162.7622, + 263.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2414.1836, + 162.7622, + 263.0526 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2414.1836, + 162.7622, + 263.0526 + ], + "actual_end_pos": [ + 2414.1836, + 162.7622, + 263.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2414.1836, + 162.7622, + 263.0526 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2414.1836, + 162.7622, + 263.0526 + ], + "actual_end_pos": [ + 2414.1836, + 162.7622, + 263.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2414.1836, + 162.7622, + 263.0526 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2414.1836, + 162.7622, + 263.0526 + ], + "actual_end_pos": [ + 2414.1836, + 162.7622, + 263.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2414.1836, + 162.7622, + 263.0526 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2414.1836, + 162.7622, + 263.0526 + ], + "actual_end_pos": [ + 2414.1836, + 162.7622, + 263.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2414.1836, + 162.7622, + 263.0526 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2414.1836, + 162.7622, + 263.0526 + ], + "actual_end_pos": [ + 2414.1836, + 162.7622, + 263.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2414.1836, + 162.7622, + 263.0526 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2414.1836, + 162.7622, + 263.0526 + ], + "actual_end_pos": [ + 2414.1836, + 162.7622, + 263.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2414.1836, + 162.7622, + 263.0526 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2414.1836, + 162.7622, + 263.0526 + ], + "actual_end_pos": [ + 2414.1836, + 162.7622, + 263.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2414.1836, + 162.7622, + 263.0526 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2414.1836, + 162.7622, + 263.0526 + ], + "actual_end_pos": [ + 2414.1836, + 162.7622, + 263.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2414.1836, + 162.7622, + 263.0526 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2414.1836, + 162.7622, + 263.0526 + ], + "actual_end_pos": [ + 2414.1836, + 162.7622, + 263.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2414.1836, + 162.7622, + 263.0526 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2414.1836, + 162.7622, + 263.0526 + ], + "actual_end_pos": [ + 2414.1836, + 162.7622, + 263.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2414.1836, + 162.7622, + 263.0526 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2414.1836, + 162.7622, + 263.0526 + ], + "actual_end_pos": [ + 2414.1836, + 162.7622, + 263.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2414.1836, + 162.7622, + 263.0526 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2414.1836, + 162.7622, + 263.0526 + ], + "actual_end_pos": [ + 2414.1836, + 162.7622, + 263.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2414.1836, + 162.7622, + 263.0526 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2414.1836, + 162.7622, + 263.0526 + ], + "actual_end_pos": [ + 2414.1836, + 162.7622, + 263.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2414.1836, + 162.7622, + 263.0526 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2414.1836, + 162.7622, + 263.0526 + ], + "actual_end_pos": [ + 2414.1836, + 162.7622, + 263.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2414.1836, + 162.7622, + 263.0526 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2414.1836, + 162.7622, + 263.0526 + ], + "actual_end_pos": [ + 2414.1836, + 162.7622, + 263.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2414.1836, + 162.7622, + 263.0526 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2343.4729, + 233.4729, + 263.0526 + ], + "actual_end_pos": [ + 2343.4729, + 233.4729, + 263.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 2343.4729, + 233.4729, + 263.0526 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2272.7622, + 162.7622, + 263.0526 + ], + "actual_end_pos": [ + 2272.7622, + 162.7622, + 263.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2272.7622, + 162.7622, + 263.0526 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2343.4729, + 92.0515, + 263.0526 + ], + "actual_end_pos": [ + 2343.4729, + 92.0515, + 263.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 2343.4729, + 92.0515, + 263.0526 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2343.4729, + 92.0515, + 263.0526 + ], + "actual_end_pos": [ + 2343.4729, + 92.0515, + 263.0526 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 2343.4729, + 92.0515, + 263.0526 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2343.4729, + 92.0515, + 263.0526 + ], + "actual_end_pos": [ + 2343.4729, + 92.0515, + 263.0526 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2343.4729, + 92.0515, + 263.0526 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2413.5786, + 162.1573, + 250.0 + ], + "actual_end_pos": [ + 2413.5786, + 162.1573, + 250.0 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 2413.5786, + 162.1573, + 250.0 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2413.5786, + 162.1573, + 250.0 + ], + "actual_end_pos": [ + 2413.5786, + 162.1573, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2413.5786, + 162.1573, + 250.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2484.2893, + 232.868, + 250.0 + ], + "actual_end_pos": [ + 2484.2893, + 232.868, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2484.2893, + 232.868, + 250.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2555.0, + 303.5786, + 250.0 + ], + "actual_end_pos": [ + 2555.0, + 303.5786, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 2555.0, + 303.5786, + 250.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2625.7107, + 374.2893, + 250.0 + ], + "actual_end_pos": [ + 2625.7107, + 374.2893, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2625.7107, + 374.2893, + 250.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2555.0, + 445.0, + 250.0 + ], + "actual_end_pos": [ + 2555.0, + 445.0, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260419_133642__traj_000419_meta.json b/inverse_easy/run_20260419_133642__traj_000419_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e7e269ca8cee9aff52b3e481144e4ee403375f1d --- /dev/null +++ b/inverse_easy/run_20260419_133642__traj_000419_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 419, + "episode_id": 0, + "state_id": 309, + "sample_index": 309, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 2930.0, + -680.0, + 250.0 + ], + "rotation": [ + 0.0, + 225.0, + 0.0 + ] + }, + "action_sequence": [ + "look_down", + "turn_left", + "move_right", + "turn_right", + "move_right", + "move_backward", + "look_up", + "turn_left", + "turn_left", + "move_right", + "turn_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "turn_right", + "move_left", + "turn_right", + "turn_right", + "look_down", + "move_forward", + "move_left", + "turn_left", + "move_left", + "turn_right", + "look_up" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 2930.0, + -680.0, + 250.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2930.0, + -680.0, + 250.0 + ], + "actual_end_pos": [ + 2930.0, + -680.0, + 250.0 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2930.0, + -680.0, + 250.0 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2930.0, + -680.0, + 250.0 + ], + "actual_end_pos": [ + 2930.0, + -680.0, + 250.0 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2930.0, + -680.0, + 250.0 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 2980.0, + -766.6025, + 250.0 + ], + "actual_end_pos": [ + 2980.0, + -766.6025, + 250.0 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2980.0, + -766.6025, + 250.0 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 2980.0, + -766.6025, + 250.0 + ], + "actual_end_pos": [ + 2980.0, + -766.6025, + 250.0 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 2980.0, + -766.6025, + 250.0 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 3050.7107, + -837.3132, + 250.0 + ], + "actual_end_pos": [ + 3050.7107, + -837.3132, + 250.0 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 3050.7107, + -837.3132, + 250.0 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 3120.8164, + -767.2075, + 263.0526 + ], + "actual_end_pos": [ + 3120.8164, + -767.2075, + 263.0526 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 3120.8164, + -767.2075, + 263.0526 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 3120.8164, + -767.2075, + 263.0526 + ], + "actual_end_pos": [ + 3120.8164, + -767.2075, + 263.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 3120.8164, + -767.2075, + 263.0526 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 3120.8164, + -767.2075, + 263.0526 + ], + "actual_end_pos": [ + 3120.8164, + -767.2075, + 263.0526 + ], + "actual_end_rot": [ + 0.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 3120.8164, + -767.2075, + 263.0526 + ], + "start_rot": [ + 0.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + 3120.8164, + -767.2075, + 263.0526 + ], + "actual_end_pos": [ + 3120.8164, + -767.2075, + 263.0526 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3120.8164, + -767.2075, + 263.0526 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 3146.6983, + -863.8001, + 263.0526 + ], + "actual_end_pos": [ + 3146.6983, + -863.8001, + 263.0526 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 3146.6983, + -863.8001, + 263.0526 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 3146.6983, + -863.8001, + 263.0526 + ], + "actual_end_pos": [ + 3146.6983, + -863.8001, + 263.0526 + ], + "actual_end_rot": [ + 0.0, + -180.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3146.6983, + -863.8001, + 263.0526 + ], + "start_rot": [ + 0.0, + -180.0, + -0.0 + ], + "expected_end_pos": [ + 3146.6983, + -863.8001, + 263.0526 + ], + "actual_end_pos": [ + 3146.6983, + -863.8001, + 263.0526 + ], + "actual_end_rot": [ + 0.0, + -180.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3146.6983, + -863.8001, + 263.0526 + ], + "start_rot": [ + 0.0, + -180.0, + -0.0 + ], + "expected_end_pos": [ + 3146.6983, + -863.8001, + 263.0526 + ], + "actual_end_pos": [ + 3146.6983, + -863.8001, + 263.0526 + ], + "actual_end_rot": [ + 0.0, + -180.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3146.6983, + -863.8001, + 263.0526 + ], + "start_rot": [ + 0.0, + -180.0, + -0.0 + ], + "expected_end_pos": [ + 3146.6983, + -863.8001, + 263.0526 + ], + "actual_end_pos": [ + 3146.6983, + -863.8001, + 263.0526 + ], + "actual_end_rot": [ + 0.0, + -180.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3146.6983, + -863.8001, + 263.0526 + ], + "start_rot": [ + 0.0, + -180.0, + -0.0 + ], + "expected_end_pos": [ + 3146.6983, + -863.8001, + 263.0526 + ], + "actual_end_pos": [ + 3146.6983, + -863.8001, + 263.0526 + ], + "actual_end_rot": [ + 0.0, + -180.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3146.6983, + -863.8001, + 263.0526 + ], + "start_rot": [ + 0.0, + -180.0, + -0.0 + ], + "expected_end_pos": [ + 3146.6983, + -863.8001, + 263.0526 + ], + "actual_end_pos": [ + 3146.6983, + -863.8001, + 263.0526 + ], + "actual_end_rot": [ + 0.0, + -180.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3146.6983, + -863.8001, + 263.0526 + ], + "start_rot": [ + 0.0, + -180.0, + -0.0 + ], + "expected_end_pos": [ + 3146.6983, + -863.8001, + 263.0526 + ], + "actual_end_pos": [ + 3146.6983, + -863.8001, + 263.0526 + ], + "actual_end_rot": [ + 0.0, + -180.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3146.6983, + -863.8001, + 263.0526 + ], + "start_rot": [ + 0.0, + -180.0, + -0.0 + ], + "expected_end_pos": [ + 3146.6983, + -863.8001, + 263.0526 + ], + "actual_end_pos": [ + 3146.6983, + -863.8001, + 263.0526 + ], + "actual_end_rot": [ + 0.0, + -180.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3146.6983, + -863.8001, + 263.0526 + ], + "start_rot": [ + 0.0, + -180.0, + -0.0 + ], + "expected_end_pos": [ + 3146.6983, + -863.8001, + 263.0526 + ], + "actual_end_pos": [ + 3146.6983, + -863.8001, + 263.0526 + ], + "actual_end_rot": [ + 0.0, + -180.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3146.6983, + -863.8001, + 263.0526 + ], + "start_rot": [ + 0.0, + -180.0, + -0.0 + ], + "expected_end_pos": [ + 3146.6983, + -863.8001, + 263.0526 + ], + "actual_end_pos": [ + 3146.6983, + -863.8001, + 263.0526 + ], + "actual_end_rot": [ + 0.0, + -180.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3146.6983, + -863.8001, + 263.0526 + ], + "start_rot": [ + 0.0, + -180.0, + -0.0 + ], + "expected_end_pos": [ + 3146.6983, + -863.8001, + 263.0526 + ], + "actual_end_pos": [ + 3146.6983, + -863.8001, + 263.0526 + ], + "actual_end_rot": [ + 0.0, + -180.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3146.6983, + -863.8001, + 263.0526 + ], + "start_rot": [ + 0.0, + -180.0, + -0.0 + ], + "expected_end_pos": [ + 3146.6983, + -863.8001, + 263.0526 + ], + "actual_end_pos": [ + 3146.6983, + -863.8001, + 263.0526 + ], + "actual_end_rot": [ + 0.0, + -180.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3146.6983, + -863.8001, + 263.0526 + ], + "start_rot": [ + 0.0, + -180.0, + -0.0 + ], + "expected_end_pos": [ + 3146.6983, + -863.8001, + 263.0526 + ], + "actual_end_pos": [ + 3146.6983, + -863.8001, + 263.0526 + ], + "actual_end_rot": [ + 0.0, + -180.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3146.6983, + -863.8001, + 263.0526 + ], + "start_rot": [ + 0.0, + -180.0, + -0.0 + ], + "expected_end_pos": [ + 3146.6983, + -863.8001, + 263.0526 + ], + "actual_end_pos": [ + 3146.6983, + -863.8001, + 263.0526 + ], + "actual_end_rot": [ + 0.0, + -180.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3146.6983, + -863.8001, + 263.0526 + ], + "start_rot": [ + 0.0, + -180.0, + -0.0 + ], + "expected_end_pos": [ + 3146.6983, + -863.8001, + 263.0526 + ], + "actual_end_pos": [ + 3146.6983, + -863.8001, + 263.0526 + ], + "actual_end_rot": [ + 0.0, + -180.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3146.6983, + -863.8001, + 263.0526 + ], + "start_rot": [ + 0.0, + -180.0, + -0.0 + ], + "expected_end_pos": [ + 3146.6983, + -863.8001, + 263.0526 + ], + "actual_end_pos": [ + 3146.6983, + -863.8001, + 263.0526 + ], + "actual_end_rot": [ + 0.0, + -180.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3146.6983, + -863.8001, + 263.0526 + ], + "start_rot": [ + 0.0, + -180.0, + -0.0 + ], + "expected_end_pos": [ + 3146.6983, + -863.8001, + 263.0526 + ], + "actual_end_pos": [ + 3146.6983, + -863.8001, + 263.0526 + ], + "actual_end_rot": [ + 0.0, + -180.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3146.6983, + -863.8001, + 263.0526 + ], + "start_rot": [ + 0.0, + -180.0, + -0.0 + ], + "expected_end_pos": [ + 3146.6983, + -863.8001, + 263.0526 + ], + "actual_end_pos": [ + 3146.6983, + -863.8001, + 263.0526 + ], + "actual_end_rot": [ + 0.0, + -180.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3146.6983, + -863.8001, + 263.0526 + ], + "start_rot": [ + 0.0, + -180.0, + -0.0 + ], + "expected_end_pos": [ + 3146.6983, + -863.8001, + 263.0526 + ], + "actual_end_pos": [ + 3146.6983, + -863.8001, + 263.0526 + ], + "actual_end_rot": [ + 0.0, + -180.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 3146.6983, + -863.8001, + 263.0526 + ], + "start_rot": [ + 0.0, + -180.0, + -0.0 + ], + "expected_end_pos": [ + 3146.6983, + -863.8001, + 263.0526 + ], + "actual_end_pos": [ + 3146.6983, + -863.8001, + 263.0526 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3146.6983, + -863.8001, + 263.0526 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 3120.8164, + -767.2075, + 263.0526 + ], + "actual_end_pos": [ + 3120.8164, + -767.2075, + 263.0526 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 3120.8164, + -767.2075, + 263.0526 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 3120.8164, + -767.2075, + 263.0526 + ], + "actual_end_pos": [ + 3120.8164, + -767.2075, + 263.0526 + ], + "actual_end_rot": [ + 0.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 3120.8164, + -767.2075, + 263.0526 + ], + "start_rot": [ + 0.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + 3120.8164, + -767.2075, + 263.0526 + ], + "actual_end_pos": [ + 3120.8164, + -767.2075, + 263.0526 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 3120.8164, + -767.2075, + 263.0526 + ], + "start_rot": [ + 0.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 3120.8164, + -767.2075, + 263.0526 + ], + "actual_end_pos": [ + 3120.8164, + -767.2075, + 263.0526 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 3120.8164, + -767.2075, + 263.0526 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 3050.7107, + -837.3132, + 250.0 + ], + "actual_end_pos": [ + 3050.7107, + -837.3132, + 250.0 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3050.7107, + -837.3132, + 250.0 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2980.0, + -766.6025, + 250.0 + ], + "actual_end_pos": [ + 2980.0, + -766.6025, + 250.0 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 2980.0, + -766.6025, + 250.0 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2980.0, + -766.6025, + 250.0 + ], + "actual_end_pos": [ + 2980.0, + -766.6025, + 250.0 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 2980.0, + -766.6025, + 250.0 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 2930.0, + -680.0, + 250.0 + ], + "actual_end_pos": [ + 2930.0, + -680.0, + 250.0 + ], + "actual_end_rot": [ + -7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 2930.0, + -680.0, + 250.0 + ], + "start_rot": [ + -7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 2930.0, + -680.0, + 250.0 + ], + "actual_end_pos": [ + 2930.0, + -680.0, + 250.0 + ], + "actual_end_rot": [ + -7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 2930.0, + -680.0, + 250.0 + ], + "start_rot": [ + -7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 2930.0, + -680.0, + 250.0 + ], + "actual_end_pos": [ + 2930.0, + -680.0, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260419_133642__traj_001044_meta.json b/inverse_easy/run_20260419_133642__traj_001044_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e4bc7760fe19c88798105700e378422dde72627d --- /dev/null +++ b/inverse_easy/run_20260419_133642__traj_001044_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 1044, + "episode_id": 0, + "state_id": 782, + "sample_index": 782, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 3680.0, + -1430.0, + 250.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_left", + "move_forward", + "turn_left", + "look_up", + "look_up", + "move_backward", + "move_left", + "move_left", + "turn_left", + "look_down", + "move_left", + "turn_left", + "turn_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "move_right", + "turn_right", + "turn_right", + "move_right", + "look_up", + "turn_right", + "move_right", + "move_right", + "move_forward", + "look_down", + "look_down", + "turn_right", + "move_backward", + "turn_right" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 3680.0, + -1430.0, + 250.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 3680.0, + -1430.0, + 250.0 + ], + "actual_end_pos": [ + 3680.0, + -1430.0, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 3680.0, + -1430.0, + 250.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 3654.1181, + -1526.5926, + 250.0 + ], + "actual_end_pos": [ + 3654.1181, + -1526.5926, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 3654.1181, + -1526.5926, + 250.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 3654.1181, + -1526.5926, + 250.0 + ], + "actual_end_pos": [ + 3654.1181, + -1526.5926, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 3654.1181, + -1526.5926, + 250.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 3654.1181, + -1526.5926, + 250.0 + ], + "actual_end_pos": [ + 3654.1181, + -1526.5926, + 250.0 + ], + "actual_end_rot": [ + 7.5, + -120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 3654.1181, + -1526.5926, + 250.0 + ], + "start_rot": [ + 7.5, + -120.0, + -0.0 + ], + "expected_end_pos": [ + 3654.1181, + -1526.5926, + 250.0 + ], + "actual_end_pos": [ + 3654.1181, + -1526.5926, + 250.0 + ], + "actual_end_rot": [ + 15.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 3654.1181, + -1526.5926, + 250.0 + ], + "start_rot": [ + 15.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 3702.4144, + -1442.941, + 224.1181 + ], + "actual_end_pos": [ + 3702.4144, + -1442.941, + 224.1181 + ], + "actual_end_rot": [ + 15.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3702.4144, + -1442.941, + 224.1181 + ], + "start_rot": [ + 15.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 3615.8118, + -1392.941, + 224.1181 + ], + "actual_end_pos": [ + 3615.8118, + -1392.941, + 224.1181 + ], + "actual_end_rot": [ + 15.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3615.8118, + -1392.941, + 224.1181 + ], + "start_rot": [ + 15.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 3529.2093, + -1342.941, + 224.1181 + ], + "actual_end_pos": [ + 3529.2093, + -1342.941, + 224.1181 + ], + "actual_end_rot": [ + 15.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 3529.2093, + -1342.941, + 224.1181 + ], + "start_rot": [ + 15.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 3529.2093, + -1342.941, + 224.1181 + ], + "actual_end_pos": [ + 3529.2093, + -1342.941, + 224.1181 + ], + "actual_end_rot": [ + 15.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 3529.2093, + -1342.941, + 224.1181 + ], + "start_rot": [ + 15.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 3529.2093, + -1342.941, + 224.1181 + ], + "actual_end_pos": [ + 3529.2093, + -1342.941, + 224.1181 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3529.2093, + -1342.941, + 224.1181 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 3458.4986, + -1272.2303, + 224.1181 + ], + "actual_end_pos": [ + 3458.4986, + -1272.2303, + 224.1181 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 3458.4986, + -1272.2303, + 224.1181 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 3458.4986, + -1272.2303, + 224.1181 + ], + "actual_end_pos": [ + 3458.4986, + -1272.2303, + 224.1181 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 3458.4986, + -1272.2303, + 224.1181 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 3458.4986, + -1272.2303, + 224.1181 + ], + "actual_end_pos": [ + 3458.4986, + -1272.2303, + 224.1181 + ], + "actual_end_rot": [ + 7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3458.4986, + -1272.2303, + 224.1181 + ], + "start_rot": [ + 7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 3432.6167, + -1175.6377, + 224.1181 + ], + "actual_end_pos": [ + 3432.6167, + -1175.6377, + 224.1181 + ], + "actual_end_rot": [ + 7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3432.6167, + -1175.6377, + 224.1181 + ], + "start_rot": [ + 7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 3432.6167, + -1175.6377, + 224.1181 + ], + "actual_end_pos": [ + 3432.6167, + -1175.6377, + 224.1181 + ], + "actual_end_rot": [ + 7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3432.6167, + -1175.6377, + 224.1181 + ], + "start_rot": [ + 7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 3432.6167, + -1175.6377, + 224.1181 + ], + "actual_end_pos": [ + 3432.6167, + -1175.6377, + 224.1181 + ], + "actual_end_rot": [ + 7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3432.6167, + -1175.6377, + 224.1181 + ], + "start_rot": [ + 7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 3432.6167, + -1175.6377, + 224.1181 + ], + "actual_end_pos": [ + 3432.6167, + -1175.6377, + 224.1181 + ], + "actual_end_rot": [ + 7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3432.6167, + -1175.6377, + 224.1181 + ], + "start_rot": [ + 7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 3432.6167, + -1175.6377, + 224.1181 + ], + "actual_end_pos": [ + 3432.6167, + -1175.6377, + 224.1181 + ], + "actual_end_rot": [ + 7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3432.6167, + -1175.6377, + 224.1181 + ], + "start_rot": [ + 7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 3432.6167, + -1175.6377, + 224.1181 + ], + "actual_end_pos": [ + 3432.6167, + -1175.6377, + 224.1181 + ], + "actual_end_rot": [ + 7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3432.6167, + -1175.6377, + 224.1181 + ], + "start_rot": [ + 7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 3432.6167, + -1175.6377, + 224.1181 + ], + "actual_end_pos": [ + 3432.6167, + -1175.6377, + 224.1181 + ], + "actual_end_rot": [ + 7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3432.6167, + -1175.6377, + 224.1181 + ], + "start_rot": [ + 7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 3432.6167, + -1175.6377, + 224.1181 + ], + "actual_end_pos": [ + 3432.6167, + -1175.6377, + 224.1181 + ], + "actual_end_rot": [ + 7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3432.6167, + -1175.6377, + 224.1181 + ], + "start_rot": [ + 7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 3432.6167, + -1175.6377, + 224.1181 + ], + "actual_end_pos": [ + 3432.6167, + -1175.6377, + 224.1181 + ], + "actual_end_rot": [ + 7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3432.6167, + -1175.6377, + 224.1181 + ], + "start_rot": [ + 7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 3432.6167, + -1175.6377, + 224.1181 + ], + "actual_end_pos": [ + 3432.6167, + -1175.6377, + 224.1181 + ], + "actual_end_rot": [ + 7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3432.6167, + -1175.6377, + 224.1181 + ], + "start_rot": [ + 7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 3432.6167, + -1175.6377, + 224.1181 + ], + "actual_end_pos": [ + 3432.6167, + -1175.6377, + 224.1181 + ], + "actual_end_rot": [ + 7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3432.6167, + -1175.6377, + 224.1181 + ], + "start_rot": [ + 7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 3432.6167, + -1175.6377, + 224.1181 + ], + "actual_end_pos": [ + 3432.6167, + -1175.6377, + 224.1181 + ], + "actual_end_rot": [ + 7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3432.6167, + -1175.6377, + 224.1181 + ], + "start_rot": [ + 7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 3432.6167, + -1175.6377, + 224.1181 + ], + "actual_end_pos": [ + 3432.6167, + -1175.6377, + 224.1181 + ], + "actual_end_rot": [ + 7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3432.6167, + -1175.6377, + 224.1181 + ], + "start_rot": [ + 7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 3458.4986, + -1272.2303, + 224.1181 + ], + "actual_end_pos": [ + 3458.4986, + -1272.2303, + 224.1181 + ], + "actual_end_rot": [ + 7.5, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 3458.4986, + -1272.2303, + 224.1181 + ], + "start_rot": [ + 7.5, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 3458.4986, + -1272.2303, + 224.1181 + ], + "actual_end_pos": [ + 3458.4986, + -1272.2303, + 224.1181 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 3458.4986, + -1272.2303, + 224.1181 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 3458.4986, + -1272.2303, + 224.1181 + ], + "actual_end_pos": [ + 3458.4986, + -1272.2303, + 224.1181 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3458.4986, + -1272.2303, + 224.1181 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 3529.2093, + -1342.941, + 224.1181 + ], + "actual_end_pos": [ + 3529.2093, + -1342.941, + 224.1181 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 3529.2093, + -1342.941, + 224.1181 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 3529.2093, + -1342.941, + 224.1181 + ], + "actual_end_pos": [ + 3529.2093, + -1342.941, + 224.1181 + ], + "actual_end_rot": [ + 15.0, + -135.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 3529.2093, + -1342.941, + 224.1181 + ], + "start_rot": [ + 15.0, + -135.0, + -0.0 + ], + "expected_end_pos": [ + 3529.2093, + -1342.941, + 224.1181 + ], + "actual_end_pos": [ + 3529.2093, + -1342.941, + 224.1181 + ], + "actual_end_rot": [ + 15.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3529.2093, + -1342.941, + 224.1181 + ], + "start_rot": [ + 15.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 3615.8118, + -1392.941, + 224.1181 + ], + "actual_end_pos": [ + 3615.8118, + -1392.941, + 224.1181 + ], + "actual_end_rot": [ + 15.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3615.8118, + -1392.941, + 224.1181 + ], + "start_rot": [ + 15.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 3702.4144, + -1442.941, + 224.1181 + ], + "actual_end_pos": [ + 3702.4144, + -1442.941, + 224.1181 + ], + "actual_end_rot": [ + 15.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 3702.4144, + -1442.941, + 224.1181 + ], + "start_rot": [ + 15.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 3654.1181, + -1526.5926, + 250.0 + ], + "actual_end_pos": [ + 3654.1181, + -1526.5926, + 250.0 + ], + "actual_end_rot": [ + 15.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 3654.1181, + -1526.5926, + 250.0 + ], + "start_rot": [ + 15.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 3654.1181, + -1526.5926, + 250.0 + ], + "actual_end_pos": [ + 3654.1181, + -1526.5926, + 250.0 + ], + "actual_end_rot": [ + 7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 3654.1181, + -1526.5926, + 250.0 + ], + "start_rot": [ + 7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 3654.1181, + -1526.5926, + 250.0 + ], + "actual_end_pos": [ + 3654.1181, + -1526.5926, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 3654.1181, + -1526.5926, + 250.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 3654.1181, + -1526.5926, + 250.0 + ], + "actual_end_pos": [ + 3654.1181, + -1526.5926, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 3654.1181, + -1526.5926, + 250.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 3680.0, + -1430.0, + 250.0 + ], + "actual_end_pos": [ + 3680.0, + -1430.0, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 3680.0, + -1430.0, + 250.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 3680.0, + -1430.0, + 250.0 + ], + "actual_end_pos": [ + 3680.0, + -1430.0, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260419_133642__traj_001444_meta.json b/inverse_easy/run_20260419_133642__traj_001444_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d31600e2f3b6bbcd9d8300d31c1c802b2c1b4ea8 --- /dev/null +++ b/inverse_easy/run_20260419_133642__traj_001444_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 1444, + "episode_id": 0, + "state_id": 1068, + "sample_index": 1068, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 4055.0, + -1305.0, + 250.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "move_right", + "no_op", + "turn_right", + "move_backward", + "look_up", + "look_up", + "turn_right", + "move_right", + "move_left", + "look_down", + "move_right", + "turn_right", + "look_up", + "turn_left", + "move_backward", + "move_left", + "move_right", + "turn_left", + "no_op", + "no_op", + "turn_right", + "move_left", + "move_right", + "move_forward", + "turn_right", + "look_down", + "turn_left", + "move_left", + "look_up", + "move_right", + "move_left", + "turn_left", + "look_down", + "look_down", + "move_forward", + "turn_left", + "no_op", + "move_left", + "move_left" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4055.0, + -1305.0, + 250.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 4055.0, + -1405.0, + 250.0 + ], + "actual_end_pos": [ + 4055.0, + -1405.0, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4055.0, + -1405.0, + 250.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 4055.0, + -1505.0, + 250.0 + ], + "actual_end_pos": [ + 4055.0, + -1505.0, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4055.0, + -1505.0, + 250.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 4055.0, + -1505.0, + 250.0 + ], + "actual_end_pos": [ + 4055.0, + -1505.0, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 4055.0, + -1505.0, + 250.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + 4055.0, + -1505.0, + 250.0 + ], + "actual_end_pos": [ + 4055.0, + -1505.0, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4055.0, + -1505.0, + 250.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 4151.5926, + -1479.1181, + 250.0 + ], + "actual_end_pos": [ + 4151.5926, + -1479.1181, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 4151.5926, + -1479.1181, + 250.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 4151.5926, + -1479.1181, + 250.0 + ], + "actual_end_pos": [ + 4151.5926, + -1479.1181, + 250.0 + ], + "actual_end_rot": [ + 7.5, + -165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 4151.5926, + -1479.1181, + 250.0 + ], + "start_rot": [ + 7.5, + -165.0, + -0.0 + ], + "expected_end_pos": [ + 4151.5926, + -1479.1181, + 250.0 + ], + "actual_end_pos": [ + 4151.5926, + -1479.1181, + 250.0 + ], + "actual_end_rot": [ + 15.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 4151.5926, + -1479.1181, + 250.0 + ], + "start_rot": [ + 15.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 4151.5926, + -1479.1181, + 250.0 + ], + "actual_end_pos": [ + 4151.5926, + -1479.1181, + 250.0 + ], + "actual_end_rot": [ + 15.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4151.5926, + -1479.1181, + 250.0 + ], + "start_rot": [ + 15.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 4201.5926, + -1565.7206, + 250.0 + ], + "actual_end_pos": [ + 4201.5926, + -1565.7206, + 250.0 + ], + "actual_end_rot": [ + 15.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4201.5926, + -1565.7206, + 250.0 + ], + "start_rot": [ + 15.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 4151.5926, + -1479.1181, + 250.0 + ], + "actual_end_pos": [ + 4151.5926, + -1479.1181, + 250.0 + ], + "actual_end_rot": [ + 15.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 4151.5926, + -1479.1181, + 250.0 + ], + "start_rot": [ + 15.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 4151.5926, + -1479.1181, + 250.0 + ], + "actual_end_pos": [ + 4151.5926, + -1479.1181, + 250.0 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4151.5926, + -1479.1181, + 250.0 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 4201.5926, + -1565.7206, + 250.0 + ], + "actual_end_pos": [ + 4201.5926, + -1565.7206, + 250.0 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 4201.5926, + -1565.7206, + 250.0 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 4201.5926, + -1565.7206, + 250.0 + ], + "actual_end_pos": [ + 4201.5926, + -1565.7206, + 250.0 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 4201.5926, + -1565.7206, + 250.0 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 4201.5926, + -1565.7206, + 250.0 + ], + "actual_end_pos": [ + 4201.5926, + -1565.7206, + 250.0 + ], + "actual_end_rot": [ + 15.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4201.5926, + -1565.7206, + 250.0 + ], + "start_rot": [ + 15.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 4201.5926, + -1565.7206, + 250.0 + ], + "actual_end_pos": [ + 4201.5926, + -1565.7206, + 250.0 + ], + "actual_end_rot": [ + 15.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4201.5926, + -1565.7206, + 250.0 + ], + "start_rot": [ + 15.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + 4285.2442, + -1517.4243, + 224.1181 + ], + "actual_end_pos": [ + 4285.2442, + -1517.4243, + 224.1181 + ], + "actual_end_rot": [ + 15.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4285.2442, + -1517.4243, + 224.1181 + ], + "start_rot": [ + 15.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + 4235.2442, + -1430.8218, + 224.1181 + ], + "actual_end_pos": [ + 4235.2442, + -1430.8218, + 224.1181 + ], + "actual_end_rot": [ + 15.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4235.2442, + -1430.8218, + 224.1181 + ], + "start_rot": [ + 15.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + 4285.2442, + -1517.4243, + 224.1181 + ], + "actual_end_pos": [ + 4285.2442, + -1517.4243, + 224.1181 + ], + "actual_end_rot": [ + 15.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4285.2442, + -1517.4243, + 224.1181 + ], + "start_rot": [ + 15.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + 4285.2442, + -1517.4243, + 224.1181 + ], + "actual_end_pos": [ + 4285.2442, + -1517.4243, + 224.1181 + ], + "actual_end_rot": [ + 15.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4285.2442, + -1517.4243, + 224.1181 + ], + "start_rot": [ + 15.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 4285.2442, + -1517.4243, + 224.1181 + ], + "actual_end_pos": [ + 4285.2442, + -1517.4243, + 224.1181 + ], + "actual_end_rot": [ + 15.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4285.2442, + -1517.4243, + 224.1181 + ], + "start_rot": [ + 15.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 4285.2442, + -1517.4243, + 224.1181 + ], + "actual_end_pos": [ + 4285.2442, + -1517.4243, + 224.1181 + ], + "actual_end_rot": [ + 15.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 4285.2442, + -1517.4243, + 224.1181 + ], + "start_rot": [ + 15.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 4285.2442, + -1517.4243, + 224.1181 + ], + "actual_end_pos": [ + 4285.2442, + -1517.4243, + 224.1181 + ], + "actual_end_rot": [ + 15.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4285.2442, + -1517.4243, + 224.1181 + ], + "start_rot": [ + 15.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 4235.2442, + -1430.8218, + 224.1181 + ], + "actual_end_pos": [ + 4235.2442, + -1430.8218, + 224.1181 + ], + "actual_end_rot": [ + 15.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4235.2442, + -1430.8218, + 224.1181 + ], + "start_rot": [ + 15.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 4285.2442, + -1517.4243, + 224.1181 + ], + "actual_end_pos": [ + 4285.2442, + -1517.4243, + 224.1181 + ], + "actual_end_rot": [ + 15.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4285.2442, + -1517.4243, + 224.1181 + ], + "start_rot": [ + 15.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 4201.5926, + -1565.7206, + 250.0 + ], + "actual_end_pos": [ + 4201.5926, + -1565.7206, + 250.0 + ], + "actual_end_rot": [ + 15.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 4201.5926, + -1565.7206, + 250.0 + ], + "start_rot": [ + 15.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 4201.5926, + -1565.7206, + 250.0 + ], + "actual_end_pos": [ + 4201.5926, + -1565.7206, + 250.0 + ], + "actual_end_rot": [ + 15.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 4201.5926, + -1565.7206, + 250.0 + ], + "start_rot": [ + 15.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 4201.5926, + -1565.7206, + 250.0 + ], + "actual_end_pos": [ + 4201.5926, + -1565.7206, + 250.0 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4201.5926, + -1565.7206, + 250.0 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 4201.5926, + -1565.7206, + 250.0 + ], + "actual_end_pos": [ + 4201.5926, + -1565.7206, + 250.0 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4201.5926, + -1565.7206, + 250.0 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 4151.5926, + -1479.1181, + 250.0 + ], + "actual_end_pos": [ + 4151.5926, + -1479.1181, + 250.0 + ], + "actual_end_rot": [ + 7.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 4151.5926, + -1479.1181, + 250.0 + ], + "start_rot": [ + 7.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + 4151.5926, + -1479.1181, + 250.0 + ], + "actual_end_pos": [ + 4151.5926, + -1479.1181, + 250.0 + ], + "actual_end_rot": [ + 15.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4151.5926, + -1479.1181, + 250.0 + ], + "start_rot": [ + 15.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + 4201.5926, + -1565.7206, + 250.0 + ], + "actual_end_pos": [ + 4201.5926, + -1565.7206, + 250.0 + ], + "actual_end_rot": [ + 15.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4201.5926, + -1565.7206, + 250.0 + ], + "start_rot": [ + 15.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + 4151.5926, + -1479.1181, + 250.0 + ], + "actual_end_pos": [ + 4151.5926, + -1479.1181, + 250.0 + ], + "actual_end_rot": [ + 15.0, + -150.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4151.5926, + -1479.1181, + 250.0 + ], + "start_rot": [ + 15.0, + -150.0, + -0.0 + ], + "expected_end_pos": [ + 4151.5926, + -1479.1181, + 250.0 + ], + "actual_end_pos": [ + 4151.5926, + -1479.1181, + 250.0 + ], + "actual_end_rot": [ + 15.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 4151.5926, + -1479.1181, + 250.0 + ], + "start_rot": [ + 15.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 4151.5926, + -1479.1181, + 250.0 + ], + "actual_end_pos": [ + 4151.5926, + -1479.1181, + 250.0 + ], + "actual_end_rot": [ + 7.5, + -165.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 4151.5926, + -1479.1181, + 250.0 + ], + "start_rot": [ + 7.5, + -165.0, + -0.0 + ], + "expected_end_pos": [ + 4151.5926, + -1479.1181, + 250.0 + ], + "actual_end_pos": [ + 4151.5926, + -1479.1181, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4151.5926, + -1479.1181, + 250.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 4055.0, + -1505.0, + 250.0 + ], + "actual_end_pos": [ + 4055.0, + -1505.0, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4055.0, + -1505.0, + 250.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + 4055.0, + -1505.0, + 250.0 + ], + "actual_end_pos": [ + 4055.0, + -1505.0, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4055.0, + -1505.0, + 250.0 + ], + "start_rot": [ + 0.0, + -180.0, + 0.0 + ], + "expected_end_pos": [ + 4055.0, + -1505.0, + 250.0 + ], + "actual_end_pos": [ + 4055.0, + -1505.0, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4055.0, + -1505.0, + 250.0 + ], + "start_rot": [ + 0.0, + -180.0, + 0.0 + ], + "expected_end_pos": [ + 4055.0, + -1405.0, + 250.0 + ], + "actual_end_pos": [ + 4055.0, + -1405.0, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4055.0, + -1405.0, + 250.0 + ], + "start_rot": [ + 0.0, + -180.0, + 0.0 + ], + "expected_end_pos": [ + 4055.0, + -1305.0, + 250.0 + ], + "actual_end_pos": [ + 4055.0, + -1305.0, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260419_133642__traj_001605_meta.json b/inverse_easy/run_20260419_133642__traj_001605_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..df409c89ec16652c404c4382148fcf424b93e0e6 --- /dev/null +++ b/inverse_easy/run_20260419_133642__traj_001605_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 1605, + "episode_id": 0, + "state_id": 1186, + "sample_index": 1186, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 4180.0, + -1430.0, + 250.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "look_up", + "move_right", + "move_right", + "move_right", + "turn_right", + "turn_right", + "look_down", + "move_right", + "turn_left", + "turn_left", + "move_left", + "look_down", + "move_forward", + "look_down", + "move_right", + "look_up", + "turn_left", + "move_forward", + "no_op", + "no_op", + "move_backward", + "turn_right", + "look_down", + "move_left", + "look_up", + "move_backward", + "look_up", + "move_right", + "turn_right", + "turn_right", + "move_left", + "look_up", + "turn_left", + "turn_left", + "move_left", + "move_left", + "move_left", + "look_down", + "move_forward" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4180.0, + -1430.0, + 250.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 4180.0, + -1530.0, + 250.0 + ], + "actual_end_pos": [ + 4180.0, + -1530.0, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 4180.0, + -1530.0, + 250.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 4180.0, + -1530.0, + 250.0 + ], + "actual_end_pos": [ + 4180.0, + -1530.0, + 250.0 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4180.0, + -1530.0, + 250.0 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 4080.0, + -1530.0, + 250.0 + ], + "actual_end_pos": [ + 4080.0, + -1530.0, + 250.0 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4080.0, + -1530.0, + 250.0 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3980.0, + -1530.0, + 250.0 + ], + "actual_end_pos": [ + 3980.0, + -1530.0, + 250.0 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3980.0, + -1530.0, + 250.0 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3880.0, + -1530.0, + 250.0 + ], + "actual_end_pos": [ + 3880.0, + -1530.0, + 250.0 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 3880.0, + -1530.0, + 250.0 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3880.0, + -1530.0, + 250.0 + ], + "actual_end_pos": [ + 3880.0, + -1530.0, + 250.0 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 3880.0, + -1530.0, + 250.0 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 3880.0, + -1530.0, + 250.0 + ], + "actual_end_pos": [ + 3880.0, + -1530.0, + 250.0 + ], + "actual_end_rot": [ + 7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 3880.0, + -1530.0, + 250.0 + ], + "start_rot": [ + 7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 3880.0, + -1530.0, + 250.0 + ], + "actual_end_pos": [ + 3880.0, + -1530.0, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3880.0, + -1530.0, + 250.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 3793.3975, + -1580.0, + 250.0 + ], + "actual_end_pos": [ + 3793.3975, + -1580.0, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 3793.3975, + -1580.0, + 250.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 3793.3975, + -1580.0, + 250.0 + ], + "actual_end_pos": [ + 3793.3975, + -1580.0, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 3793.3975, + -1580.0, + 250.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 3793.3975, + -1580.0, + 250.0 + ], + "actual_end_pos": [ + 3793.3975, + -1580.0, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3793.3975, + -1580.0, + 250.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3893.3975, + -1580.0, + 250.0 + ], + "actual_end_pos": [ + 3893.3975, + -1580.0, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 3893.3975, + -1580.0, + 250.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3893.3975, + -1580.0, + 250.0 + ], + "actual_end_pos": [ + 3893.3975, + -1580.0, + 250.0 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 3893.3975, + -1580.0, + 250.0 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3893.3975, + -1480.8555, + 236.9474 + ], + "actual_end_pos": [ + 3893.3975, + -1480.8555, + 236.9474 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 3893.3975, + -1480.8555, + 236.9474 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3893.3975, + -1480.8555, + 236.9474 + ], + "actual_end_pos": [ + 3893.3975, + -1480.8555, + 236.9474 + ], + "actual_end_rot": [ + -15.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3893.3975, + -1480.8555, + 236.9474 + ], + "start_rot": [ + -15.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3793.3975, + -1480.8555, + 236.9474 + ], + "actual_end_pos": [ + 3793.3975, + -1480.8555, + 236.9474 + ], + "actual_end_rot": [ + -15.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 3793.3975, + -1480.8555, + 236.9474 + ], + "start_rot": [ + -15.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3793.3975, + -1480.8555, + 236.9474 + ], + "actual_end_pos": [ + 3793.3975, + -1480.8555, + 236.9474 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 3793.3975, + -1480.8555, + 236.9474 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3793.3975, + -1480.8555, + 236.9474 + ], + "actual_end_pos": [ + 3793.3975, + -1480.8555, + 236.9474 + ], + "actual_end_rot": [ + -7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 3793.3975, + -1480.8555, + 236.9474 + ], + "start_rot": [ + -7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 3819.0579, + -1385.0893, + 223.8948 + ], + "actual_end_pos": [ + 3819.0579, + -1385.0893, + 223.8948 + ], + "actual_end_rot": [ + -7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3819.0579, + -1385.0893, + 223.8948 + ], + "start_rot": [ + -7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 3819.0579, + -1385.0893, + 223.8948 + ], + "actual_end_pos": [ + 3819.0579, + -1385.0893, + 223.8948 + ], + "actual_end_rot": [ + -7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 3819.0579, + -1385.0893, + 223.8948 + ], + "start_rot": [ + -7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 3819.0579, + -1385.0893, + 223.8948 + ], + "actual_end_pos": [ + 3819.0579, + -1385.0893, + 223.8948 + ], + "actual_end_rot": [ + -7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 3819.0579, + -1385.0893, + 223.8948 + ], + "start_rot": [ + -7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 3793.3975, + -1480.8555, + 236.9474 + ], + "actual_end_pos": [ + 3793.3975, + -1480.8555, + 236.9474 + ], + "actual_end_rot": [ + -7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 3793.3975, + -1480.8555, + 236.9474 + ], + "start_rot": [ + -7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + 3793.3975, + -1480.8555, + 236.9474 + ], + "actual_end_pos": [ + 3793.3975, + -1480.8555, + 236.9474 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 3793.3975, + -1480.8555, + 236.9474 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3793.3975, + -1480.8555, + 236.9474 + ], + "actual_end_pos": [ + 3793.3975, + -1480.8555, + 236.9474 + ], + "actual_end_rot": [ + -15.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3793.3975, + -1480.8555, + 236.9474 + ], + "start_rot": [ + -15.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3893.3975, + -1480.8555, + 236.9474 + ], + "actual_end_pos": [ + 3893.3975, + -1480.8555, + 236.9474 + ], + "actual_end_rot": [ + -15.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 3893.3975, + -1480.8555, + 236.9474 + ], + "start_rot": [ + -15.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3893.3975, + -1480.8555, + 236.9474 + ], + "actual_end_pos": [ + 3893.3975, + -1480.8555, + 236.9474 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 3893.3975, + -1480.8555, + 236.9474 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3893.3975, + -1580.0, + 250.0 + ], + "actual_end_pos": [ + 3893.3975, + -1580.0, + 250.0 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 3893.3975, + -1580.0, + 250.0 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3893.3975, + -1580.0, + 250.0 + ], + "actual_end_pos": [ + 3893.3975, + -1580.0, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 3893.3975, + -1580.0, + 250.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3793.3975, + -1580.0, + 250.0 + ], + "actual_end_pos": [ + 3793.3975, + -1580.0, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 3793.3975, + -1580.0, + 250.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3793.3975, + -1580.0, + 250.0 + ], + "actual_end_pos": [ + 3793.3975, + -1580.0, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 3793.3975, + -1580.0, + 250.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 3793.3975, + -1580.0, + 250.0 + ], + "actual_end_pos": [ + 3793.3975, + -1580.0, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3793.3975, + -1580.0, + 250.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 3880.0, + -1530.0, + 250.0 + ], + "actual_end_pos": [ + 3880.0, + -1530.0, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 3880.0, + -1530.0, + 250.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 3880.0, + -1530.0, + 250.0 + ], + "actual_end_pos": [ + 3880.0, + -1530.0, + 250.0 + ], + "actual_end_rot": [ + 7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 3880.0, + -1530.0, + 250.0 + ], + "start_rot": [ + 7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + 3880.0, + -1530.0, + 250.0 + ], + "actual_end_pos": [ + 3880.0, + -1530.0, + 250.0 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 3880.0, + -1530.0, + 250.0 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + 3880.0, + -1530.0, + 250.0 + ], + "actual_end_pos": [ + 3880.0, + -1530.0, + 250.0 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3880.0, + -1530.0, + 250.0 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 3980.0, + -1530.0, + 250.0 + ], + "actual_end_pos": [ + 3980.0, + -1530.0, + 250.0 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 3980.0, + -1530.0, + 250.0 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 4080.0, + -1530.0, + 250.0 + ], + "actual_end_pos": [ + 4080.0, + -1530.0, + 250.0 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4080.0, + -1530.0, + 250.0 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 4180.0, + -1530.0, + 250.0 + ], + "actual_end_pos": [ + 4180.0, + -1530.0, + 250.0 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 4180.0, + -1530.0, + 250.0 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 4180.0, + -1530.0, + 250.0 + ], + "actual_end_pos": [ + 4180.0, + -1530.0, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4180.0, + -1530.0, + 250.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + 4180.0, + -1430.0, + 250.0 + ], + "actual_end_pos": [ + 4180.0, + -1430.0, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260419_133642__traj_001739_meta.json b/inverse_easy/run_20260419_133642__traj_001739_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..30fadf9e0137c95f748ac1b925c479c105f0ad10 --- /dev/null +++ b/inverse_easy/run_20260419_133642__traj_001739_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 1739, + "episode_id": 0, + "state_id": 1281, + "sample_index": 1281, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 4180.0, + 70.0, + 250.0 + ], + "rotation": [ + 0.0, + 45.0, + 0.0 + ] + }, + "action_sequence": [ + "look_down", + "move_backward", + "move_backward", + "move_left", + "move_left", + "turn_left", + "move_left", + "move_forward", + "move_left", + "turn_left", + "look_up", + "turn_left", + "move_left", + "move_backward", + "move_backward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "move_forward", + "move_forward", + "move_right", + "turn_right", + "look_down", + "turn_right", + "move_right", + "move_backward", + "move_right", + "turn_right", + "move_right", + "move_right", + "move_forward", + "move_forward", + "look_up" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 4180.0, + 70.0, + 250.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 4180.0, + 70.0, + 250.0 + ], + "actual_end_pos": [ + 4180.0, + 70.0, + 250.0 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4180.0, + 70.0, + 250.0 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 4109.8943, + -0.1057, + 263.0526 + ], + "actual_end_pos": [ + 4109.8943, + -0.1057, + 263.0526 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4109.8943, + -0.1057, + 263.0526 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 4039.7885, + -70.2115, + 276.1052 + ], + "actual_end_pos": [ + 4039.7885, + -70.2115, + 276.1052 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4039.7885, + -70.2115, + 276.1052 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 4110.4992, + -140.9222, + 276.1052 + ], + "actual_end_pos": [ + 4110.4992, + -140.9222, + 276.1052 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4110.4992, + -140.9222, + 276.1052 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 4181.2099, + -211.6328, + 276.1052 + ], + "actual_end_pos": [ + 4181.2099, + -211.6328, + 276.1052 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4181.2099, + -211.6328, + 276.1052 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 4181.2099, + -211.6328, + 276.1052 + ], + "actual_end_pos": [ + 4181.2099, + -211.6328, + 276.1052 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4181.2099, + -211.6328, + 276.1052 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 4231.2099, + -298.2354, + 276.1052 + ], + "actual_end_pos": [ + 4231.2099, + -298.2354, + 276.1052 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4231.2099, + -298.2354, + 276.1052 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 4317.0715, + -248.6631, + 263.0526 + ], + "actual_end_pos": [ + 4317.0715, + -248.6631, + 263.0526 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4317.0715, + -248.6631, + 263.0526 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 4367.0715, + -335.2657, + 263.0526 + ], + "actual_end_pos": [ + 4367.0715, + -335.2657, + 263.0526 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4367.0715, + -335.2657, + 263.0526 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 4367.0715, + -335.2657, + 263.0526 + ], + "actual_end_pos": [ + 4367.0715, + -335.2657, + 263.0526 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 4367.0715, + -335.2657, + 263.0526 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 4367.0715, + -335.2657, + 263.0526 + ], + "actual_end_pos": [ + 4367.0715, + -335.2657, + 263.0526 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4367.0715, + -335.2657, + 263.0526 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 4367.0715, + -335.2657, + 263.0526 + ], + "actual_end_pos": [ + 4367.0715, + -335.2657, + 263.0526 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4367.0715, + -335.2657, + 263.0526 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4367.0715, + -435.2657, + 263.0526 + ], + "actual_end_pos": [ + 4367.0715, + -435.2657, + 263.0526 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4367.0715, + -435.2657, + 263.0526 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4267.0715, + -435.2657, + 263.0526 + ], + "actual_end_pos": [ + 4267.0715, + -435.2657, + 263.0526 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4267.0715, + -435.2657, + 263.0526 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4167.0715, + -435.2657, + 263.0526 + ], + "actual_end_pos": [ + 4167.0715, + -435.2657, + 263.0526 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4167.0715, + -435.2657, + 263.0526 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4167.0715, + -435.2657, + 263.0526 + ], + "actual_end_pos": [ + 4167.0715, + -435.2657, + 263.0526 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4167.0715, + -435.2657, + 263.0526 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4167.0715, + -435.2657, + 263.0526 + ], + "actual_end_pos": [ + 4167.0715, + -435.2657, + 263.0526 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4167.0715, + -435.2657, + 263.0526 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4167.0715, + -435.2657, + 263.0526 + ], + "actual_end_pos": [ + 4167.0715, + -435.2657, + 263.0526 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4167.0715, + -435.2657, + 263.0526 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4167.0715, + -435.2657, + 263.0526 + ], + "actual_end_pos": [ + 4167.0715, + -435.2657, + 263.0526 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4167.0715, + -435.2657, + 263.0526 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4167.0715, + -435.2657, + 263.0526 + ], + "actual_end_pos": [ + 4167.0715, + -435.2657, + 263.0526 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4167.0715, + -435.2657, + 263.0526 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4167.0715, + -435.2657, + 263.0526 + ], + "actual_end_pos": [ + 4167.0715, + -435.2657, + 263.0526 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4167.0715, + -435.2657, + 263.0526 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4167.0715, + -435.2657, + 263.0526 + ], + "actual_end_pos": [ + 4167.0715, + -435.2657, + 263.0526 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4167.0715, + -435.2657, + 263.0526 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4167.0715, + -435.2657, + 263.0526 + ], + "actual_end_pos": [ + 4167.0715, + -435.2657, + 263.0526 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4167.0715, + -435.2657, + 263.0526 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4167.0715, + -435.2657, + 263.0526 + ], + "actual_end_pos": [ + 4167.0715, + -435.2657, + 263.0526 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4167.0715, + -435.2657, + 263.0526 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4167.0715, + -435.2657, + 263.0526 + ], + "actual_end_pos": [ + 4167.0715, + -435.2657, + 263.0526 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4167.0715, + -435.2657, + 263.0526 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4267.0715, + -435.2657, + 263.0526 + ], + "actual_end_pos": [ + 4267.0715, + -435.2657, + 263.0526 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4267.0715, + -435.2657, + 263.0526 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4367.0715, + -435.2657, + 263.0526 + ], + "actual_end_pos": [ + 4367.0715, + -435.2657, + 263.0526 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4367.0715, + -435.2657, + 263.0526 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4367.0715, + -335.2657, + 263.0526 + ], + "actual_end_pos": [ + 4367.0715, + -335.2657, + 263.0526 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 4367.0715, + -335.2657, + 263.0526 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + 4367.0715, + -335.2657, + 263.0526 + ], + "actual_end_pos": [ + 4367.0715, + -335.2657, + 263.0526 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 4367.0715, + -335.2657, + 263.0526 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 4367.0715, + -335.2657, + 263.0526 + ], + "actual_end_pos": [ + 4367.0715, + -335.2657, + 263.0526 + ], + "actual_end_rot": [ + -7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 4367.0715, + -335.2657, + 263.0526 + ], + "start_rot": [ + -7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + 4367.0715, + -335.2657, + 263.0526 + ], + "actual_end_pos": [ + 4367.0715, + -335.2657, + 263.0526 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4367.0715, + -335.2657, + 263.0526 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 4317.0715, + -248.6631, + 263.0526 + ], + "actual_end_pos": [ + 4317.0715, + -248.6631, + 263.0526 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4317.0715, + -248.6631, + 263.0526 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 4231.2099, + -298.2354, + 276.1052 + ], + "actual_end_pos": [ + 4231.2099, + -298.2354, + 276.1052 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4231.2099, + -298.2354, + 276.1052 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 4181.2099, + -211.6328, + 276.1052 + ], + "actual_end_pos": [ + 4181.2099, + -211.6328, + 276.1052 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 4181.2099, + -211.6328, + 276.1052 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 4181.2099, + -211.6328, + 276.1052 + ], + "actual_end_pos": [ + 4181.2099, + -211.6328, + 276.1052 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4181.2099, + -211.6328, + 276.1052 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 4110.4992, + -140.9222, + 276.1052 + ], + "actual_end_pos": [ + 4110.4992, + -140.9222, + 276.1052 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4110.4992, + -140.9222, + 276.1052 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 4039.7885, + -70.2115, + 276.1052 + ], + "actual_end_pos": [ + 4039.7885, + -70.2115, + 276.1052 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4039.7885, + -70.2115, + 276.1052 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 4109.8943, + -0.1057, + 263.0526 + ], + "actual_end_pos": [ + 4109.8943, + -0.1057, + 263.0526 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4109.8943, + -0.1057, + 263.0526 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 4180.0, + 70.0, + 250.0 + ], + "actual_end_pos": [ + 4180.0, + 70.0, + 250.0 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 4180.0, + 70.0, + 250.0 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 4180.0, + 70.0, + 250.0 + ], + "actual_end_pos": [ + 4180.0, + 70.0, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260419_133642__traj_001776_meta.json b/inverse_easy/run_20260419_133642__traj_001776_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6d273a04fdb4b4e278253ffcbc79b7be2561e320 --- /dev/null +++ b/inverse_easy/run_20260419_133642__traj_001776_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 1776, + "episode_id": 0, + "state_id": 1309, + "sample_index": 1309, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 4180.0, + 445.0, + 250.0 + ], + "rotation": [ + 0.0, + 225.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "look_up", + "turn_right", + "move_right", + "look_down", + "move_forward", + "move_right", + "move_forward", + "move_forward", + "move_forward", + "move_forward", + "look_up", + "no_op", + "move_left", + "turn_left", + "move_forward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "move_backward", + "turn_right", + "move_right", + "no_op", + "look_down", + "move_backward", + "move_backward", + "move_backward", + "move_backward", + "move_left", + "move_backward", + "look_up", + "move_left", + "turn_left", + "look_down", + "move_left" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4180.0, + 445.0, + 250.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 4250.7107, + 374.2893, + 250.0 + ], + "actual_end_pos": [ + 4250.7107, + 374.2893, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 4250.7107, + 374.2893, + 250.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 4250.7107, + 374.2893, + 250.0 + ], + "actual_end_pos": [ + 4250.7107, + 374.2893, + 250.0 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 4250.7107, + 374.2893, + 250.0 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 4250.7107, + 374.2893, + 250.0 + ], + "actual_end_pos": [ + 4250.7107, + 374.2893, + 250.0 + ], + "actual_end_rot": [ + 7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4250.7107, + 374.2893, + 250.0 + ], + "start_rot": [ + 7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 4337.3132, + 324.2893, + 250.0 + ], + "actual_end_pos": [ + 4337.3132, + 324.2893, + 250.0 + ], + "actual_end_rot": [ + 7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 4337.3132, + 324.2893, + 250.0 + ], + "start_rot": [ + 7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 4337.3132, + 324.2893, + 250.0 + ], + "actual_end_pos": [ + 4337.3132, + 324.2893, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4337.3132, + 324.2893, + 250.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 4287.3132, + 237.6868, + 250.0 + ], + "actual_end_pos": [ + 4287.3132, + 237.6868, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4287.3132, + 237.6868, + 250.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 4373.9158, + 187.6868, + 250.0 + ], + "actual_end_pos": [ + 4373.9158, + 187.6868, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4373.9158, + 187.6868, + 250.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 4323.9158, + 101.0842, + 250.0 + ], + "actual_end_pos": [ + 4323.9158, + 101.0842, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4323.9158, + 101.0842, + 250.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 4273.9158, + 14.4817, + 250.0 + ], + "actual_end_pos": [ + 4273.9158, + 14.4817, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4273.9158, + 14.4817, + 250.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 4223.9158, + -72.1208, + 250.0 + ], + "actual_end_pos": [ + 4223.9158, + -72.1208, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4223.9158, + -72.1208, + 250.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 4173.9158, + -158.7234, + 250.0 + ], + "actual_end_pos": [ + 4173.9158, + -158.7234, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 4173.9158, + -158.7234, + 250.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 4173.9158, + -158.7234, + 250.0 + ], + "actual_end_pos": [ + 4173.9158, + -158.7234, + 250.0 + ], + "actual_end_rot": [ + 7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4173.9158, + -158.7234, + 250.0 + ], + "start_rot": [ + 7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 4173.9158, + -158.7234, + 250.0 + ], + "actual_end_pos": [ + 4173.9158, + -158.7234, + 250.0 + ], + "actual_end_rot": [ + 7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4173.9158, + -158.7234, + 250.0 + ], + "start_rot": [ + 7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 4087.3132, + -108.7234, + 250.0 + ], + "actual_end_pos": [ + 4087.3132, + -108.7234, + 250.0 + ], + "actual_end_rot": [ + 7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4087.3132, + -108.7234, + 250.0 + ], + "start_rot": [ + 7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 4087.3132, + -108.7234, + 250.0 + ], + "actual_end_pos": [ + 4087.3132, + -108.7234, + 250.0 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4087.3132, + -108.7234, + 250.0 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 4017.2075, + -178.8291, + 263.0526 + ], + "actual_end_pos": [ + 4017.2075, + -178.8291, + 263.0526 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4017.2075, + -178.8291, + 263.0526 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 4017.2075, + -178.8291, + 263.0526 + ], + "actual_end_pos": [ + 4017.2075, + -178.8291, + 263.0526 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4017.2075, + -178.8291, + 263.0526 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 4017.2075, + -178.8291, + 263.0526 + ], + "actual_end_pos": [ + 4017.2075, + -178.8291, + 263.0526 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4017.2075, + -178.8291, + 263.0526 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 4017.2075, + -178.8291, + 263.0526 + ], + "actual_end_pos": [ + 4017.2075, + -178.8291, + 263.0526 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4017.2075, + -178.8291, + 263.0526 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 4017.2075, + -178.8291, + 263.0526 + ], + "actual_end_pos": [ + 4017.2075, + -178.8291, + 263.0526 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4017.2075, + -178.8291, + 263.0526 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 4017.2075, + -178.8291, + 263.0526 + ], + "actual_end_pos": [ + 4017.2075, + -178.8291, + 263.0526 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4017.2075, + -178.8291, + 263.0526 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 4017.2075, + -178.8291, + 263.0526 + ], + "actual_end_pos": [ + 4017.2075, + -178.8291, + 263.0526 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4017.2075, + -178.8291, + 263.0526 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 4017.2075, + -178.8291, + 263.0526 + ], + "actual_end_pos": [ + 4017.2075, + -178.8291, + 263.0526 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4017.2075, + -178.8291, + 263.0526 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 4017.2075, + -178.8291, + 263.0526 + ], + "actual_end_pos": [ + 4017.2075, + -178.8291, + 263.0526 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4017.2075, + -178.8291, + 263.0526 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 4087.3132, + -108.7234, + 250.0 + ], + "actual_end_pos": [ + 4087.3132, + -108.7234, + 250.0 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 4087.3132, + -108.7234, + 250.0 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 4087.3132, + -108.7234, + 250.0 + ], + "actual_end_pos": [ + 4087.3132, + -108.7234, + 250.0 + ], + "actual_end_rot": [ + 7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4087.3132, + -108.7234, + 250.0 + ], + "start_rot": [ + 7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 4173.9158, + -158.7234, + 250.0 + ], + "actual_end_pos": [ + 4173.9158, + -158.7234, + 250.0 + ], + "actual_end_rot": [ + 7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4173.9158, + -158.7234, + 250.0 + ], + "start_rot": [ + 7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 4173.9158, + -158.7234, + 250.0 + ], + "actual_end_pos": [ + 4173.9158, + -158.7234, + 250.0 + ], + "actual_end_rot": [ + 7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 4173.9158, + -158.7234, + 250.0 + ], + "start_rot": [ + 7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 4173.9158, + -158.7234, + 250.0 + ], + "actual_end_pos": [ + 4173.9158, + -158.7234, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4173.9158, + -158.7234, + 250.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 4223.9158, + -72.1208, + 250.0 + ], + "actual_end_pos": [ + 4223.9158, + -72.1208, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4223.9158, + -72.1208, + 250.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 4273.9158, + 14.4817, + 250.0 + ], + "actual_end_pos": [ + 4273.9158, + 14.4817, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4273.9158, + 14.4817, + 250.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 4323.9158, + 101.0842, + 250.0 + ], + "actual_end_pos": [ + 4323.9158, + 101.0842, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4323.9158, + 101.0842, + 250.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 4373.9158, + 187.6868, + 250.0 + ], + "actual_end_pos": [ + 4373.9158, + 187.6868, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4373.9158, + 187.6868, + 250.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 4287.3132, + 237.6868, + 250.0 + ], + "actual_end_pos": [ + 4287.3132, + 237.6868, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4287.3132, + 237.6868, + 250.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 4337.3132, + 324.2893, + 250.0 + ], + "actual_end_pos": [ + 4337.3132, + 324.2893, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 4337.3132, + 324.2893, + 250.0 + ], + "start_rot": [ + 0.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 4337.3132, + 324.2893, + 250.0 + ], + "actual_end_pos": [ + 4337.3132, + 324.2893, + 250.0 + ], + "actual_end_rot": [ + 7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4337.3132, + 324.2893, + 250.0 + ], + "start_rot": [ + 7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 4250.7107, + 374.2893, + 250.0 + ], + "actual_end_pos": [ + 4250.7107, + 374.2893, + 250.0 + ], + "actual_end_rot": [ + 7.5, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4250.7107, + 374.2893, + 250.0 + ], + "start_rot": [ + 7.5, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 4250.7107, + 374.2893, + 250.0 + ], + "actual_end_pos": [ + 4250.7107, + 374.2893, + 250.0 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 4250.7107, + 374.2893, + 250.0 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 4250.7107, + 374.2893, + 250.0 + ], + "actual_end_pos": [ + 4250.7107, + 374.2893, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4250.7107, + 374.2893, + 250.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + 4180.0, + 445.0, + 250.0 + ], + "actual_end_pos": [ + 4180.0, + 445.0, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260419_133642__traj_001839_meta.json b/inverse_easy/run_20260419_133642__traj_001839_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..42a31c03e8ae8542789a053c647df4de8c3f866f --- /dev/null +++ b/inverse_easy/run_20260419_133642__traj_001839_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 1839, + "episode_id": 0, + "state_id": 1353, + "sample_index": 1353, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 4305.0, + -680.0, + 250.0 + ], + "rotation": [ + 0.0, + 45.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_right", + "move_backward", + "look_down", + "move_forward", + "move_forward", + "turn_left", + "turn_left", + "move_right", + "turn_right", + "turn_right", + "move_forward", + "move_forward", + "move_right", + "look_up", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "look_down", + "move_left", + "move_backward", + "move_backward", + "turn_left", + "turn_left", + "move_left", + "turn_right", + "turn_right", + "move_backward", + "move_backward", + "look_up", + "move_forward", + "turn_left" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 4305.0, + -680.0, + 250.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 4305.0, + -680.0, + 250.0 + ], + "actual_end_pos": [ + 4305.0, + -680.0, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4305.0, + -680.0, + 250.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 4255.0, + -766.6025, + 250.0 + ], + "actual_end_pos": [ + 4255.0, + -766.6025, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 4255.0, + -766.6025, + 250.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 4255.0, + -766.6025, + 250.0 + ], + "actual_end_pos": [ + 4255.0, + -766.6025, + 250.0 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4255.0, + -766.6025, + 250.0 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 4304.5722, + -680.7409, + 236.9474 + ], + "actual_end_pos": [ + 4304.5722, + -680.7409, + 236.9474 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4304.5722, + -680.7409, + 236.9474 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 4354.1445, + -594.8793, + 223.8948 + ], + "actual_end_pos": [ + 4354.1445, + -594.8793, + 223.8948 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4354.1445, + -594.8793, + 223.8948 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 4354.1445, + -594.8793, + 223.8948 + ], + "actual_end_pos": [ + 4354.1445, + -594.8793, + 223.8948 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4354.1445, + -594.8793, + 223.8948 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 4354.1445, + -594.8793, + 223.8948 + ], + "actual_end_pos": [ + 4354.1445, + -594.8793, + 223.8948 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4354.1445, + -594.8793, + 223.8948 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 4304.1445, + -508.2767, + 223.8948 + ], + "actual_end_pos": [ + 4304.1445, + -508.2767, + 223.8948 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 4304.1445, + -508.2767, + 223.8948 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 4304.1445, + -508.2767, + 223.8948 + ], + "actual_end_pos": [ + 4304.1445, + -508.2767, + 223.8948 + ], + "actual_end_rot": [ + -7.5, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 4304.1445, + -508.2767, + 223.8948 + ], + "start_rot": [ + -7.5, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 4304.1445, + -508.2767, + 223.8948 + ], + "actual_end_pos": [ + 4304.1445, + -508.2767, + 223.8948 + ], + "actual_end_rot": [ + -7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4304.1445, + -508.2767, + 223.8948 + ], + "start_rot": [ + -7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 4353.7167, + -422.4151, + 210.8421 + ], + "actual_end_pos": [ + 4353.7167, + -422.4151, + 210.8421 + ], + "actual_end_rot": [ + -7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4353.7167, + -422.4151, + 210.8421 + ], + "start_rot": [ + -7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 4403.289, + -336.5534, + 197.7895 + ], + "actual_end_pos": [ + 4403.289, + -336.5534, + 197.7895 + ], + "actual_end_rot": [ + -7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4403.289, + -336.5534, + 197.7895 + ], + "start_rot": [ + -7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 4316.6864, + -286.5534, + 197.7895 + ], + "actual_end_pos": [ + 4316.6864, + -286.5534, + 197.7895 + ], + "actual_end_rot": [ + -7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 4316.6864, + -286.5534, + 197.7895 + ], + "start_rot": [ + -7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 4316.6864, + -286.5534, + 197.7895 + ], + "actual_end_pos": [ + 4316.6864, + -286.5534, + 197.7895 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4316.6864, + -286.5534, + 197.7895 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 4316.6864, + -286.5534, + 197.7895 + ], + "actual_end_pos": [ + 4316.6864, + -286.5534, + 197.7895 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4316.6864, + -286.5534, + 197.7895 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 4316.6864, + -286.5534, + 197.7895 + ], + "actual_end_pos": [ + 4316.6864, + -286.5534, + 197.7895 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4316.6864, + -286.5534, + 197.7895 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 4316.6864, + -286.5534, + 197.7895 + ], + "actual_end_pos": [ + 4316.6864, + -286.5534, + 197.7895 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4316.6864, + -286.5534, + 197.7895 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 4316.6864, + -286.5534, + 197.7895 + ], + "actual_end_pos": [ + 4316.6864, + -286.5534, + 197.7895 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4316.6864, + -286.5534, + 197.7895 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 4316.6864, + -286.5534, + 197.7895 + ], + "actual_end_pos": [ + 4316.6864, + -286.5534, + 197.7895 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4316.6864, + -286.5534, + 197.7895 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 4316.6864, + -286.5534, + 197.7895 + ], + "actual_end_pos": [ + 4316.6864, + -286.5534, + 197.7895 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4316.6864, + -286.5534, + 197.7895 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 4316.6864, + -286.5534, + 197.7895 + ], + "actual_end_pos": [ + 4316.6864, + -286.5534, + 197.7895 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4316.6864, + -286.5534, + 197.7895 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 4316.6864, + -286.5534, + 197.7895 + ], + "actual_end_pos": [ + 4316.6864, + -286.5534, + 197.7895 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4316.6864, + -286.5534, + 197.7895 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 4316.6864, + -286.5534, + 197.7895 + ], + "actual_end_pos": [ + 4316.6864, + -286.5534, + 197.7895 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4316.6864, + -286.5534, + 197.7895 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 4316.6864, + -286.5534, + 197.7895 + ], + "actual_end_pos": [ + 4316.6864, + -286.5534, + 197.7895 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4316.6864, + -286.5534, + 197.7895 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 4316.6864, + -286.5534, + 197.7895 + ], + "actual_end_pos": [ + 4316.6864, + -286.5534, + 197.7895 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4316.6864, + -286.5534, + 197.7895 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 4316.6864, + -286.5534, + 197.7895 + ], + "actual_end_pos": [ + 4316.6864, + -286.5534, + 197.7895 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 4316.6864, + -286.5534, + 197.7895 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 4316.6864, + -286.5534, + 197.7895 + ], + "actual_end_pos": [ + 4316.6864, + -286.5534, + 197.7895 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4316.6864, + -286.5534, + 197.7895 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 4403.289, + -336.5534, + 197.7895 + ], + "actual_end_pos": [ + 4403.289, + -336.5534, + 197.7895 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4403.289, + -336.5534, + 197.7895 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 4353.7167, + -422.4151, + 210.8421 + ], + "actual_end_pos": [ + 4353.7167, + -422.4151, + 210.8421 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4353.7167, + -422.4151, + 210.8421 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 4304.1445, + -508.2767, + 223.8948 + ], + "actual_end_pos": [ + 4304.1445, + -508.2767, + 223.8948 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4304.1445, + -508.2767, + 223.8948 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + 4304.1445, + -508.2767, + 223.8948 + ], + "actual_end_pos": [ + 4304.1445, + -508.2767, + 223.8948 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4304.1445, + -508.2767, + 223.8948 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + 4304.1445, + -508.2767, + 223.8948 + ], + "actual_end_pos": [ + 4304.1445, + -508.2767, + 223.8948 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4304.1445, + -508.2767, + 223.8948 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 4354.1445, + -594.8793, + 223.8948 + ], + "actual_end_pos": [ + 4354.1445, + -594.8793, + 223.8948 + ], + "actual_end_rot": [ + -7.5, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 4354.1445, + -594.8793, + 223.8948 + ], + "start_rot": [ + -7.5, + 30.0, + 0.0 + ], + "expected_end_pos": [ + 4354.1445, + -594.8793, + 223.8948 + ], + "actual_end_pos": [ + 4354.1445, + -594.8793, + 223.8948 + ], + "actual_end_rot": [ + -7.5, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 4354.1445, + -594.8793, + 223.8948 + ], + "start_rot": [ + -7.5, + 45.0, + -0.0 + ], + "expected_end_pos": [ + 4354.1445, + -594.8793, + 223.8948 + ], + "actual_end_pos": [ + 4354.1445, + -594.8793, + 223.8948 + ], + "actual_end_rot": [ + -7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4354.1445, + -594.8793, + 223.8948 + ], + "start_rot": [ + -7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 4304.5722, + -680.7409, + 236.9474 + ], + "actual_end_pos": [ + 4304.5722, + -680.7409, + 236.9474 + ], + "actual_end_rot": [ + -7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + 4304.5722, + -680.7409, + 236.9474 + ], + "start_rot": [ + -7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 4255.0, + -766.6025, + 250.0 + ], + "actual_end_pos": [ + 4255.0, + -766.6025, + 250.0 + ], + "actual_end_rot": [ + -7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 4255.0, + -766.6025, + 250.0 + ], + "start_rot": [ + -7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 4255.0, + -766.6025, + 250.0 + ], + "actual_end_pos": [ + 4255.0, + -766.6025, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + 4255.0, + -766.6025, + 250.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 4305.0, + -680.0, + 250.0 + ], + "actual_end_pos": [ + 4305.0, + -680.0, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4305.0, + -680.0, + 250.0 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + 4305.0, + -680.0, + 250.0 + ], + "actual_end_pos": [ + 4305.0, + -680.0, + 250.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260419_133642__traj_001866_meta.json b/inverse_easy/run_20260419_133642__traj_001866_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..50b7614405247d63abc473b5c98e1185b6076a9d --- /dev/null +++ b/inverse_easy/run_20260419_133642__traj_001866_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 1866, + "episode_id": 0, + "state_id": 1374, + "sample_index": 1374, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + 4305.0, + -430.0, + 250.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "look_down", + "look_down", + "turn_right", + "move_left", + "turn_left", + "move_left", + "turn_left", + "turn_left", + "move_right", + "move_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "move_left", + "move_left", + "turn_right", + "turn_right", + "move_right", + "turn_right", + "move_right", + "turn_left", + "look_up", + "look_up" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 4305.0, + -430.0, + 250.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 4305.0, + -430.0, + 250.0 + ], + "actual_end_pos": [ + 4305.0, + -430.0, + 250.0 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "look_down", + "action_id": 7, + "start_pos": [ + 4305.0, + -430.0, + 250.0 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 4305.0, + -430.0, + 250.0 + ], + "actual_end_pos": [ + 4305.0, + -430.0, + 250.0 + ], + "actual_end_rot": [ + -15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 4305.0, + -430.0, + 250.0 + ], + "start_rot": [ + -15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 4305.0, + -430.0, + 250.0 + ], + "actual_end_pos": [ + 4305.0, + -430.0, + 250.0 + ], + "actual_end_rot": [ + -15.0, + -75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4305.0, + -430.0, + 250.0 + ], + "start_rot": [ + -15.0, + -75.0, + -0.0 + ], + "expected_end_pos": [ + 4208.4074, + -455.8819, + 250.0 + ], + "actual_end_pos": [ + 4208.4074, + -455.8819, + 250.0 + ], + "actual_end_rot": [ + -15.0, + -75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4208.4074, + -455.8819, + 250.0 + ], + "start_rot": [ + -15.0, + -75.0, + -0.0 + ], + "expected_end_pos": [ + 4208.4074, + -455.8819, + 250.0 + ], + "actual_end_pos": [ + 4208.4074, + -455.8819, + 250.0 + ], + "actual_end_rot": [ + -15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4208.4074, + -455.8819, + 250.0 + ], + "start_rot": [ + -15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 4108.4074, + -455.8819, + 250.0 + ], + "actual_end_pos": [ + 4108.4074, + -455.8819, + 250.0 + ], + "actual_end_rot": [ + -15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4108.4074, + -455.8819, + 250.0 + ], + "start_rot": [ + -15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 4108.4074, + -455.8819, + 250.0 + ], + "actual_end_pos": [ + 4108.4074, + -455.8819, + 250.0 + ], + "actual_end_rot": [ + -15.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4108.4074, + -455.8819, + 250.0 + ], + "start_rot": [ + -15.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 4108.4074, + -455.8819, + 250.0 + ], + "actual_end_pos": [ + 4108.4074, + -455.8819, + 250.0 + ], + "actual_end_rot": [ + -15.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4108.4074, + -455.8819, + 250.0 + ], + "start_rot": [ + -15.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 4195.01, + -505.8819, + 250.0 + ], + "actual_end_pos": [ + 4195.01, + -505.8819, + 250.0 + ], + "actual_end_rot": [ + -15.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4195.01, + -505.8819, + 250.0 + ], + "start_rot": [ + -15.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 4281.6125, + -555.8819, + 250.0 + ], + "actual_end_pos": [ + 4281.6125, + -555.8819, + 250.0 + ], + "actual_end_rot": [ + -15.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4281.6125, + -555.8819, + 250.0 + ], + "start_rot": [ + -15.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 4281.6125, + -555.8819, + 250.0 + ], + "actual_end_pos": [ + 4281.6125, + -555.8819, + 250.0 + ], + "actual_end_rot": [ + -15.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4281.6125, + -555.8819, + 250.0 + ], + "start_rot": [ + -15.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 4281.6125, + -555.8819, + 250.0 + ], + "actual_end_pos": [ + 4281.6125, + -555.8819, + 250.0 + ], + "actual_end_rot": [ + -15.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4281.6125, + -555.8819, + 250.0 + ], + "start_rot": [ + -15.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 4281.6125, + -555.8819, + 250.0 + ], + "actual_end_pos": [ + 4281.6125, + -555.8819, + 250.0 + ], + "actual_end_rot": [ + -15.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4281.6125, + -555.8819, + 250.0 + ], + "start_rot": [ + -15.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 4281.6125, + -555.8819, + 250.0 + ], + "actual_end_pos": [ + 4281.6125, + -555.8819, + 250.0 + ], + "actual_end_rot": [ + -15.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4281.6125, + -555.8819, + 250.0 + ], + "start_rot": [ + -15.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 4281.6125, + -555.8819, + 250.0 + ], + "actual_end_pos": [ + 4281.6125, + -555.8819, + 250.0 + ], + "actual_end_rot": [ + -15.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4281.6125, + -555.8819, + 250.0 + ], + "start_rot": [ + -15.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 4281.6125, + -555.8819, + 250.0 + ], + "actual_end_pos": [ + 4281.6125, + -555.8819, + 250.0 + ], + "actual_end_rot": [ + -15.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4281.6125, + -555.8819, + 250.0 + ], + "start_rot": [ + -15.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 4281.6125, + -555.8819, + 250.0 + ], + "actual_end_pos": [ + 4281.6125, + -555.8819, + 250.0 + ], + "actual_end_rot": [ + -15.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4281.6125, + -555.8819, + 250.0 + ], + "start_rot": [ + -15.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 4281.6125, + -555.8819, + 250.0 + ], + "actual_end_pos": [ + 4281.6125, + -555.8819, + 250.0 + ], + "actual_end_rot": [ + -15.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4281.6125, + -555.8819, + 250.0 + ], + "start_rot": [ + -15.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 4281.6125, + -555.8819, + 250.0 + ], + "actual_end_pos": [ + 4281.6125, + -555.8819, + 250.0 + ], + "actual_end_rot": [ + -15.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4281.6125, + -555.8819, + 250.0 + ], + "start_rot": [ + -15.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 4281.6125, + -555.8819, + 250.0 + ], + "actual_end_pos": [ + 4281.6125, + -555.8819, + 250.0 + ], + "actual_end_rot": [ + -15.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4281.6125, + -555.8819, + 250.0 + ], + "start_rot": [ + -15.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 4281.6125, + -555.8819, + 250.0 + ], + "actual_end_pos": [ + 4281.6125, + -555.8819, + 250.0 + ], + "actual_end_rot": [ + -15.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4281.6125, + -555.8819, + 250.0 + ], + "start_rot": [ + -15.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 4281.6125, + -555.8819, + 250.0 + ], + "actual_end_pos": [ + 4281.6125, + -555.8819, + 250.0 + ], + "actual_end_rot": [ + -15.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4281.6125, + -555.8819, + 250.0 + ], + "start_rot": [ + -15.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 4281.6125, + -555.8819, + 250.0 + ], + "actual_end_pos": [ + 4281.6125, + -555.8819, + 250.0 + ], + "actual_end_rot": [ + -15.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4281.6125, + -555.8819, + 250.0 + ], + "start_rot": [ + -15.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 4281.6125, + -555.8819, + 250.0 + ], + "actual_end_pos": [ + 4281.6125, + -555.8819, + 250.0 + ], + "actual_end_rot": [ + -15.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4281.6125, + -555.8819, + 250.0 + ], + "start_rot": [ + -15.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 4281.6125, + -555.8819, + 250.0 + ], + "actual_end_pos": [ + 4281.6125, + -555.8819, + 250.0 + ], + "actual_end_rot": [ + -15.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4281.6125, + -555.8819, + 250.0 + ], + "start_rot": [ + -15.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 4281.6125, + -555.8819, + 250.0 + ], + "actual_end_pos": [ + 4281.6125, + -555.8819, + 250.0 + ], + "actual_end_rot": [ + -15.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4281.6125, + -555.8819, + 250.0 + ], + "start_rot": [ + -15.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 4281.6125, + -555.8819, + 250.0 + ], + "actual_end_pos": [ + 4281.6125, + -555.8819, + 250.0 + ], + "actual_end_rot": [ + -15.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4281.6125, + -555.8819, + 250.0 + ], + "start_rot": [ + -15.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 4281.6125, + -555.8819, + 250.0 + ], + "actual_end_pos": [ + 4281.6125, + -555.8819, + 250.0 + ], + "actual_end_rot": [ + -15.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4281.6125, + -555.8819, + 250.0 + ], + "start_rot": [ + -15.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 4281.6125, + -555.8819, + 250.0 + ], + "actual_end_pos": [ + 4281.6125, + -555.8819, + 250.0 + ], + "actual_end_rot": [ + -15.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + 4281.6125, + -555.8819, + 250.0 + ], + "start_rot": [ + -15.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 4281.6125, + -555.8819, + 250.0 + ], + "actual_end_pos": [ + 4281.6125, + -555.8819, + 250.0 + ], + "actual_end_rot": [ + -15.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4281.6125, + -555.8819, + 250.0 + ], + "start_rot": [ + -15.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 4195.01, + -505.8819, + 250.0 + ], + "actual_end_pos": [ + 4195.01, + -505.8819, + 250.0 + ], + "actual_end_rot": [ + -15.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_left", + "action_id": 2, + "start_pos": [ + 4195.01, + -505.8819, + 250.0 + ], + "start_rot": [ + -15.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 4108.4074, + -455.8819, + 250.0 + ], + "actual_end_pos": [ + 4108.4074, + -455.8819, + 250.0 + ], + "actual_end_rot": [ + -15.0, + -120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 4108.4074, + -455.8819, + 250.0 + ], + "start_rot": [ + -15.0, + -120.0, + 0.0 + ], + "expected_end_pos": [ + 4108.4074, + -455.8819, + 250.0 + ], + "actual_end_pos": [ + 4108.4074, + -455.8819, + 250.0 + ], + "actual_end_rot": [ + -15.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 4108.4074, + -455.8819, + 250.0 + ], + "start_rot": [ + -15.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + 4108.4074, + -455.8819, + 250.0 + ], + "actual_end_pos": [ + 4108.4074, + -455.8819, + 250.0 + ], + "actual_end_rot": [ + -15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4108.4074, + -455.8819, + 250.0 + ], + "start_rot": [ + -15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 4208.4074, + -455.8819, + 250.0 + ], + "actual_end_pos": [ + 4208.4074, + -455.8819, + 250.0 + ], + "actual_end_rot": [ + -15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + 4208.4074, + -455.8819, + 250.0 + ], + "start_rot": [ + -15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 4208.4074, + -455.8819, + 250.0 + ], + "actual_end_pos": [ + 4208.4074, + -455.8819, + 250.0 + ], + "actual_end_rot": [ + -15.0, + -75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_right", + "action_id": 3, + "start_pos": [ + 4208.4074, + -455.8819, + 250.0 + ], + "start_rot": [ + -15.0, + -75.0, + -0.0 + ], + "expected_end_pos": [ + 4305.0, + -430.0, + 250.0 + ], + "actual_end_pos": [ + 4305.0, + -430.0, + 250.0 + ], + "actual_end_rot": [ + -15.0, + -75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + 4305.0, + -430.0, + 250.0 + ], + "start_rot": [ + -15.0, + -75.0, + -0.0 + ], + "expected_end_pos": [ + 4305.0, + -430.0, + 250.0 + ], + "actual_end_pos": [ + 4305.0, + -430.0, + 250.0 + ], + "actual_end_rot": [ + -15.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 4305.0, + -430.0, + 250.0 + ], + "start_rot": [ + -15.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 4305.0, + -430.0, + 250.0 + ], + "actual_end_pos": [ + 4305.0, + -430.0, + 250.0 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "look_up", + "action_id": 6, + "start_pos": [ + 4305.0, + -430.0, + 250.0 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + 4305.0, + -430.0, + 250.0 + ], + "actual_end_pos": [ + 4305.0, + -430.0, + 250.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260422_172644__traj_000024_meta.json b/inverse_easy/run_20260422_172644__traj_000024_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..93bb8dc6912a1bfa927c6e011a19317d2bc08d77 --- /dev/null +++ b/inverse_easy/run_20260422_172644__traj_000024_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 24, + "episode_id": 0, + "state_id": 19, + "sample_index": 19, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2520.0, + -1170.0, + 850.0 + ], + "rotation": [ + 0.0, + 135.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_left", + "turn_left", + "move_left", + "turn_left", + "turn_left", + "look_down", + "move_backward", + "move_right", + "turn_right", + "move_right", + "look_up", + "move_right", + "no_op", + "turn_left", + "turn_left", + "turn_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "turn_right", + "turn_right", + "turn_right", + "no_op", + "move_left", + "look_down", + "move_left", + "turn_left", + "move_left", + "move_forward", + "look_up", + "turn_right", + "turn_right", + "move_right", + "turn_right", + "turn_right" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2520.0, + -1170.0, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -2520.0, + -1170.0, + 850.0 + ], + "actual_end_pos": [ + -2520.0, + -1170.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2520.0, + -1170.0, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2520.0, + -1170.0, + 850.0 + ], + "actual_end_pos": [ + -2520.0, + -1170.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2520.0, + -1170.0, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2423.4074, + -1144.1181, + 850.0 + ], + "actual_end_pos": [ + -2423.4074, + -1144.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2423.4074, + -1144.1181, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2423.4074, + -1144.1181, + 850.0 + ], + "actual_end_pos": [ + -2423.4074, + -1144.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2423.4074, + -1144.1181, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2423.4074, + -1144.1181, + 850.0 + ], + "actual_end_pos": [ + -2423.4074, + -1144.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -2423.4074, + -1144.1181, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2423.4074, + -1144.1181, + 850.0 + ], + "actual_end_pos": [ + -2423.4074, + -1144.1181, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2423.4074, + -1144.1181, + 850.0 + ], + "start_rot": [ + -7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2449.0679, + -1239.8843, + 863.0526 + ], + "actual_end_pos": [ + -2449.0679, + -1239.8843, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2449.0679, + -1239.8843, + 863.0526 + ], + "start_rot": [ + -7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2545.6605, + -1214.0024, + 863.0526 + ], + "actual_end_pos": [ + -2545.6605, + -1214.0024, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2545.6605, + -1214.0024, + 863.0526 + ], + "start_rot": [ + -7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2545.6605, + -1214.0024, + 863.0526 + ], + "actual_end_pos": [ + -2545.6605, + -1214.0024, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2545.6605, + -1214.0024, + 863.0526 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2645.6605, + -1214.0024, + 863.0526 + ], + "actual_end_pos": [ + -2645.6605, + -1214.0024, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -2645.6605, + -1214.0024, + 863.0526 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2645.6605, + -1214.0024, + 863.0526 + ], + "actual_end_pos": [ + -2645.6605, + -1214.0024, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2645.6605, + -1214.0024, + 863.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2745.6605, + -1214.0024, + 863.0526 + ], + "actual_end_pos": [ + -2745.6605, + -1214.0024, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2745.6605, + -1214.0024, + 863.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2745.6605, + -1214.0024, + 863.0526 + ], + "actual_end_pos": [ + -2745.6605, + -1214.0024, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2745.6605, + -1214.0024, + 863.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2745.6605, + -1214.0024, + 863.0526 + ], + "actual_end_pos": [ + -2745.6605, + -1214.0024, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2745.6605, + -1214.0024, + 863.0526 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2745.6605, + -1214.0024, + 863.0526 + ], + "actual_end_pos": [ + -2745.6605, + -1214.0024, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2745.6605, + -1214.0024, + 863.0526 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2745.6605, + -1214.0024, + 863.0526 + ], + "actual_end_pos": [ + -2745.6605, + -1214.0024, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2745.6605, + -1214.0024, + 863.0526 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2745.6605, + -1214.0024, + 863.0526 + ], + "actual_end_pos": [ + -2745.6605, + -1214.0024, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2745.6605, + -1214.0024, + 863.0526 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2745.6605, + -1214.0024, + 863.0526 + ], + "actual_end_pos": [ + -2745.6605, + -1214.0024, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2745.6605, + -1214.0024, + 863.0526 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2745.6605, + -1214.0024, + 863.0526 + ], + "actual_end_pos": [ + -2745.6605, + -1214.0024, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2745.6605, + -1214.0024, + 863.0526 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2745.6605, + -1214.0024, + 863.0526 + ], + "actual_end_pos": [ + -2745.6605, + -1214.0024, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2745.6605, + -1214.0024, + 863.0526 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2745.6605, + -1214.0024, + 863.0526 + ], + "actual_end_pos": [ + -2745.6605, + -1214.0024, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2745.6605, + -1214.0024, + 863.0526 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2745.6605, + -1214.0024, + 863.0526 + ], + "actual_end_pos": [ + -2745.6605, + -1214.0024, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2745.6605, + -1214.0024, + 863.0526 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2745.6605, + -1214.0024, + 863.0526 + ], + "actual_end_pos": [ + -2745.6605, + -1214.0024, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2745.6605, + -1214.0024, + 863.0526 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2745.6605, + -1214.0024, + 863.0526 + ], + "actual_end_pos": [ + -2745.6605, + -1214.0024, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2745.6605, + -1214.0024, + 863.0526 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2745.6605, + -1214.0024, + 863.0526 + ], + "actual_end_pos": [ + -2745.6605, + -1214.0024, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2745.6605, + -1214.0024, + 863.0526 + ], + "start_rot": [ + 0.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2745.6605, + -1214.0024, + 863.0526 + ], + "actual_end_pos": [ + -2745.6605, + -1214.0024, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2745.6605, + -1214.0024, + 863.0526 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2745.6605, + -1214.0024, + 863.0526 + ], + "actual_end_pos": [ + -2745.6605, + -1214.0024, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2745.6605, + -1214.0024, + 863.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2745.6605, + -1214.0024, + 863.0526 + ], + "actual_end_pos": [ + -2745.6605, + -1214.0024, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2745.6605, + -1214.0024, + 863.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2645.6605, + -1214.0024, + 863.0526 + ], + "actual_end_pos": [ + -2645.6605, + -1214.0024, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -2645.6605, + -1214.0024, + 863.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2645.6605, + -1214.0024, + 863.0526 + ], + "actual_end_pos": [ + -2645.6605, + -1214.0024, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2645.6605, + -1214.0024, + 863.0526 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2545.6605, + -1214.0024, + 863.0526 + ], + "actual_end_pos": [ + -2545.6605, + -1214.0024, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2545.6605, + -1214.0024, + 863.0526 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2545.6605, + -1214.0024, + 863.0526 + ], + "actual_end_pos": [ + -2545.6605, + -1214.0024, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2545.6605, + -1214.0024, + 863.0526 + ], + "start_rot": [ + -7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2449.0679, + -1239.8843, + 863.0526 + ], + "actual_end_pos": [ + -2449.0679, + -1239.8843, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2449.0679, + -1239.8843, + 863.0526 + ], + "start_rot": [ + -7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2423.4074, + -1144.1181, + 850.0 + ], + "actual_end_pos": [ + -2423.4074, + -1144.1181, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -2423.4074, + -1144.1181, + 850.0 + ], + "start_rot": [ + -7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2423.4074, + -1144.1181, + 850.0 + ], + "actual_end_pos": [ + -2423.4074, + -1144.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2423.4074, + -1144.1181, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2423.4074, + -1144.1181, + 850.0 + ], + "actual_end_pos": [ + -2423.4074, + -1144.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2423.4074, + -1144.1181, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2423.4074, + -1144.1181, + 850.0 + ], + "actual_end_pos": [ + -2423.4074, + -1144.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2423.4074, + -1144.1181, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2520.0, + -1170.0, + 850.0 + ], + "actual_end_pos": [ + -2520.0, + -1170.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2520.0, + -1170.0, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2520.0, + -1170.0, + 850.0 + ], + "actual_end_pos": [ + -2520.0, + -1170.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2520.0, + -1170.0, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -2520.0, + -1170.0, + 850.0 + ], + "actual_end_pos": [ + -2520.0, + -1170.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260422_172644__traj_000256_meta.json b/inverse_easy/run_20260422_172644__traj_000256_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f4f19ddfc2a33df621e4fa8003a86957a07ea044 --- /dev/null +++ b/inverse_easy/run_20260422_172644__traj_000256_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 256, + "episode_id": 0, + "state_id": 189, + "sample_index": 189, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2320.0, + 430.0, + 850.0 + ], + "rotation": [ + 0.0, + 225.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "move_forward", + "turn_left", + "move_right", + "move_backward", + "move_right", + "move_forward", + "move_left", + "move_forward", + "turn_left", + "no_op", + "move_right", + "move_right", + "move_forward", + "no_op", + "move_forward", + "turn_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "turn_left", + "move_backward", + "no_op", + "move_backward", + "move_left", + "move_left", + "no_op", + "turn_right", + "move_backward", + "move_right", + "move_backward", + "move_left", + "move_forward", + "move_left", + "turn_right", + "move_backward", + "move_backward" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2320.0, + 430.0, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2390.7107, + 359.2893, + 850.0 + ], + "actual_end_pos": [ + -2390.7107, + 359.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2390.7107, + 359.2893, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2461.4214, + 288.5786, + 850.0 + ], + "actual_end_pos": [ + -2461.4214, + 288.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2461.4214, + 288.5786, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2461.4214, + 288.5786, + 850.0 + ], + "actual_end_pos": [ + -2461.4214, + 288.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2461.4214, + 288.5786, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2411.4214, + 201.9761, + 850.0 + ], + "actual_end_pos": [ + -2411.4214, + 201.9761, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2411.4214, + 201.9761, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2324.8188, + 251.9761, + 850.0 + ], + "actual_end_pos": [ + -2324.8188, + 251.9761, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2324.8188, + 251.9761, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2274.8188, + 165.3736, + 850.0 + ], + "actual_end_pos": [ + -2274.8188, + 165.3736, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2274.8188, + 165.3736, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2361.4214, + 115.3736, + 850.0 + ], + "actual_end_pos": [ + -2361.4214, + 115.3736, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2361.4214, + 115.3736, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2411.4214, + 201.9761, + 850.0 + ], + "actual_end_pos": [ + -2411.4214, + 201.9761, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2411.4214, + 201.9761, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2498.0239, + 151.9761, + 850.0 + ], + "actual_end_pos": [ + -2498.0239, + 151.9761, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2498.0239, + 151.9761, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2498.0239, + 151.9761, + 850.0 + ], + "actual_end_pos": [ + -2498.0239, + 151.9761, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2498.0239, + 151.9761, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2498.0239, + 151.9761, + 850.0 + ], + "actual_end_pos": [ + -2498.0239, + 151.9761, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2498.0239, + 151.9761, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2472.142, + 55.3835, + 850.0 + ], + "actual_end_pos": [ + -2472.142, + 55.3835, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2472.142, + 55.3835, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2446.2601, + -41.2091, + 850.0 + ], + "actual_end_pos": [ + -2446.2601, + -41.2091, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2446.2601, + -41.2091, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2542.8527, + -67.091, + 850.0 + ], + "actual_end_pos": [ + -2542.8527, + -67.091, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2542.8527, + -67.091, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2542.8527, + -67.091, + 850.0 + ], + "actual_end_pos": [ + -2542.8527, + -67.091, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2542.8527, + -67.091, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2639.4452, + -92.9729, + 850.0 + ], + "actual_end_pos": [ + -2639.4452, + -92.9729, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2639.4452, + -92.9729, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2639.4452, + -92.9729, + 850.0 + ], + "actual_end_pos": [ + -2639.4452, + -92.9729, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2639.4452, + -92.9729, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2639.4452, + -92.9729, + 850.0 + ], + "actual_end_pos": [ + -2639.4452, + -92.9729, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2639.4452, + -92.9729, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2639.4452, + -92.9729, + 850.0 + ], + "actual_end_pos": [ + -2639.4452, + -92.9729, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2639.4452, + -92.9729, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2639.4452, + -92.9729, + 850.0 + ], + "actual_end_pos": [ + -2639.4452, + -92.9729, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2639.4452, + -92.9729, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2639.4452, + -92.9729, + 850.0 + ], + "actual_end_pos": [ + -2639.4452, + -92.9729, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2639.4452, + -92.9729, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2639.4452, + -92.9729, + 850.0 + ], + "actual_end_pos": [ + -2639.4452, + -92.9729, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2639.4452, + -92.9729, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2639.4452, + -92.9729, + 850.0 + ], + "actual_end_pos": [ + -2639.4452, + -92.9729, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2639.4452, + -92.9729, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2639.4452, + -92.9729, + 850.0 + ], + "actual_end_pos": [ + -2639.4452, + -92.9729, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2639.4452, + -92.9729, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2542.8527, + -67.091, + 850.0 + ], + "actual_end_pos": [ + -2542.8527, + -67.091, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2542.8527, + -67.091, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2542.8527, + -67.091, + 850.0 + ], + "actual_end_pos": [ + -2542.8527, + -67.091, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2542.8527, + -67.091, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2446.2601, + -41.2091, + 850.0 + ], + "actual_end_pos": [ + -2446.2601, + -41.2091, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2446.2601, + -41.2091, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2472.142, + 55.3835, + 850.0 + ], + "actual_end_pos": [ + -2472.142, + 55.3835, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2472.142, + 55.3835, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2498.0239, + 151.9761, + 850.0 + ], + "actual_end_pos": [ + -2498.0239, + 151.9761, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2498.0239, + 151.9761, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2498.0239, + 151.9761, + 850.0 + ], + "actual_end_pos": [ + -2498.0239, + 151.9761, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2498.0239, + 151.9761, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2498.0239, + 151.9761, + 850.0 + ], + "actual_end_pos": [ + -2498.0239, + 151.9761, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2498.0239, + 151.9761, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2411.4214, + 201.9761, + 850.0 + ], + "actual_end_pos": [ + -2411.4214, + 201.9761, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2411.4214, + 201.9761, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2361.4214, + 115.3736, + 850.0 + ], + "actual_end_pos": [ + -2361.4214, + 115.3736, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2361.4214, + 115.3736, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2274.8188, + 165.3736, + 850.0 + ], + "actual_end_pos": [ + -2274.8188, + 165.3736, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2274.8188, + 165.3736, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2324.8188, + 251.9761, + 850.0 + ], + "actual_end_pos": [ + -2324.8188, + 251.9761, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2324.8188, + 251.9761, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2411.4214, + 201.9761, + 850.0 + ], + "actual_end_pos": [ + -2411.4214, + 201.9761, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2411.4214, + 201.9761, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2461.4214, + 288.5786, + 850.0 + ], + "actual_end_pos": [ + -2461.4214, + 288.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2461.4214, + 288.5786, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2461.4214, + 288.5786, + 850.0 + ], + "actual_end_pos": [ + -2461.4214, + 288.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2461.4214, + 288.5786, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2390.7107, + 359.2893, + 850.0 + ], + "actual_end_pos": [ + -2390.7107, + 359.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2390.7107, + 359.2893, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2320.0, + 430.0, + 850.0 + ], + "actual_end_pos": [ + -2320.0, + 430.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260422_172644__traj_000284_meta.json b/inverse_easy/run_20260422_172644__traj_000284_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4c2599c17dc58d05147c33e8c3c21ba6e4e97949 --- /dev/null +++ b/inverse_easy/run_20260422_172644__traj_000284_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 284, + "episode_id": 0, + "state_id": 210, + "sample_index": 210, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2320.0, + 2430.0, + 850.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "look_up", + "turn_right", + "look_down", + "move_backward", + "move_right", + "look_down", + "move_left", + "move_forward", + "move_right", + "move_forward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "move_backward", + "move_left", + "move_backward", + "move_right", + "look_up", + "move_left", + "move_forward", + "look_up", + "turn_left", + "look_down", + "move_backward" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2320.0, + 2430.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2320.0, + 2530.0, + 850.0 + ], + "actual_end_pos": [ + -2320.0, + 2530.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -2320.0, + 2530.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2320.0, + 2530.0, + 850.0 + ], + "actual_end_pos": [ + -2320.0, + 2530.0, + 850.0 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2320.0, + 2530.0, + 850.0 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2320.0, + 2530.0, + 850.0 + ], + "actual_end_pos": [ + -2320.0, + 2530.0, + 850.0 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -2320.0, + 2530.0, + 850.0 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2320.0, + 2530.0, + 850.0 + ], + "actual_end_pos": [ + -2320.0, + 2530.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2320.0, + 2530.0, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2294.1181, + 2433.4074, + 850.0 + ], + "actual_end_pos": [ + -2294.1181, + 2433.4074, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2294.1181, + 2433.4074, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2390.7107, + 2407.5255, + 850.0 + ], + "actual_end_pos": [ + -2390.7107, + 2407.5255, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -2390.7107, + 2407.5255, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2390.7107, + 2407.5255, + 850.0 + ], + "actual_end_pos": [ + -2390.7107, + 2407.5255, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2390.7107, + 2407.5255, + 850.0 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2294.1181, + 2433.4074, + 850.0 + ], + "actual_end_pos": [ + -2294.1181, + 2433.4074, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2294.1181, + 2433.4074, + 850.0 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2319.7786, + 2529.1736, + 836.9474 + ], + "actual_end_pos": [ + -2319.7786, + 2529.1736, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2319.7786, + 2529.1736, + 836.9474 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2416.3712, + 2503.2917, + 836.9474 + ], + "actual_end_pos": [ + -2416.3712, + 2503.2917, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2416.3712, + 2503.2917, + 836.9474 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2442.0316, + 2599.058, + 823.8948 + ], + "actual_end_pos": [ + -2442.0316, + 2599.058, + 823.8948 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2442.0316, + 2599.058, + 823.8948 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2442.0316, + 2599.058, + 823.8948 + ], + "actual_end_pos": [ + -2442.0316, + 2599.058, + 823.8948 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2442.0316, + 2599.058, + 823.8948 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2442.0316, + 2599.058, + 823.8948 + ], + "actual_end_pos": [ + -2442.0316, + 2599.058, + 823.8948 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2442.0316, + 2599.058, + 823.8948 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2442.0316, + 2599.058, + 823.8948 + ], + "actual_end_pos": [ + -2442.0316, + 2599.058, + 823.8948 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2442.0316, + 2599.058, + 823.8948 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2442.0316, + 2599.058, + 823.8948 + ], + "actual_end_pos": [ + -2442.0316, + 2599.058, + 823.8948 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2442.0316, + 2599.058, + 823.8948 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2442.0316, + 2599.058, + 823.8948 + ], + "actual_end_pos": [ + -2442.0316, + 2599.058, + 823.8948 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2442.0316, + 2599.058, + 823.8948 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2442.0316, + 2599.058, + 823.8948 + ], + "actual_end_pos": [ + -2442.0316, + 2599.058, + 823.8948 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2442.0316, + 2599.058, + 823.8948 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2442.0316, + 2599.058, + 823.8948 + ], + "actual_end_pos": [ + -2442.0316, + 2599.058, + 823.8948 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2442.0316, + 2599.058, + 823.8948 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2442.0316, + 2599.058, + 823.8948 + ], + "actual_end_pos": [ + -2442.0316, + 2599.058, + 823.8948 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2442.0316, + 2599.058, + 823.8948 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2442.0316, + 2599.058, + 823.8948 + ], + "actual_end_pos": [ + -2442.0316, + 2599.058, + 823.8948 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2442.0316, + 2599.058, + 823.8948 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2442.0316, + 2599.058, + 823.8948 + ], + "actual_end_pos": [ + -2442.0316, + 2599.058, + 823.8948 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2442.0316, + 2599.058, + 823.8948 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2442.0316, + 2599.058, + 823.8948 + ], + "actual_end_pos": [ + -2442.0316, + 2599.058, + 823.8948 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2442.0316, + 2599.058, + 823.8948 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2442.0316, + 2599.058, + 823.8948 + ], + "actual_end_pos": [ + -2442.0316, + 2599.058, + 823.8948 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2442.0316, + 2599.058, + 823.8948 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2442.0316, + 2599.058, + 823.8948 + ], + "actual_end_pos": [ + -2442.0316, + 2599.058, + 823.8948 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2442.0316, + 2599.058, + 823.8948 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2442.0316, + 2599.058, + 823.8948 + ], + "actual_end_pos": [ + -2442.0316, + 2599.058, + 823.8948 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2442.0316, + 2599.058, + 823.8948 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2442.0316, + 2599.058, + 823.8948 + ], + "actual_end_pos": [ + -2442.0316, + 2599.058, + 823.8948 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2442.0316, + 2599.058, + 823.8948 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2442.0316, + 2599.058, + 823.8948 + ], + "actual_end_pos": [ + -2442.0316, + 2599.058, + 823.8948 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2442.0316, + 2599.058, + 823.8948 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2442.0316, + 2599.058, + 823.8948 + ], + "actual_end_pos": [ + -2442.0316, + 2599.058, + 823.8948 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2442.0316, + 2599.058, + 823.8948 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2442.0316, + 2599.058, + 823.8948 + ], + "actual_end_pos": [ + -2442.0316, + 2599.058, + 823.8948 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2442.0316, + 2599.058, + 823.8948 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2416.3712, + 2503.2917, + 836.9474 + ], + "actual_end_pos": [ + -2416.3712, + 2503.2917, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2416.3712, + 2503.2917, + 836.9474 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2319.7786, + 2529.1736, + 836.9474 + ], + "actual_end_pos": [ + -2319.7786, + 2529.1736, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2319.7786, + 2529.1736, + 836.9474 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2294.1181, + 2433.4074, + 850.0 + ], + "actual_end_pos": [ + -2294.1181, + 2433.4074, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2294.1181, + 2433.4074, + 850.0 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2390.7107, + 2407.5255, + 850.0 + ], + "actual_end_pos": [ + -2390.7107, + 2407.5255, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -2390.7107, + 2407.5255, + 850.0 + ], + "start_rot": [ + -7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2390.7107, + 2407.5255, + 850.0 + ], + "actual_end_pos": [ + -2390.7107, + 2407.5255, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2390.7107, + 2407.5255, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2294.1181, + 2433.4074, + 850.0 + ], + "actual_end_pos": [ + -2294.1181, + 2433.4074, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2294.1181, + 2433.4074, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2320.0, + 2530.0, + 850.0 + ], + "actual_end_pos": [ + -2320.0, + 2530.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -2320.0, + 2530.0, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2320.0, + 2530.0, + 850.0 + ], + "actual_end_pos": [ + -2320.0, + 2530.0, + 850.0 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2320.0, + 2530.0, + 850.0 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2320.0, + 2530.0, + 850.0 + ], + "actual_end_pos": [ + -2320.0, + 2530.0, + 850.0 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -2320.0, + 2530.0, + 850.0 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2320.0, + 2530.0, + 850.0 + ], + "actual_end_pos": [ + -2320.0, + 2530.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2320.0, + 2530.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2320.0, + 2430.0, + 850.0 + ], + "actual_end_pos": [ + -2320.0, + 2430.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260422_172644__traj_000299_meta.json b/inverse_easy/run_20260422_172644__traj_000299_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..460a19ac20ae4a2b4086b1bf4aa39394ef5a9b3a --- /dev/null +++ b/inverse_easy/run_20260422_172644__traj_000299_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 299, + "episode_id": 0, + "state_id": 222, + "sample_index": 222, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2320.0, + 2630.0, + 850.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_left", + "look_up", + "move_forward", + "turn_right", + "move_backward", + "look_down", + "move_right", + "move_forward", + "turn_left", + "move_forward", + "turn_right", + "move_left", + "look_down", + "move_forward", + "look_up", + "look_up", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "look_down", + "look_down", + "move_backward", + "look_up", + "move_right", + "turn_left", + "move_backward", + "turn_right", + "move_backward", + "move_left", + "look_up", + "move_forward", + "turn_left", + "move_backward", + "look_down", + "turn_right" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2320.0, + 2630.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2320.0, + 2630.0, + 850.0 + ], + "actual_end_pos": [ + -2320.0, + 2630.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -2320.0, + 2630.0, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2320.0, + 2630.0, + 850.0 + ], + "actual_end_pos": [ + -2320.0, + 2630.0, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2320.0, + 2630.0, + 850.0 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2345.6605, + 2534.2338, + 863.0526 + ], + "actual_end_pos": [ + -2345.6605, + 2534.2338, + 863.0526 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2345.6605, + 2534.2338, + 863.0526 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2345.6605, + 2534.2338, + 863.0526 + ], + "actual_end_pos": [ + -2345.6605, + 2534.2338, + 863.0526 + ], + "actual_end_rot": [ + 7.5, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2345.6605, + 2534.2338, + 863.0526 + ], + "start_rot": [ + 7.5, + -90.0, + -0.0 + ], + "expected_end_pos": [ + -2345.6605, + 2633.3783, + 850.0 + ], + "actual_end_pos": [ + -2345.6605, + 2633.3783, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -90.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -2345.6605, + 2633.3783, + 850.0 + ], + "start_rot": [ + 7.5, + -90.0, + -0.0 + ], + "expected_end_pos": [ + -2345.6605, + 2633.3783, + 850.0 + ], + "actual_end_pos": [ + -2345.6605, + 2633.3783, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2345.6605, + 2633.3783, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2245.6605, + 2633.3783, + 850.0 + ], + "actual_end_pos": [ + -2245.6605, + 2633.3783, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2245.6605, + 2633.3783, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2245.6605, + 2533.3783, + 850.0 + ], + "actual_end_pos": [ + -2245.6605, + 2533.3783, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2245.6605, + 2533.3783, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2245.6605, + 2533.3783, + 850.0 + ], + "actual_end_pos": [ + -2245.6605, + 2533.3783, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2245.6605, + 2533.3783, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + -0.0 + ], + "expected_end_pos": [ + -2271.5424, + 2436.7857, + 850.0 + ], + "actual_end_pos": [ + -2271.5424, + 2436.7857, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2271.5424, + 2436.7857, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + -0.0 + ], + "expected_end_pos": [ + -2271.5424, + 2436.7857, + 850.0 + ], + "actual_end_pos": [ + -2271.5424, + 2436.7857, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2271.5424, + 2436.7857, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2371.5424, + 2436.7857, + 850.0 + ], + "actual_end_pos": [ + -2371.5424, + 2436.7857, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -2371.5424, + 2436.7857, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2371.5424, + 2436.7857, + 850.0 + ], + "actual_end_pos": [ + -2371.5424, + 2436.7857, + 850.0 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2371.5424, + 2436.7857, + 850.0 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2371.5424, + 2337.6412, + 836.9474 + ], + "actual_end_pos": [ + -2371.5424, + 2337.6412, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -2371.5424, + 2337.6412, + 836.9474 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2371.5424, + 2337.6412, + 836.9474 + ], + "actual_end_pos": [ + -2371.5424, + 2337.6412, + 836.9474 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -2371.5424, + 2337.6412, + 836.9474 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2371.5424, + 2337.6412, + 836.9474 + ], + "actual_end_pos": [ + -2371.5424, + 2337.6412, + 836.9474 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2371.5424, + 2337.6412, + 836.9474 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2371.5424, + 2337.6412, + 836.9474 + ], + "actual_end_pos": [ + -2371.5424, + 2337.6412, + 836.9474 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2371.5424, + 2337.6412, + 836.9474 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2371.5424, + 2337.6412, + 836.9474 + ], + "actual_end_pos": [ + -2371.5424, + 2337.6412, + 836.9474 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2371.5424, + 2337.6412, + 836.9474 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2371.5424, + 2337.6412, + 836.9474 + ], + "actual_end_pos": [ + -2371.5424, + 2337.6412, + 836.9474 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2371.5424, + 2337.6412, + 836.9474 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2371.5424, + 2337.6412, + 836.9474 + ], + "actual_end_pos": [ + -2371.5424, + 2337.6412, + 836.9474 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2371.5424, + 2337.6412, + 836.9474 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2371.5424, + 2337.6412, + 836.9474 + ], + "actual_end_pos": [ + -2371.5424, + 2337.6412, + 836.9474 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2371.5424, + 2337.6412, + 836.9474 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2371.5424, + 2337.6412, + 836.9474 + ], + "actual_end_pos": [ + -2371.5424, + 2337.6412, + 836.9474 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2371.5424, + 2337.6412, + 836.9474 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2371.5424, + 2337.6412, + 836.9474 + ], + "actual_end_pos": [ + -2371.5424, + 2337.6412, + 836.9474 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2371.5424, + 2337.6412, + 836.9474 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2371.5424, + 2337.6412, + 836.9474 + ], + "actual_end_pos": [ + -2371.5424, + 2337.6412, + 836.9474 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -2371.5424, + 2337.6412, + 836.9474 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2371.5424, + 2337.6412, + 836.9474 + ], + "actual_end_pos": [ + -2371.5424, + 2337.6412, + 836.9474 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -2371.5424, + 2337.6412, + 836.9474 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2371.5424, + 2337.6412, + 836.9474 + ], + "actual_end_pos": [ + -2371.5424, + 2337.6412, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2371.5424, + 2337.6412, + 836.9474 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2371.5424, + 2436.7857, + 850.0 + ], + "actual_end_pos": [ + -2371.5424, + 2436.7857, + 850.0 + ], + "actual_end_rot": [ + -7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -2371.5424, + 2436.7857, + 850.0 + ], + "start_rot": [ + -7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2371.5424, + 2436.7857, + 850.0 + ], + "actual_end_pos": [ + -2371.5424, + 2436.7857, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2371.5424, + 2436.7857, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2271.5424, + 2436.7857, + 850.0 + ], + "actual_end_pos": [ + -2271.5424, + 2436.7857, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2271.5424, + 2436.7857, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2271.5424, + 2436.7857, + 850.0 + ], + "actual_end_pos": [ + -2271.5424, + 2436.7857, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2271.5424, + 2436.7857, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2245.6605, + 2533.3783, + 850.0 + ], + "actual_end_pos": [ + -2245.6605, + 2533.3783, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2245.6605, + 2533.3783, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2245.6605, + 2533.3783, + 850.0 + ], + "actual_end_pos": [ + -2245.6605, + 2533.3783, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2245.6605, + 2533.3783, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2245.6605, + 2633.3783, + 850.0 + ], + "actual_end_pos": [ + -2245.6605, + 2633.3783, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2245.6605, + 2633.3783, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2345.6605, + 2633.3783, + 850.0 + ], + "actual_end_pos": [ + -2345.6605, + 2633.3783, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -2345.6605, + 2633.3783, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2345.6605, + 2633.3783, + 850.0 + ], + "actual_end_pos": [ + -2345.6605, + 2633.3783, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2345.6605, + 2633.3783, + 850.0 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2345.6605, + 2534.2338, + 863.0526 + ], + "actual_end_pos": [ + -2345.6605, + 2534.2338, + 863.0526 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2345.6605, + 2534.2338, + 863.0526 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -2345.6605, + 2534.2338, + 863.0526 + ], + "actual_end_pos": [ + -2345.6605, + 2534.2338, + 863.0526 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2345.6605, + 2534.2338, + 863.0526 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2320.0, + 2630.0, + 850.0 + ], + "actual_end_pos": [ + -2320.0, + 2630.0, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -2320.0, + 2630.0, + 850.0 + ], + "start_rot": [ + 7.5, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2320.0, + 2630.0, + 850.0 + ], + "actual_end_pos": [ + -2320.0, + 2630.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2320.0, + 2630.0, + 850.0 + ], + "start_rot": [ + 0.0, + -105.0, + 0.0 + ], + "expected_end_pos": [ + -2320.0, + 2630.0, + 850.0 + ], + "actual_end_pos": [ + -2320.0, + 2630.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260422_172644__traj_000369_meta.json b/inverse_easy/run_20260422_172644__traj_000369_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..89a3dad209fb565057d3944919380bb1bf07e1fe --- /dev/null +++ b/inverse_easy/run_20260422_172644__traj_000369_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 369, + "episode_id": 0, + "state_id": 273, + "sample_index": 273, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2120.0, + -1770.0, + 850.0 + ], + "rotation": [ + 0.0, + 45.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "no_op", + "move_right", + "look_down", + "look_down", + "turn_left", + "move_left", + "move_forward", + "turn_right", + "move_right", + "move_right", + "turn_right", + "look_down", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "look_up", + "turn_left", + "move_left", + "move_left", + "turn_left", + "move_backward", + "move_right", + "turn_right", + "look_up", + "look_up", + "move_left", + "no_op", + "move_left" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2120.0, + -1770.0, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2190.7107, + -1699.2893, + 850.0 + ], + "actual_end_pos": [ + -2190.7107, + -1699.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2190.7107, + -1699.2893, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2190.7107, + -1699.2893, + 850.0 + ], + "actual_end_pos": [ + -2190.7107, + -1699.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2190.7107, + -1699.2893, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2261.4214, + -1628.5786, + 850.0 + ], + "actual_end_pos": [ + -2261.4214, + -1628.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -2261.4214, + -1628.5786, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2261.4214, + -1628.5786, + 850.0 + ], + "actual_end_pos": [ + -2261.4214, + -1628.5786, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -2261.4214, + -1628.5786, + 850.0 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2261.4214, + -1628.5786, + 850.0 + ], + "actual_end_pos": [ + -2261.4214, + -1628.5786, + 850.0 + ], + "actual_end_rot": [ + -15.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2261.4214, + -1628.5786, + 850.0 + ], + "start_rot": [ + -15.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + -2261.4214, + -1628.5786, + 850.0 + ], + "actual_end_pos": [ + -2261.4214, + -1628.5786, + 850.0 + ], + "actual_end_rot": [ + -15.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2261.4214, + -1628.5786, + 850.0 + ], + "start_rot": [ + -15.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2211.4214, + -1715.1812, + 850.0 + ], + "actual_end_pos": [ + -2211.4214, + -1715.1812, + 850.0 + ], + "actual_end_rot": [ + -15.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2211.4214, + -1715.1812, + 850.0 + ], + "start_rot": [ + -15.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2127.7697, + -1666.8849, + 824.1181 + ], + "actual_end_pos": [ + -2127.7697, + -1666.8849, + 824.1181 + ], + "actual_end_rot": [ + -15.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2127.7697, + -1666.8849, + 824.1181 + ], + "start_rot": [ + -15.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2127.7697, + -1666.8849, + 824.1181 + ], + "actual_end_pos": [ + -2127.7697, + -1666.8849, + 824.1181 + ], + "actual_end_rot": [ + -15.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2127.7697, + -1666.8849, + 824.1181 + ], + "start_rot": [ + -15.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2198.4804, + -1596.1742, + 824.1181 + ], + "actual_end_pos": [ + -2198.4804, + -1596.1742, + 824.1181 + ], + "actual_end_rot": [ + -15.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2198.4804, + -1596.1742, + 824.1181 + ], + "start_rot": [ + -15.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2269.1911, + -1525.4635, + 824.1181 + ], + "actual_end_pos": [ + -2269.1911, + -1525.4635, + 824.1181 + ], + "actual_end_rot": [ + -15.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2269.1911, + -1525.4635, + 824.1181 + ], + "start_rot": [ + -15.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2269.1911, + -1525.4635, + 824.1181 + ], + "actual_end_pos": [ + -2269.1911, + -1525.4635, + 824.1181 + ], + "actual_end_rot": [ + -15.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -2269.1911, + -1525.4635, + 824.1181 + ], + "start_rot": [ + -15.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2269.1911, + -1525.4635, + 824.1181 + ], + "actual_end_pos": [ + -2269.1911, + -1525.4635, + 824.1181 + ], + "actual_end_rot": [ + -22.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2269.1911, + -1525.4635, + 824.1181 + ], + "start_rot": [ + -22.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2269.1911, + -1525.4635, + 824.1181 + ], + "actual_end_pos": [ + -2269.1911, + -1525.4635, + 824.1181 + ], + "actual_end_rot": [ + -22.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2269.1911, + -1525.4635, + 824.1181 + ], + "start_rot": [ + -22.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2269.1911, + -1525.4635, + 824.1181 + ], + "actual_end_pos": [ + -2269.1911, + -1525.4635, + 824.1181 + ], + "actual_end_rot": [ + -22.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2269.1911, + -1525.4635, + 824.1181 + ], + "start_rot": [ + -22.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2269.1911, + -1525.4635, + 824.1181 + ], + "actual_end_pos": [ + -2269.1911, + -1525.4635, + 824.1181 + ], + "actual_end_rot": [ + -22.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2269.1911, + -1525.4635, + 824.1181 + ], + "start_rot": [ + -22.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2269.1911, + -1525.4635, + 824.1181 + ], + "actual_end_pos": [ + -2269.1911, + -1525.4635, + 824.1181 + ], + "actual_end_rot": [ + -22.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2269.1911, + -1525.4635, + 824.1181 + ], + "start_rot": [ + -22.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2269.1911, + -1525.4635, + 824.1181 + ], + "actual_end_pos": [ + -2269.1911, + -1525.4635, + 824.1181 + ], + "actual_end_rot": [ + -22.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2269.1911, + -1525.4635, + 824.1181 + ], + "start_rot": [ + -22.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2269.1911, + -1525.4635, + 824.1181 + ], + "actual_end_pos": [ + -2269.1911, + -1525.4635, + 824.1181 + ], + "actual_end_rot": [ + -22.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2269.1911, + -1525.4635, + 824.1181 + ], + "start_rot": [ + -22.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2269.1911, + -1525.4635, + 824.1181 + ], + "actual_end_pos": [ + -2269.1911, + -1525.4635, + 824.1181 + ], + "actual_end_rot": [ + -22.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2269.1911, + -1525.4635, + 824.1181 + ], + "start_rot": [ + -22.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2269.1911, + -1525.4635, + 824.1181 + ], + "actual_end_pos": [ + -2269.1911, + -1525.4635, + 824.1181 + ], + "actual_end_rot": [ + -22.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2269.1911, + -1525.4635, + 824.1181 + ], + "start_rot": [ + -22.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2269.1911, + -1525.4635, + 824.1181 + ], + "actual_end_pos": [ + -2269.1911, + -1525.4635, + 824.1181 + ], + "actual_end_rot": [ + -22.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2269.1911, + -1525.4635, + 824.1181 + ], + "start_rot": [ + -22.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2269.1911, + -1525.4635, + 824.1181 + ], + "actual_end_pos": [ + -2269.1911, + -1525.4635, + 824.1181 + ], + "actual_end_rot": [ + -22.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2269.1911, + -1525.4635, + 824.1181 + ], + "start_rot": [ + -22.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2269.1911, + -1525.4635, + 824.1181 + ], + "actual_end_pos": [ + -2269.1911, + -1525.4635, + 824.1181 + ], + "actual_end_rot": [ + -22.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2269.1911, + -1525.4635, + 824.1181 + ], + "start_rot": [ + -22.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2269.1911, + -1525.4635, + 824.1181 + ], + "actual_end_pos": [ + -2269.1911, + -1525.4635, + 824.1181 + ], + "actual_end_rot": [ + -22.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2269.1911, + -1525.4635, + 824.1181 + ], + "start_rot": [ + -22.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2269.1911, + -1525.4635, + 824.1181 + ], + "actual_end_pos": [ + -2269.1911, + -1525.4635, + 824.1181 + ], + "actual_end_rot": [ + -22.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2269.1911, + -1525.4635, + 824.1181 + ], + "start_rot": [ + -22.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2269.1911, + -1525.4635, + 824.1181 + ], + "actual_end_pos": [ + -2269.1911, + -1525.4635, + 824.1181 + ], + "actual_end_rot": [ + -22.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -2269.1911, + -1525.4635, + 824.1181 + ], + "start_rot": [ + -22.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2269.1911, + -1525.4635, + 824.1181 + ], + "actual_end_pos": [ + -2269.1911, + -1525.4635, + 824.1181 + ], + "actual_end_rot": [ + -15.0, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2269.1911, + -1525.4635, + 824.1181 + ], + "start_rot": [ + -15.0, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2269.1911, + -1525.4635, + 824.1181 + ], + "actual_end_pos": [ + -2269.1911, + -1525.4635, + 824.1181 + ], + "actual_end_rot": [ + -15.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2269.1911, + -1525.4635, + 824.1181 + ], + "start_rot": [ + -15.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2198.4804, + -1596.1742, + 824.1181 + ], + "actual_end_pos": [ + -2198.4804, + -1596.1742, + 824.1181 + ], + "actual_end_rot": [ + -15.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2198.4804, + -1596.1742, + 824.1181 + ], + "start_rot": [ + -15.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2127.7697, + -1666.8849, + 824.1181 + ], + "actual_end_pos": [ + -2127.7697, + -1666.8849, + 824.1181 + ], + "actual_end_rot": [ + -15.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2127.7697, + -1666.8849, + 824.1181 + ], + "start_rot": [ + -15.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2127.7697, + -1666.8849, + 824.1181 + ], + "actual_end_pos": [ + -2127.7697, + -1666.8849, + 824.1181 + ], + "actual_end_rot": [ + -15.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2127.7697, + -1666.8849, + 824.1181 + ], + "start_rot": [ + -15.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2211.4214, + -1715.1812, + 850.0 + ], + "actual_end_pos": [ + -2211.4214, + -1715.1812, + 850.0 + ], + "actual_end_rot": [ + -15.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2211.4214, + -1715.1812, + 850.0 + ], + "start_rot": [ + -15.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2261.4214, + -1628.5786, + 850.0 + ], + "actual_end_pos": [ + -2261.4214, + -1628.5786, + 850.0 + ], + "actual_end_rot": [ + -15.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2261.4214, + -1628.5786, + 850.0 + ], + "start_rot": [ + -15.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2261.4214, + -1628.5786, + 850.0 + ], + "actual_end_pos": [ + -2261.4214, + -1628.5786, + 850.0 + ], + "actual_end_rot": [ + -15.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -2261.4214, + -1628.5786, + 850.0 + ], + "start_rot": [ + -15.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + -2261.4214, + -1628.5786, + 850.0 + ], + "actual_end_pos": [ + -2261.4214, + -1628.5786, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -2261.4214, + -1628.5786, + 850.0 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2261.4214, + -1628.5786, + 850.0 + ], + "actual_end_pos": [ + -2261.4214, + -1628.5786, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2261.4214, + -1628.5786, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2190.7107, + -1699.2893, + 850.0 + ], + "actual_end_pos": [ + -2190.7107, + -1699.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2190.7107, + -1699.2893, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2190.7107, + -1699.2893, + 850.0 + ], + "actual_end_pos": [ + -2190.7107, + -1699.2893, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2190.7107, + -1699.2893, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2120.0, + -1770.0, + 850.0 + ], + "actual_end_pos": [ + -2120.0, + -1770.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260422_172644__traj_000387_meta.json b/inverse_easy/run_20260422_172644__traj_000387_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b81f2b2179759cdd6975c5b5a8e9ab6d57a16114 --- /dev/null +++ b/inverse_easy/run_20260422_172644__traj_000387_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 387, + "episode_id": 0, + "state_id": 285, + "sample_index": 285, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2120.0, + -1570.0, + 850.0 + ], + "rotation": [ + 0.0, + 225.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_left", + "move_forward", + "move_forward", + "no_op", + "turn_left", + "move_backward", + "turn_right", + "move_right", + "no_op", + "turn_right", + "move_left", + "look_up", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "look_down", + "move_right", + "turn_left", + "no_op", + "move_left", + "turn_left", + "move_forward", + "turn_right", + "no_op", + "move_backward", + "move_backward", + "turn_right" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2120.0, + -1570.0, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2120.0, + -1570.0, + 850.0 + ], + "actual_end_pos": [ + -2120.0, + -1570.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2120.0, + -1570.0, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2206.6025, + -1620.0, + 850.0 + ], + "actual_end_pos": [ + -2206.6025, + -1620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2206.6025, + -1620.0, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2293.2051, + -1670.0, + 850.0 + ], + "actual_end_pos": [ + -2293.2051, + -1670.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2293.2051, + -1670.0, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2293.2051, + -1670.0, + 850.0 + ], + "actual_end_pos": [ + -2293.2051, + -1670.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2293.2051, + -1670.0, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2293.2051, + -1670.0, + 850.0 + ], + "actual_end_pos": [ + -2293.2051, + -1670.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2293.2051, + -1670.0, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2196.6125, + -1644.1181, + 850.0 + ], + "actual_end_pos": [ + -2196.6125, + -1644.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2196.6125, + -1644.1181, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2196.6125, + -1644.1181, + 850.0 + ], + "actual_end_pos": [ + -2196.6125, + -1644.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2196.6125, + -1644.1181, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2146.6125, + -1730.7206, + 850.0 + ], + "actual_end_pos": [ + -2146.6125, + -1730.7206, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2146.6125, + -1730.7206, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2146.6125, + -1730.7206, + 850.0 + ], + "actual_end_pos": [ + -2146.6125, + -1730.7206, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2146.6125, + -1730.7206, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2146.6125, + -1730.7206, + 850.0 + ], + "actual_end_pos": [ + -2146.6125, + -1730.7206, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2146.6125, + -1730.7206, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2217.3232, + -1660.01, + 850.0 + ], + "actual_end_pos": [ + -2217.3232, + -1660.01, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -2217.3232, + -1660.01, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2217.3232, + -1660.01, + 850.0 + ], + "actual_end_pos": [ + -2217.3232, + -1660.01, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2217.3232, + -1660.01, + 850.0 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2217.3232, + -1660.01, + 850.0 + ], + "actual_end_pos": [ + -2217.3232, + -1660.01, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2217.3232, + -1660.01, + 850.0 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2217.3232, + -1660.01, + 850.0 + ], + "actual_end_pos": [ + -2217.3232, + -1660.01, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2217.3232, + -1660.01, + 850.0 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2217.3232, + -1660.01, + 850.0 + ], + "actual_end_pos": [ + -2217.3232, + -1660.01, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2217.3232, + -1660.01, + 850.0 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2217.3232, + -1660.01, + 850.0 + ], + "actual_end_pos": [ + -2217.3232, + -1660.01, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2217.3232, + -1660.01, + 850.0 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2217.3232, + -1660.01, + 850.0 + ], + "actual_end_pos": [ + -2217.3232, + -1660.01, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2217.3232, + -1660.01, + 850.0 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2217.3232, + -1660.01, + 850.0 + ], + "actual_end_pos": [ + -2217.3232, + -1660.01, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2217.3232, + -1660.01, + 850.0 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2217.3232, + -1660.01, + 850.0 + ], + "actual_end_pos": [ + -2217.3232, + -1660.01, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2217.3232, + -1660.01, + 850.0 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2217.3232, + -1660.01, + 850.0 + ], + "actual_end_pos": [ + -2217.3232, + -1660.01, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2217.3232, + -1660.01, + 850.0 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2217.3232, + -1660.01, + 850.0 + ], + "actual_end_pos": [ + -2217.3232, + -1660.01, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2217.3232, + -1660.01, + 850.0 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2217.3232, + -1660.01, + 850.0 + ], + "actual_end_pos": [ + -2217.3232, + -1660.01, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2217.3232, + -1660.01, + 850.0 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2217.3232, + -1660.01, + 850.0 + ], + "actual_end_pos": [ + -2217.3232, + -1660.01, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2217.3232, + -1660.01, + 850.0 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2217.3232, + -1660.01, + 850.0 + ], + "actual_end_pos": [ + -2217.3232, + -1660.01, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2217.3232, + -1660.01, + 850.0 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2217.3232, + -1660.01, + 850.0 + ], + "actual_end_pos": [ + -2217.3232, + -1660.01, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2217.3232, + -1660.01, + 850.0 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2217.3232, + -1660.01, + 850.0 + ], + "actual_end_pos": [ + -2217.3232, + -1660.01, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2217.3232, + -1660.01, + 850.0 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2217.3232, + -1660.01, + 850.0 + ], + "actual_end_pos": [ + -2217.3232, + -1660.01, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2217.3232, + -1660.01, + 850.0 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2217.3232, + -1660.01, + 850.0 + ], + "actual_end_pos": [ + -2217.3232, + -1660.01, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -2217.3232, + -1660.01, + 850.0 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2217.3232, + -1660.01, + 850.0 + ], + "actual_end_pos": [ + -2217.3232, + -1660.01, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2217.3232, + -1660.01, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2146.6125, + -1730.7206, + 850.0 + ], + "actual_end_pos": [ + -2146.6125, + -1730.7206, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2146.6125, + -1730.7206, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -2146.6125, + -1730.7206, + 850.0 + ], + "actual_end_pos": [ + -2146.6125, + -1730.7206, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2146.6125, + -1730.7206, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2146.6125, + -1730.7206, + 850.0 + ], + "actual_end_pos": [ + -2146.6125, + -1730.7206, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2146.6125, + -1730.7206, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2196.6125, + -1644.1181, + 850.0 + ], + "actual_end_pos": [ + -2196.6125, + -1644.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2196.6125, + -1644.1181, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2196.6125, + -1644.1181, + 850.0 + ], + "actual_end_pos": [ + -2196.6125, + -1644.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2196.6125, + -1644.1181, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2293.2051, + -1670.0, + 850.0 + ], + "actual_end_pos": [ + -2293.2051, + -1670.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2293.2051, + -1670.0, + 850.0 + ], + "start_rot": [ + 0.0, + -165.0, + 0.0 + ], + "expected_end_pos": [ + -2293.2051, + -1670.0, + 850.0 + ], + "actual_end_pos": [ + -2293.2051, + -1670.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2293.2051, + -1670.0, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2293.2051, + -1670.0, + 850.0 + ], + "actual_end_pos": [ + -2293.2051, + -1670.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2293.2051, + -1670.0, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2206.6025, + -1620.0, + 850.0 + ], + "actual_end_pos": [ + -2206.6025, + -1620.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2206.6025, + -1620.0, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2120.0, + -1570.0, + 850.0 + ], + "actual_end_pos": [ + -2120.0, + -1570.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2120.0, + -1570.0, + 850.0 + ], + "start_rot": [ + 0.0, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -2120.0, + -1570.0, + 850.0 + ], + "actual_end_pos": [ + -2120.0, + -1570.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260422_172644__traj_000482_meta.json b/inverse_easy/run_20260422_172644__traj_000482_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d6b6aa84746fcc4f69991496a85b70d654e954b3 --- /dev/null +++ b/inverse_easy/run_20260422_172644__traj_000482_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 482, + "episode_id": 0, + "state_id": 352, + "sample_index": 352, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -2120.0, + 1230.0, + 850.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_right", + "turn_right", + "turn_right", + "move_right", + "move_forward", + "turn_right", + "no_op", + "look_down", + "turn_right", + "move_right", + "move_backward", + "move_left", + "move_forward", + "turn_right", + "move_right", + "no_op", + "move_left", + "move_backward", + "turn_left", + "turn_right", + "move_forward", + "move_right", + "no_op", + "move_left", + "turn_left", + "move_backward", + "move_right", + "move_forward", + "move_left", + "turn_left", + "look_up", + "no_op", + "turn_left", + "move_backward", + "move_left", + "turn_left", + "turn_left", + "move_left", + "move_forward" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2120.0, + 1230.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2220.0, + 1230.0, + 850.0 + ], + "actual_end_pos": [ + -2220.0, + 1230.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2220.0, + 1230.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2220.0, + 1330.0, + 850.0 + ], + "actual_end_pos": [ + -2220.0, + 1330.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2220.0, + 1330.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2220.0, + 1330.0, + 850.0 + ], + "actual_end_pos": [ + -2220.0, + 1330.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2220.0, + 1330.0, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -2220.0, + 1330.0, + 850.0 + ], + "actual_end_pos": [ + -2220.0, + 1330.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2220.0, + 1330.0, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2270.0, + 1416.6025, + 850.0 + ], + "actual_end_pos": [ + -2270.0, + 1416.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2270.0, + 1416.6025, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2183.3975, + 1466.6025, + 850.0 + ], + "actual_end_pos": [ + -2183.3975, + 1466.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2183.3975, + 1466.6025, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2183.3975, + 1466.6025, + 850.0 + ], + "actual_end_pos": [ + -2183.3975, + 1466.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2183.3975, + 1466.6025, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2183.3975, + 1466.6025, + 850.0 + ], + "actual_end_pos": [ + -2183.3975, + 1466.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -2183.3975, + 1466.6025, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2183.3975, + 1466.6025, + 850.0 + ], + "actual_end_pos": [ + -2183.3975, + 1466.6025, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2183.3975, + 1466.6025, + 850.0 + ], + "start_rot": [ + -7.5, + 45.0, + -0.0 + ], + "expected_end_pos": [ + -2183.3975, + 1466.6025, + 850.0 + ], + "actual_end_pos": [ + -2183.3975, + 1466.6025, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2183.3975, + 1466.6025, + 850.0 + ], + "start_rot": [ + -7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2270.0, + 1516.6025, + 850.0 + ], + "actual_end_pos": [ + -2270.0, + 1516.6025, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2270.0, + 1516.6025, + 850.0 + ], + "start_rot": [ + -7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2319.5722, + 1430.7409, + 863.0526 + ], + "actual_end_pos": [ + -2319.5722, + 1430.7409, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2319.5722, + 1430.7409, + 863.0526 + ], + "start_rot": [ + -7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2232.9697, + 1380.7409, + 863.0526 + ], + "actual_end_pos": [ + -2232.9697, + 1380.7409, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2232.9697, + 1380.7409, + 863.0526 + ], + "start_rot": [ + -7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2183.3975, + 1466.6025, + 850.0 + ], + "actual_end_pos": [ + -2183.3975, + 1466.6025, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2183.3975, + 1466.6025, + 850.0 + ], + "start_rot": [ + -7.5, + 60.0, + 0.0 + ], + "expected_end_pos": [ + -2183.3975, + 1466.6025, + 850.0 + ], + "actual_end_pos": [ + -2183.3975, + 1466.6025, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2183.3975, + 1466.6025, + 850.0 + ], + "start_rot": [ + -7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2279.99, + 1492.4844, + 850.0 + ], + "actual_end_pos": [ + -2279.99, + 1492.4844, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2279.99, + 1492.4844, + 850.0 + ], + "start_rot": [ + -7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2279.99, + 1492.4844, + 850.0 + ], + "actual_end_pos": [ + -2279.99, + 1492.4844, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2279.99, + 1492.4844, + 850.0 + ], + "start_rot": [ + -7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2183.3975, + 1466.6025, + 850.0 + ], + "actual_end_pos": [ + -2183.3975, + 1466.6025, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2183.3975, + 1466.6025, + 850.0 + ], + "start_rot": [ + -7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2209.0579, + 1370.8363, + 863.0526 + ], + "actual_end_pos": [ + -2209.0579, + 1370.8363, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2209.0579, + 1370.8363, + 863.0526 + ], + "start_rot": [ + -7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2209.0579, + 1370.8363, + 863.0526 + ], + "actual_end_pos": [ + -2209.0579, + 1370.8363, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2209.0579, + 1370.8363, + 863.0526 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + -2209.0579, + 1370.8363, + 863.0526 + ], + "actual_end_pos": [ + -2209.0579, + 1370.8363, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2209.0579, + 1370.8363, + 863.0526 + ], + "start_rot": [ + -7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2183.3975, + 1466.6025, + 850.0 + ], + "actual_end_pos": [ + -2183.3975, + 1466.6025, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2183.3975, + 1466.6025, + 850.0 + ], + "start_rot": [ + -7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2279.99, + 1492.4844, + 850.0 + ], + "actual_end_pos": [ + -2279.99, + 1492.4844, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2279.99, + 1492.4844, + 850.0 + ], + "start_rot": [ + -7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2279.99, + 1492.4844, + 850.0 + ], + "actual_end_pos": [ + -2279.99, + 1492.4844, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2279.99, + 1492.4844, + 850.0 + ], + "start_rot": [ + -7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2183.3975, + 1466.6025, + 850.0 + ], + "actual_end_pos": [ + -2183.3975, + 1466.6025, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2183.3975, + 1466.6025, + 850.0 + ], + "start_rot": [ + -7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -2183.3975, + 1466.6025, + 850.0 + ], + "actual_end_pos": [ + -2183.3975, + 1466.6025, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2183.3975, + 1466.6025, + 850.0 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + -2232.9697, + 1380.7409, + 863.0526 + ], + "actual_end_pos": [ + -2232.9697, + 1380.7409, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2232.9697, + 1380.7409, + 863.0526 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + -2319.5722, + 1430.7409, + 863.0526 + ], + "actual_end_pos": [ + -2319.5722, + 1430.7409, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2319.5722, + 1430.7409, + 863.0526 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + -2270.0, + 1516.6025, + 850.0 + ], + "actual_end_pos": [ + -2270.0, + 1516.6025, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2270.0, + 1516.6025, + 850.0 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + -2183.3975, + 1466.6025, + 850.0 + ], + "actual_end_pos": [ + -2183.3975, + 1466.6025, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 60.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2183.3975, + 1466.6025, + 850.0 + ], + "start_rot": [ + -7.5, + 60.0, + -0.0 + ], + "expected_end_pos": [ + -2183.3975, + 1466.6025, + 850.0 + ], + "actual_end_pos": [ + -2183.3975, + 1466.6025, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -2183.3975, + 1466.6025, + 850.0 + ], + "start_rot": [ + -7.5, + 45.0, + 0.0 + ], + "expected_end_pos": [ + -2183.3975, + 1466.6025, + 850.0 + ], + "actual_end_pos": [ + -2183.3975, + 1466.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2183.3975, + 1466.6025, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + -2183.3975, + 1466.6025, + 850.0 + ], + "actual_end_pos": [ + -2183.3975, + 1466.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 45.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2183.3975, + 1466.6025, + 850.0 + ], + "start_rot": [ + 0.0, + 45.0, + -0.0 + ], + "expected_end_pos": [ + -2183.3975, + 1466.6025, + 850.0 + ], + "actual_end_pos": [ + -2183.3975, + 1466.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2183.3975, + 1466.6025, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2270.0, + 1416.6025, + 850.0 + ], + "actual_end_pos": [ + -2270.0, + 1416.6025, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2270.0, + 1416.6025, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2220.0, + 1330.0, + 850.0 + ], + "actual_end_pos": [ + -2220.0, + 1330.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2220.0, + 1330.0, + 850.0 + ], + "start_rot": [ + 0.0, + 30.0, + 0.0 + ], + "expected_end_pos": [ + -2220.0, + 1330.0, + 850.0 + ], + "actual_end_pos": [ + -2220.0, + 1330.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2220.0, + 1330.0, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -2220.0, + 1330.0, + 850.0 + ], + "actual_end_pos": [ + -2220.0, + 1330.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2220.0, + 1330.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2220.0, + 1230.0, + 850.0 + ], + "actual_end_pos": [ + -2220.0, + 1230.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2220.0, + 1230.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -2120.0, + 1230.0, + 850.0 + ], + "actual_end_pos": [ + -2120.0, + 1230.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260422_172644__traj_000714_meta.json b/inverse_easy/run_20260422_172644__traj_000714_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..53275d65e3a254e706738359e7cf2d23ee9b0a82 --- /dev/null +++ b/inverse_easy/run_20260422_172644__traj_000714_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 714, + "episode_id": 0, + "state_id": 523, + "sample_index": 523, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -1920.0, + -170.0, + 850.0 + ], + "rotation": [ + 0.0, + 135.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "turn_left", + "move_forward", + "move_right", + "look_up", + "turn_left", + "turn_left", + "move_forward", + "look_down", + "move_right", + "turn_right", + "move_forward", + "turn_left", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "move_right", + "turn_right", + "move_backward", + "turn_left", + "move_left", + "look_up", + "move_backward", + "turn_right", + "turn_right", + "look_down", + "move_left", + "move_backward", + "turn_right", + "move_forward" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1920.0, + -170.0, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1849.2893, + -240.7107, + 850.0 + ], + "actual_end_pos": [ + -1849.2893, + -240.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1849.2893, + -240.7107, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1849.2893, + -240.7107, + 850.0 + ], + "actual_end_pos": [ + -1849.2893, + -240.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1849.2893, + -240.7107, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -1899.2893, + -154.1081, + 850.0 + ], + "actual_end_pos": [ + -1899.2893, + -154.1081, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1899.2893, + -154.1081, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -1985.8919, + -204.1081, + 850.0 + ], + "actual_end_pos": [ + -1985.8919, + -204.1081, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -1985.8919, + -204.1081, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -1985.8919, + -204.1081, + 850.0 + ], + "actual_end_pos": [ + -1985.8919, + -204.1081, + 850.0 + ], + "actual_end_rot": [ + 7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1985.8919, + -204.1081, + 850.0 + ], + "start_rot": [ + 7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -1985.8919, + -204.1081, + 850.0 + ], + "actual_end_pos": [ + -1985.8919, + -204.1081, + 850.0 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1985.8919, + -204.1081, + 850.0 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -1985.8919, + -204.1081, + 850.0 + ], + "actual_end_pos": [ + -1985.8919, + -204.1081, + 850.0 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1985.8919, + -204.1081, + 850.0 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1985.8919, + -104.9637, + 863.0526 + ], + "actual_end_pos": [ + -1985.8919, + -104.9637, + 863.0526 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -1985.8919, + -104.9637, + 863.0526 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1985.8919, + -104.9637, + 863.0526 + ], + "actual_end_pos": [ + -1985.8919, + -104.9637, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1985.8919, + -104.9637, + 863.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2085.8919, + -104.9636, + 863.0526 + ], + "actual_end_pos": [ + -2085.8919, + -104.9636, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2085.8919, + -104.9636, + 863.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2085.8919, + -104.9636, + 863.0526 + ], + "actual_end_pos": [ + -2085.8919, + -104.9636, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -2085.8919, + -104.9636, + 863.0526 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2111.7738, + -8.3711, + 863.0526 + ], + "actual_end_pos": [ + -2111.7738, + -8.3711, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2111.7738, + -8.3711, + 863.0526 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2111.7738, + -8.3711, + 863.0526 + ], + "actual_end_pos": [ + -2111.7738, + -8.3711, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2111.7738, + -8.3711, + 863.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2011.7738, + -8.3711, + 863.0526 + ], + "actual_end_pos": [ + -2011.7738, + -8.3711, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2011.7738, + -8.3711, + 863.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2011.7738, + -8.3711, + 863.0526 + ], + "actual_end_pos": [ + -2011.7738, + -8.3711, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2011.7738, + -8.3711, + 863.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2011.7738, + -8.3711, + 863.0526 + ], + "actual_end_pos": [ + -2011.7738, + -8.3711, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2011.7738, + -8.3711, + 863.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2011.7738, + -8.3711, + 863.0526 + ], + "actual_end_pos": [ + -2011.7738, + -8.3711, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2011.7738, + -8.3711, + 863.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2011.7738, + -8.3711, + 863.0526 + ], + "actual_end_pos": [ + -2011.7738, + -8.3711, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2011.7738, + -8.3711, + 863.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2011.7738, + -8.3711, + 863.0526 + ], + "actual_end_pos": [ + -2011.7738, + -8.3711, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2011.7738, + -8.3711, + 863.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2011.7738, + -8.3711, + 863.0526 + ], + "actual_end_pos": [ + -2011.7738, + -8.3711, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2011.7738, + -8.3711, + 863.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2011.7738, + -8.3711, + 863.0526 + ], + "actual_end_pos": [ + -2011.7738, + -8.3711, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2011.7738, + -8.3711, + 863.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2011.7738, + -8.3711, + 863.0526 + ], + "actual_end_pos": [ + -2011.7738, + -8.3711, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2011.7738, + -8.3711, + 863.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2011.7738, + -8.3711, + 863.0526 + ], + "actual_end_pos": [ + -2011.7738, + -8.3711, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2011.7738, + -8.3711, + 863.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2011.7738, + -8.3711, + 863.0526 + ], + "actual_end_pos": [ + -2011.7738, + -8.3711, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2011.7738, + -8.3711, + 863.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2011.7738, + -8.3711, + 863.0526 + ], + "actual_end_pos": [ + -2011.7738, + -8.3711, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -2011.7738, + -8.3711, + 863.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2011.7738, + -8.3711, + 863.0526 + ], + "actual_end_pos": [ + -2011.7738, + -8.3711, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -2011.7738, + -8.3711, + 863.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2111.7738, + -8.3711, + 863.0526 + ], + "actual_end_pos": [ + -2111.7738, + -8.3711, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -2111.7738, + -8.3711, + 863.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -2111.7738, + -8.3711, + 863.0526 + ], + "actual_end_pos": [ + -2111.7738, + -8.3711, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -2111.7738, + -8.3711, + 863.0526 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2085.8919, + -104.9636, + 863.0526 + ], + "actual_end_pos": [ + -2085.8919, + -104.9636, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -2085.8919, + -104.9636, + 863.0526 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -2085.8919, + -104.9636, + 863.0526 + ], + "actual_end_pos": [ + -2085.8919, + -104.9636, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -2085.8919, + -104.9636, + 863.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1985.8919, + -104.9637, + 863.0526 + ], + "actual_end_pos": [ + -1985.8919, + -104.9637, + 863.0526 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -1985.8919, + -104.9637, + 863.0526 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1985.8919, + -104.9637, + 863.0526 + ], + "actual_end_pos": [ + -1985.8919, + -104.9637, + 863.0526 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1985.8919, + -104.9637, + 863.0526 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1985.8919, + -204.1081, + 850.0 + ], + "actual_end_pos": [ + -1985.8919, + -204.1081, + 850.0 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1985.8919, + -204.1081, + 850.0 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1985.8919, + -204.1081, + 850.0 + ], + "actual_end_pos": [ + -1985.8919, + -204.1081, + 850.0 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1985.8919, + -204.1081, + 850.0 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -1985.8919, + -204.1081, + 850.0 + ], + "actual_end_pos": [ + -1985.8919, + -204.1081, + 850.0 + ], + "actual_end_rot": [ + 7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -1985.8919, + -204.1081, + 850.0 + ], + "start_rot": [ + 7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -1985.8919, + -204.1081, + 850.0 + ], + "actual_end_pos": [ + -1985.8919, + -204.1081, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1985.8919, + -204.1081, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -1899.2893, + -154.1081, + 850.0 + ], + "actual_end_pos": [ + -1899.2893, + -154.1081, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1899.2893, + -154.1081, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -1849.2893, + -240.7107, + 850.0 + ], + "actual_end_pos": [ + -1849.2893, + -240.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1849.2893, + -240.7107, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -1849.2893, + -240.7107, + 850.0 + ], + "actual_end_pos": [ + -1849.2893, + -240.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1849.2893, + -240.7107, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1920.0, + -170.0, + 850.0 + ], + "actual_end_pos": [ + -1920.0, + -170.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260422_172644__traj_000850_meta.json b/inverse_easy/run_20260422_172644__traj_000850_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..07f26c9d0db6f5707e7e18af08f15da13463a4cf --- /dev/null +++ b/inverse_easy/run_20260422_172644__traj_000850_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 850, + "episode_id": 0, + "state_id": 621, + "sample_index": 621, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -1920.0, + 4630.0, + 850.0 + ], + "rotation": [ + 0.0, + 225.0, + 0.0 + ] + }, + "action_sequence": [ + "look_up", + "move_right", + "move_right", + "look_up", + "look_up", + "no_op", + "no_op", + "move_right", + "turn_left", + "move_backward", + "turn_right", + "no_op", + "move_forward", + "turn_left", + "move_forward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "move_backward", + "turn_right", + "move_backward", + "no_op", + "turn_left", + "move_forward", + "turn_right", + "move_left", + "no_op", + "no_op", + "look_down", + "look_down", + "move_left", + "move_left", + "look_down" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -1920.0, + 4630.0, + 850.0 + ], + "start_rot": [ + 0.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -1920.0, + 4630.0, + 850.0 + ], + "actual_end_pos": [ + -1920.0, + 4630.0, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1920.0, + 4630.0, + 850.0 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -1849.2893, + 4559.2893, + 850.0 + ], + "actual_end_pos": [ + -1849.2893, + 4559.2893, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1849.2893, + 4559.2893, + 850.0 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -1778.5786, + 4488.5786, + 850.0 + ], + "actual_end_pos": [ + -1778.5786, + 4488.5786, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -1778.5786, + 4488.5786, + 850.0 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -1778.5786, + 4488.5786, + 850.0 + ], + "actual_end_pos": [ + -1778.5786, + 4488.5786, + 850.0 + ], + "actual_end_rot": [ + 15.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -1778.5786, + 4488.5786, + 850.0 + ], + "start_rot": [ + 15.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -1778.5786, + 4488.5786, + 850.0 + ], + "actual_end_pos": [ + -1778.5786, + 4488.5786, + 850.0 + ], + "actual_end_rot": [ + 22.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1778.5786, + 4488.5786, + 850.0 + ], + "start_rot": [ + 22.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -1778.5786, + 4488.5786, + 850.0 + ], + "actual_end_pos": [ + -1778.5786, + 4488.5786, + 850.0 + ], + "actual_end_rot": [ + 22.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1778.5786, + 4488.5786, + 850.0 + ], + "start_rot": [ + 22.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -1778.5786, + 4488.5786, + 850.0 + ], + "actual_end_pos": [ + -1778.5786, + 4488.5786, + 850.0 + ], + "actual_end_rot": [ + 22.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1778.5786, + 4488.5786, + 850.0 + ], + "start_rot": [ + 22.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -1707.868, + 4417.868, + 850.0 + ], + "actual_end_pos": [ + -1707.868, + 4417.868, + 850.0 + ], + "actual_end_rot": [ + 22.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1707.868, + 4417.868, + 850.0 + ], + "start_rot": [ + 22.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -1707.868, + 4417.868, + 850.0 + ], + "actual_end_pos": [ + -1707.868, + 4417.868, + 850.0 + ], + "actual_end_rot": [ + 22.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1707.868, + 4417.868, + 850.0 + ], + "start_rot": [ + 22.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -1627.8576, + 4464.0619, + 811.7317 + ], + "actual_end_pos": [ + -1627.8576, + 4464.0619, + 811.7317 + ], + "actual_end_rot": [ + 22.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1627.8576, + 4464.0619, + 811.7317 + ], + "start_rot": [ + 22.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -1627.8576, + 4464.0619, + 811.7317 + ], + "actual_end_pos": [ + -1627.8576, + 4464.0619, + 811.7317 + ], + "actual_end_rot": [ + 22.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1627.8576, + 4464.0619, + 811.7317 + ], + "start_rot": [ + 22.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -1627.8576, + 4464.0619, + 811.7317 + ], + "actual_end_pos": [ + -1627.8576, + 4464.0619, + 811.7317 + ], + "actual_end_rot": [ + 22.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1627.8576, + 4464.0619, + 811.7317 + ], + "start_rot": [ + 22.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -1693.1858, + 4398.7338, + 850.0 + ], + "actual_end_pos": [ + -1693.1858, + 4398.7338, + 850.0 + ], + "actual_end_rot": [ + 22.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1693.1858, + 4398.7338, + 850.0 + ], + "start_rot": [ + 22.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -1693.1858, + 4398.7338, + 850.0 + ], + "actual_end_pos": [ + -1693.1858, + 4398.7338, + 850.0 + ], + "actual_end_rot": [ + 22.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1693.1858, + 4398.7338, + 850.0 + ], + "start_rot": [ + 22.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -1773.1961, + 4352.5398, + 888.2683 + ], + "actual_end_pos": [ + -1773.1961, + 4352.5398, + 888.2683 + ], + "actual_end_rot": [ + 22.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1773.1961, + 4352.5398, + 888.2683 + ], + "start_rot": [ + 22.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -1773.1961, + 4352.5398, + 888.2683 + ], + "actual_end_pos": [ + -1773.1961, + 4352.5398, + 888.2683 + ], + "actual_end_rot": [ + 22.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1773.1961, + 4352.5398, + 888.2683 + ], + "start_rot": [ + 22.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -1773.1961, + 4352.5398, + 888.2683 + ], + "actual_end_pos": [ + -1773.1961, + 4352.5398, + 888.2683 + ], + "actual_end_rot": [ + 22.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1773.1961, + 4352.5398, + 888.2683 + ], + "start_rot": [ + 22.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -1773.1961, + 4352.5398, + 888.2683 + ], + "actual_end_pos": [ + -1773.1961, + 4352.5398, + 888.2683 + ], + "actual_end_rot": [ + 22.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1773.1961, + 4352.5398, + 888.2683 + ], + "start_rot": [ + 22.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -1773.1961, + 4352.5398, + 888.2683 + ], + "actual_end_pos": [ + -1773.1961, + 4352.5398, + 888.2683 + ], + "actual_end_rot": [ + 22.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1773.1961, + 4352.5398, + 888.2683 + ], + "start_rot": [ + 22.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -1773.1961, + 4352.5398, + 888.2683 + ], + "actual_end_pos": [ + -1773.1961, + 4352.5398, + 888.2683 + ], + "actual_end_rot": [ + 22.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1773.1961, + 4352.5398, + 888.2683 + ], + "start_rot": [ + 22.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -1773.1961, + 4352.5398, + 888.2683 + ], + "actual_end_pos": [ + -1773.1961, + 4352.5398, + 888.2683 + ], + "actual_end_rot": [ + 22.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1773.1961, + 4352.5398, + 888.2683 + ], + "start_rot": [ + 22.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -1773.1961, + 4352.5398, + 888.2683 + ], + "actual_end_pos": [ + -1773.1961, + 4352.5398, + 888.2683 + ], + "actual_end_rot": [ + 22.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1773.1961, + 4352.5398, + 888.2683 + ], + "start_rot": [ + 22.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -1773.1961, + 4352.5398, + 888.2683 + ], + "actual_end_pos": [ + -1773.1961, + 4352.5398, + 888.2683 + ], + "actual_end_rot": [ + 22.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1773.1961, + 4352.5398, + 888.2683 + ], + "start_rot": [ + 22.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -1773.1961, + 4352.5398, + 888.2683 + ], + "actual_end_pos": [ + -1773.1961, + 4352.5398, + 888.2683 + ], + "actual_end_rot": [ + 22.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1773.1961, + 4352.5398, + 888.2683 + ], + "start_rot": [ + 22.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -1773.1961, + 4352.5398, + 888.2683 + ], + "actual_end_pos": [ + -1773.1961, + 4352.5398, + 888.2683 + ], + "actual_end_rot": [ + 22.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1773.1961, + 4352.5398, + 888.2683 + ], + "start_rot": [ + 22.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -1693.1858, + 4398.7338, + 850.0 + ], + "actual_end_pos": [ + -1693.1858, + 4398.7338, + 850.0 + ], + "actual_end_rot": [ + 22.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1693.1858, + 4398.7338, + 850.0 + ], + "start_rot": [ + 22.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -1693.1858, + 4398.7338, + 850.0 + ], + "actual_end_pos": [ + -1693.1858, + 4398.7338, + 850.0 + ], + "actual_end_rot": [ + 22.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1693.1858, + 4398.7338, + 850.0 + ], + "start_rot": [ + 22.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -1627.8576, + 4464.0619, + 811.7317 + ], + "actual_end_pos": [ + -1627.8576, + 4464.0619, + 811.7317 + ], + "actual_end_rot": [ + 22.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1627.8576, + 4464.0619, + 811.7317 + ], + "start_rot": [ + 22.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -1627.8576, + 4464.0619, + 811.7317 + ], + "actual_end_pos": [ + -1627.8576, + 4464.0619, + 811.7317 + ], + "actual_end_rot": [ + 22.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1627.8576, + 4464.0619, + 811.7317 + ], + "start_rot": [ + 22.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -1627.8576, + 4464.0619, + 811.7317 + ], + "actual_end_pos": [ + -1627.8576, + 4464.0619, + 811.7317 + ], + "actual_end_rot": [ + 22.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1627.8576, + 4464.0619, + 811.7317 + ], + "start_rot": [ + 22.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -1707.868, + 4417.868, + 850.0 + ], + "actual_end_pos": [ + -1707.868, + 4417.868, + 850.0 + ], + "actual_end_rot": [ + 22.5, + -150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1707.868, + 4417.868, + 850.0 + ], + "start_rot": [ + 22.5, + -150.0, + 0.0 + ], + "expected_end_pos": [ + -1707.868, + 4417.868, + 850.0 + ], + "actual_end_pos": [ + -1707.868, + 4417.868, + 850.0 + ], + "actual_end_rot": [ + 22.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1707.868, + 4417.868, + 850.0 + ], + "start_rot": [ + 22.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -1778.5786, + 4488.5786, + 850.0 + ], + "actual_end_pos": [ + -1778.5786, + 4488.5786, + 850.0 + ], + "actual_end_rot": [ + 22.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1778.5786, + 4488.5786, + 850.0 + ], + "start_rot": [ + 22.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -1778.5786, + 4488.5786, + 850.0 + ], + "actual_end_pos": [ + -1778.5786, + 4488.5786, + 850.0 + ], + "actual_end_rot": [ + 22.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1778.5786, + 4488.5786, + 850.0 + ], + "start_rot": [ + 22.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -1778.5786, + 4488.5786, + 850.0 + ], + "actual_end_pos": [ + -1778.5786, + 4488.5786, + 850.0 + ], + "actual_end_rot": [ + 22.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -1778.5786, + 4488.5786, + 850.0 + ], + "start_rot": [ + 22.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -1778.5786, + 4488.5786, + 850.0 + ], + "actual_end_pos": [ + -1778.5786, + 4488.5786, + 850.0 + ], + "actual_end_rot": [ + 15.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -1778.5786, + 4488.5786, + 850.0 + ], + "start_rot": [ + 15.0, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -1778.5786, + 4488.5786, + 850.0 + ], + "actual_end_pos": [ + -1778.5786, + 4488.5786, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1778.5786, + 4488.5786, + 850.0 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -1849.2893, + 4559.2893, + 850.0 + ], + "actual_end_pos": [ + -1849.2893, + 4559.2893, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1849.2893, + 4559.2893, + 850.0 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -1920.0, + 4630.0, + 850.0 + ], + "actual_end_pos": [ + -1920.0, + 4630.0, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -1920.0, + 4630.0, + 850.0 + ], + "start_rot": [ + 7.5, + -135.0, + 0.0 + ], + "expected_end_pos": [ + -1920.0, + 4630.0, + 850.0 + ], + "actual_end_pos": [ + -1920.0, + 4630.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260422_172644__traj_000932_meta.json b/inverse_easy/run_20260422_172644__traj_000932_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2eee3240e5ccbd40375a2cc77385fca2877032fe --- /dev/null +++ b/inverse_easy/run_20260422_172644__traj_000932_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 932, + "episode_id": 0, + "state_id": 682, + "sample_index": 682, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -1720.0, + 1830.0, + 850.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "turn_left", + "move_forward", + "move_forward", + "move_left", + "look_down", + "look_down", + "no_op", + "move_left", + "move_forward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "move_backward", + "move_right", + "no_op", + "look_up", + "look_up", + "move_right", + "move_backward", + "move_backward", + "turn_right", + "move_backward" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1720.0, + 1830.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1720.0, + 1930.0, + 850.0 + ], + "actual_end_pos": [ + -1720.0, + 1930.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1720.0, + 1930.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1720.0, + 1930.0, + 850.0 + ], + "actual_end_pos": [ + -1720.0, + 1930.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1720.0, + 1930.0, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1694.1181, + 2026.5926, + 850.0 + ], + "actual_end_pos": [ + -1694.1181, + 2026.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1694.1181, + 2026.5926, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1668.2362, + 2123.1852, + 850.0 + ], + "actual_end_pos": [ + -1668.2362, + 2123.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1668.2362, + 2123.1852, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1571.6436, + 2097.3033, + 850.0 + ], + "actual_end_pos": [ + -1571.6436, + 2097.3033, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -1571.6436, + 2097.3033, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1571.6436, + 2097.3033, + 850.0 + ], + "actual_end_pos": [ + -1571.6436, + 2097.3033, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -1571.6436, + 2097.3033, + 850.0 + ], + "start_rot": [ + -7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1571.6436, + 2097.3033, + 850.0 + ], + "actual_end_pos": [ + -1571.6436, + 2097.3033, + 850.0 + ], + "actual_end_rot": [ + -15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1571.6436, + 2097.3033, + 850.0 + ], + "start_rot": [ + -15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1571.6436, + 2097.3033, + 850.0 + ], + "actual_end_pos": [ + -1571.6436, + 2097.3033, + 850.0 + ], + "actual_end_rot": [ + -15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1571.6436, + 2097.3033, + 850.0 + ], + "start_rot": [ + -15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1475.051, + 2071.4214, + 850.0 + ], + "actual_end_pos": [ + -1475.051, + 2071.4214, + 850.0 + ], + "actual_end_rot": [ + -15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1475.051, + 2071.4214, + 850.0 + ], + "start_rot": [ + -15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1450.051, + 2164.7226, + 824.1181 + ], + "actual_end_pos": [ + -1450.051, + 2164.7226, + 824.1181 + ], + "actual_end_rot": [ + -15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1450.051, + 2164.7226, + 824.1181 + ], + "start_rot": [ + -15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1450.051, + 2164.7226, + 824.1181 + ], + "actual_end_pos": [ + -1450.051, + 2164.7226, + 824.1181 + ], + "actual_end_rot": [ + -15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1450.051, + 2164.7226, + 824.1181 + ], + "start_rot": [ + -15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1450.051, + 2164.7226, + 824.1181 + ], + "actual_end_pos": [ + -1450.051, + 2164.7226, + 824.1181 + ], + "actual_end_rot": [ + -15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1450.051, + 2164.7226, + 824.1181 + ], + "start_rot": [ + -15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1450.051, + 2164.7226, + 824.1181 + ], + "actual_end_pos": [ + -1450.051, + 2164.7226, + 824.1181 + ], + "actual_end_rot": [ + -15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1450.051, + 2164.7226, + 824.1181 + ], + "start_rot": [ + -15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1450.051, + 2164.7226, + 824.1181 + ], + "actual_end_pos": [ + -1450.051, + 2164.7226, + 824.1181 + ], + "actual_end_rot": [ + -15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1450.051, + 2164.7226, + 824.1181 + ], + "start_rot": [ + -15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1450.051, + 2164.7226, + 824.1181 + ], + "actual_end_pos": [ + -1450.051, + 2164.7226, + 824.1181 + ], + "actual_end_rot": [ + -15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1450.051, + 2164.7226, + 824.1181 + ], + "start_rot": [ + -15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1450.051, + 2164.7226, + 824.1181 + ], + "actual_end_pos": [ + -1450.051, + 2164.7226, + 824.1181 + ], + "actual_end_rot": [ + -15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1450.051, + 2164.7226, + 824.1181 + ], + "start_rot": [ + -15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1450.051, + 2164.7226, + 824.1181 + ], + "actual_end_pos": [ + -1450.051, + 2164.7226, + 824.1181 + ], + "actual_end_rot": [ + -15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1450.051, + 2164.7226, + 824.1181 + ], + "start_rot": [ + -15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1450.051, + 2164.7226, + 824.1181 + ], + "actual_end_pos": [ + -1450.051, + 2164.7226, + 824.1181 + ], + "actual_end_rot": [ + -15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1450.051, + 2164.7226, + 824.1181 + ], + "start_rot": [ + -15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1450.051, + 2164.7226, + 824.1181 + ], + "actual_end_pos": [ + -1450.051, + 2164.7226, + 824.1181 + ], + "actual_end_rot": [ + -15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1450.051, + 2164.7226, + 824.1181 + ], + "start_rot": [ + -15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1450.051, + 2164.7226, + 824.1181 + ], + "actual_end_pos": [ + -1450.051, + 2164.7226, + 824.1181 + ], + "actual_end_rot": [ + -15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1450.051, + 2164.7226, + 824.1181 + ], + "start_rot": [ + -15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1450.051, + 2164.7226, + 824.1181 + ], + "actual_end_pos": [ + -1450.051, + 2164.7226, + 824.1181 + ], + "actual_end_rot": [ + -15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1450.051, + 2164.7226, + 824.1181 + ], + "start_rot": [ + -15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1450.051, + 2164.7226, + 824.1181 + ], + "actual_end_pos": [ + -1450.051, + 2164.7226, + 824.1181 + ], + "actual_end_rot": [ + -15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1450.051, + 2164.7226, + 824.1181 + ], + "start_rot": [ + -15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1450.051, + 2164.7226, + 824.1181 + ], + "actual_end_pos": [ + -1450.051, + 2164.7226, + 824.1181 + ], + "actual_end_rot": [ + -15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1450.051, + 2164.7226, + 824.1181 + ], + "start_rot": [ + -15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1450.051, + 2164.7226, + 824.1181 + ], + "actual_end_pos": [ + -1450.051, + 2164.7226, + 824.1181 + ], + "actual_end_rot": [ + -15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1450.051, + 2164.7226, + 824.1181 + ], + "start_rot": [ + -15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1450.051, + 2164.7226, + 824.1181 + ], + "actual_end_pos": [ + -1450.051, + 2164.7226, + 824.1181 + ], + "actual_end_rot": [ + -15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1450.051, + 2164.7226, + 824.1181 + ], + "start_rot": [ + -15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1450.051, + 2164.7226, + 824.1181 + ], + "actual_end_pos": [ + -1450.051, + 2164.7226, + 824.1181 + ], + "actual_end_rot": [ + -15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1450.051, + 2164.7226, + 824.1181 + ], + "start_rot": [ + -15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1450.051, + 2164.7226, + 824.1181 + ], + "actual_end_pos": [ + -1450.051, + 2164.7226, + 824.1181 + ], + "actual_end_rot": [ + -15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1450.051, + 2164.7226, + 824.1181 + ], + "start_rot": [ + -15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1450.051, + 2164.7226, + 824.1181 + ], + "actual_end_pos": [ + -1450.051, + 2164.7226, + 824.1181 + ], + "actual_end_rot": [ + -15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1450.051, + 2164.7226, + 824.1181 + ], + "start_rot": [ + -15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1450.051, + 2164.7226, + 824.1181 + ], + "actual_end_pos": [ + -1450.051, + 2164.7226, + 824.1181 + ], + "actual_end_rot": [ + -15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1450.051, + 2164.7226, + 824.1181 + ], + "start_rot": [ + -15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1450.051, + 2164.7226, + 824.1181 + ], + "actual_end_pos": [ + -1450.051, + 2164.7226, + 824.1181 + ], + "actual_end_rot": [ + -15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1450.051, + 2164.7226, + 824.1181 + ], + "start_rot": [ + -15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1475.051, + 2071.4214, + 850.0 + ], + "actual_end_pos": [ + -1475.051, + 2071.4214, + 850.0 + ], + "actual_end_rot": [ + -15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1475.051, + 2071.4214, + 850.0 + ], + "start_rot": [ + -15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1571.6436, + 2097.3033, + 850.0 + ], + "actual_end_pos": [ + -1571.6436, + 2097.3033, + 850.0 + ], + "actual_end_rot": [ + -15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1571.6436, + 2097.3033, + 850.0 + ], + "start_rot": [ + -15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1571.6436, + 2097.3033, + 850.0 + ], + "actual_end_pos": [ + -1571.6436, + 2097.3033, + 850.0 + ], + "actual_end_rot": [ + -15.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -1571.6436, + 2097.3033, + 850.0 + ], + "start_rot": [ + -15.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1571.6436, + 2097.3033, + 850.0 + ], + "actual_end_pos": [ + -1571.6436, + 2097.3033, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -1571.6436, + 2097.3033, + 850.0 + ], + "start_rot": [ + -7.5, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1571.6436, + 2097.3033, + 850.0 + ], + "actual_end_pos": [ + -1571.6436, + 2097.3033, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1571.6436, + 2097.3033, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1668.2362, + 2123.1852, + 850.0 + ], + "actual_end_pos": [ + -1668.2362, + 2123.1852, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1668.2362, + 2123.1852, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1694.1181, + 2026.5926, + 850.0 + ], + "actual_end_pos": [ + -1694.1181, + 2026.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1694.1181, + 2026.5926, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1720.0, + 1930.0, + 850.0 + ], + "actual_end_pos": [ + -1720.0, + 1930.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1720.0, + 1930.0, + 850.0 + ], + "start_rot": [ + 0.0, + 75.0, + 0.0 + ], + "expected_end_pos": [ + -1720.0, + 1930.0, + 850.0 + ], + "actual_end_pos": [ + -1720.0, + 1930.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1720.0, + 1930.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1720.0, + 1830.0, + 850.0 + ], + "actual_end_pos": [ + -1720.0, + 1830.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260422_172644__traj_001189_meta.json b/inverse_easy/run_20260422_172644__traj_001189_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..540807808982f892f5ebd1ec2ca6eeb844f63169 --- /dev/null +++ b/inverse_easy/run_20260422_172644__traj_001189_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 1189, + "episode_id": 0, + "state_id": 870, + "sample_index": 870, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -1320.0, + -1770.0, + 850.0 + ], + "rotation": [ + 0.0, + 270.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "move_right", + "no_op", + "turn_right", + "move_forward", + "turn_left", + "move_right", + "look_up", + "move_forward", + "move_forward", + "move_forward", + "turn_right", + "move_forward", + "move_right", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "move_right", + "move_left", + "move_backward", + "turn_left", + "move_backward", + "move_backward", + "move_backward", + "look_down", + "move_left", + "turn_right", + "move_backward", + "turn_left", + "no_op", + "move_left", + "move_left" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1320.0, + -1770.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -1220.0, + -1770.0, + 850.0 + ], + "actual_end_pos": [ + -1220.0, + -1770.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1220.0, + -1770.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -1120.0, + -1770.0, + 850.0 + ], + "actual_end_pos": [ + -1120.0, + -1770.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1120.0, + -1770.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -1120.0, + -1770.0, + 850.0 + ], + "actual_end_pos": [ + -1120.0, + -1770.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1120.0, + -1770.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -1120.0, + -1770.0, + 850.0 + ], + "actual_end_pos": [ + -1120.0, + -1770.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1120.0, + -1770.0, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -1094.1181, + -1866.5926, + 850.0 + ], + "actual_end_pos": [ + -1094.1181, + -1866.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1094.1181, + -1866.5926, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -1094.1181, + -1866.5926, + 850.0 + ], + "actual_end_pos": [ + -1094.1181, + -1866.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1094.1181, + -1866.5926, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -994.1181, + -1866.5926, + 850.0 + ], + "actual_end_pos": [ + -994.1181, + -1866.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -994.1181, + -1866.5926, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -994.1181, + -1866.5926, + 850.0 + ], + "actual_end_pos": [ + -994.1181, + -1866.5926, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -994.1181, + -1866.5926, + 850.0 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -994.1181, + -1965.7371, + 863.0526 + ], + "actual_end_pos": [ + -994.1181, + -1965.7371, + 863.0526 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -994.1181, + -1965.7371, + 863.0526 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -994.1181, + -2064.8816, + 876.1052 + ], + "actual_end_pos": [ + -994.1181, + -2064.8816, + 876.1052 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -994.1181, + -2064.8816, + 876.1052 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -994.1181, + -2164.026, + 889.1579 + ], + "actual_end_pos": [ + -994.1181, + -2164.026, + 889.1579 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -994.1181, + -2164.026, + 889.1579 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -994.1181, + -2164.026, + 889.1579 + ], + "actual_end_pos": [ + -994.1181, + -2164.026, + 889.1579 + ], + "actual_end_rot": [ + 7.5, + -75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -994.1181, + -2164.026, + 889.1579 + ], + "start_rot": [ + 7.5, + -75.0, + -0.0 + ], + "expected_end_pos": [ + -968.4576, + -2259.7923, + 902.2105 + ], + "actual_end_pos": [ + -968.4576, + -2259.7923, + 902.2105 + ], + "actual_end_rot": [ + 7.5, + -75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -968.4576, + -2259.7923, + 902.2105 + ], + "start_rot": [ + 7.5, + -75.0, + -0.0 + ], + "expected_end_pos": [ + -871.865, + -2233.9104, + 902.2105 + ], + "actual_end_pos": [ + -871.865, + -2233.9104, + 902.2105 + ], + "actual_end_rot": [ + 7.5, + -75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -871.865, + -2233.9104, + 902.2105 + ], + "start_rot": [ + 7.5, + -75.0, + -0.0 + ], + "expected_end_pos": [ + -968.4576, + -2259.7923, + 902.2105 + ], + "actual_end_pos": [ + -968.4576, + -2259.7923, + 902.2105 + ], + "actual_end_rot": [ + 7.5, + -75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -968.4576, + -2259.7923, + 902.2105 + ], + "start_rot": [ + 7.5, + -75.0, + -0.0 + ], + "expected_end_pos": [ + -968.4576, + -2259.7923, + 902.2105 + ], + "actual_end_pos": [ + -968.4576, + -2259.7923, + 902.2105 + ], + "actual_end_rot": [ + 7.5, + -75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -968.4576, + -2259.7923, + 902.2105 + ], + "start_rot": [ + 7.5, + -75.0, + -0.0 + ], + "expected_end_pos": [ + -968.4576, + -2259.7923, + 902.2105 + ], + "actual_end_pos": [ + -968.4576, + -2259.7923, + 902.2105 + ], + "actual_end_rot": [ + 7.5, + -75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -968.4576, + -2259.7923, + 902.2105 + ], + "start_rot": [ + 7.5, + -75.0, + -0.0 + ], + "expected_end_pos": [ + -968.4576, + -2259.7923, + 902.2105 + ], + "actual_end_pos": [ + -968.4576, + -2259.7923, + 902.2105 + ], + "actual_end_rot": [ + 7.5, + -75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -968.4576, + -2259.7923, + 902.2105 + ], + "start_rot": [ + 7.5, + -75.0, + -0.0 + ], + "expected_end_pos": [ + -968.4576, + -2259.7923, + 902.2105 + ], + "actual_end_pos": [ + -968.4576, + -2259.7923, + 902.2105 + ], + "actual_end_rot": [ + 7.5, + -75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -968.4576, + -2259.7923, + 902.2105 + ], + "start_rot": [ + 7.5, + -75.0, + -0.0 + ], + "expected_end_pos": [ + -968.4576, + -2259.7923, + 902.2105 + ], + "actual_end_pos": [ + -968.4576, + -2259.7923, + 902.2105 + ], + "actual_end_rot": [ + 7.5, + -75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -968.4576, + -2259.7923, + 902.2105 + ], + "start_rot": [ + 7.5, + -75.0, + -0.0 + ], + "expected_end_pos": [ + -968.4576, + -2259.7923, + 902.2105 + ], + "actual_end_pos": [ + -968.4576, + -2259.7923, + 902.2105 + ], + "actual_end_rot": [ + 7.5, + -75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -968.4576, + -2259.7923, + 902.2105 + ], + "start_rot": [ + 7.5, + -75.0, + -0.0 + ], + "expected_end_pos": [ + -968.4576, + -2259.7923, + 902.2105 + ], + "actual_end_pos": [ + -968.4576, + -2259.7923, + 902.2105 + ], + "actual_end_rot": [ + 7.5, + -75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -968.4576, + -2259.7923, + 902.2105 + ], + "start_rot": [ + 7.5, + -75.0, + -0.0 + ], + "expected_end_pos": [ + -968.4576, + -2259.7923, + 902.2105 + ], + "actual_end_pos": [ + -968.4576, + -2259.7923, + 902.2105 + ], + "actual_end_rot": [ + 7.5, + -75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -968.4576, + -2259.7923, + 902.2105 + ], + "start_rot": [ + 7.5, + -75.0, + -0.0 + ], + "expected_end_pos": [ + -968.4576, + -2259.7923, + 902.2105 + ], + "actual_end_pos": [ + -968.4576, + -2259.7923, + 902.2105 + ], + "actual_end_rot": [ + 7.5, + -75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -968.4576, + -2259.7923, + 902.2105 + ], + "start_rot": [ + 7.5, + -75.0, + -0.0 + ], + "expected_end_pos": [ + -968.4576, + -2259.7923, + 902.2105 + ], + "actual_end_pos": [ + -968.4576, + -2259.7923, + 902.2105 + ], + "actual_end_rot": [ + 7.5, + -75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -968.4576, + -2259.7923, + 902.2105 + ], + "start_rot": [ + 7.5, + -75.0, + -0.0 + ], + "expected_end_pos": [ + -871.865, + -2233.9104, + 902.2105 + ], + "actual_end_pos": [ + -871.865, + -2233.9104, + 902.2105 + ], + "actual_end_rot": [ + 7.5, + -75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -871.865, + -2233.9104, + 902.2105 + ], + "start_rot": [ + 7.5, + -75.0, + -0.0 + ], + "expected_end_pos": [ + -968.4576, + -2259.7923, + 902.2105 + ], + "actual_end_pos": [ + -968.4576, + -2259.7923, + 902.2105 + ], + "actual_end_rot": [ + 7.5, + -75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -968.4576, + -2259.7923, + 902.2105 + ], + "start_rot": [ + 7.5, + -75.0, + -0.0 + ], + "expected_end_pos": [ + -994.1181, + -2164.026, + 889.1579 + ], + "actual_end_pos": [ + -994.1181, + -2164.026, + 889.1579 + ], + "actual_end_rot": [ + 7.5, + -75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -994.1181, + -2164.026, + 889.1579 + ], + "start_rot": [ + 7.5, + -75.0, + -0.0 + ], + "expected_end_pos": [ + -994.1181, + -2164.026, + 889.1579 + ], + "actual_end_pos": [ + -994.1181, + -2164.026, + 889.1579 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -994.1181, + -2164.026, + 889.1579 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -994.1181, + -2064.8816, + 876.1052 + ], + "actual_end_pos": [ + -994.1181, + -2064.8816, + 876.1052 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -994.1181, + -2064.8816, + 876.1052 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -994.1181, + -1965.7371, + 863.0526 + ], + "actual_end_pos": [ + -994.1181, + -1965.7371, + 863.0526 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -994.1181, + -1965.7371, + 863.0526 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -994.1181, + -1866.5926, + 850.0 + ], + "actual_end_pos": [ + -994.1181, + -1866.5926, + 850.0 + ], + "actual_end_rot": [ + 7.5, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -994.1181, + -1866.5926, + 850.0 + ], + "start_rot": [ + 7.5, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -994.1181, + -1866.5926, + 850.0 + ], + "actual_end_pos": [ + -994.1181, + -1866.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -994.1181, + -1866.5926, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -1094.1181, + -1866.5926, + 850.0 + ], + "actual_end_pos": [ + -1094.1181, + -1866.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1094.1181, + -1866.5926, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -1094.1181, + -1866.5926, + 850.0 + ], + "actual_end_pos": [ + -1094.1181, + -1866.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1094.1181, + -1866.5926, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -1120.0, + -1770.0, + 850.0 + ], + "actual_end_pos": [ + -1120.0, + -1770.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1120.0, + -1770.0, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -1120.0, + -1770.0, + 850.0 + ], + "actual_end_pos": [ + -1120.0, + -1770.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1120.0, + -1770.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -1120.0, + -1770.0, + 850.0 + ], + "actual_end_pos": [ + -1120.0, + -1770.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1120.0, + -1770.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -1220.0, + -1770.0, + 850.0 + ], + "actual_end_pos": [ + -1220.0, + -1770.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1220.0, + -1770.0, + 850.0 + ], + "start_rot": [ + 0.0, + -90.0, + 0.0 + ], + "expected_end_pos": [ + -1320.0, + -1770.0, + 850.0 + ], + "actual_end_pos": [ + -1320.0, + -1770.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260422_172644__traj_001204_meta.json b/inverse_easy/run_20260422_172644__traj_001204_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1793643bf0fced9eb781114bac87b0fc07008f8c --- /dev/null +++ b/inverse_easy/run_20260422_172644__traj_001204_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 1204, + "episode_id": 0, + "state_id": 880, + "sample_index": 880, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -1320.0, + -1370.0, + 850.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_left", + "turn_left", + "no_op", + "move_backward", + "move_backward", + "look_down", + "move_right", + "move_backward", + "turn_left", + "move_left", + "turn_right", + "move_left", + "move_backward", + "move_backward", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "move_right", + "move_forward", + "move_forward", + "move_right", + "turn_left", + "move_right", + "turn_right", + "move_forward", + "move_left", + "look_up", + "move_forward", + "move_forward", + "no_op", + "turn_right", + "turn_right" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1320.0, + -1370.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1320.0, + -1370.0, + 850.0 + ], + "actual_end_pos": [ + -1320.0, + -1370.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1320.0, + -1370.0, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -1320.0, + -1370.0, + 850.0 + ], + "actual_end_pos": [ + -1320.0, + -1370.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1320.0, + -1370.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1320.0, + -1370.0, + 850.0 + ], + "actual_end_pos": [ + -1320.0, + -1370.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1320.0, + -1370.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1406.6025, + -1320.0, + 850.0 + ], + "actual_end_pos": [ + -1406.6025, + -1320.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1406.6025, + -1320.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1493.2051, + -1270.0, + 850.0 + ], + "actual_end_pos": [ + -1493.2051, + -1270.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -1493.2051, + -1270.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1493.2051, + -1270.0, + 850.0 + ], + "actual_end_pos": [ + -1493.2051, + -1270.0, + 850.0 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1493.2051, + -1270.0, + 850.0 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1443.2051, + -1183.3975, + 850.0 + ], + "actual_end_pos": [ + -1443.2051, + -1183.3975, + 850.0 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1443.2051, + -1183.3975, + 850.0 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1529.0667, + -1133.8252, + 863.0526 + ], + "actual_end_pos": [ + -1529.0667, + -1133.8252, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1529.0667, + -1133.8252, + 863.0526 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1529.0667, + -1133.8252, + 863.0526 + ], + "actual_end_pos": [ + -1529.0667, + -1133.8252, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1529.0667, + -1133.8252, + 863.0526 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1599.7774, + -1204.5359, + 863.0526 + ], + "actual_end_pos": [ + -1599.7774, + -1204.5359, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1599.7774, + -1204.5359, + 863.0526 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1599.7774, + -1204.5359, + 863.0526 + ], + "actual_end_pos": [ + -1599.7774, + -1204.5359, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1599.7774, + -1204.5359, + 863.0526 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1649.7774, + -1291.1384, + 863.0526 + ], + "actual_end_pos": [ + -1649.7774, + -1291.1384, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1649.7774, + -1291.1384, + 863.0526 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1735.639, + -1241.5662, + 876.1052 + ], + "actual_end_pos": [ + -1735.639, + -1241.5662, + 876.1052 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1735.639, + -1241.5662, + 876.1052 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1821.5007, + -1191.994, + 889.1579 + ], + "actual_end_pos": [ + -1821.5007, + -1191.994, + 889.1579 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1821.5007, + -1191.994, + 889.1579 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1871.5007, + -1278.5965, + 889.1579 + ], + "actual_end_pos": [ + -1871.5007, + -1278.5965, + 889.1579 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1871.5007, + -1278.5965, + 889.1579 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1871.5007, + -1278.5965, + 889.1579 + ], + "actual_end_pos": [ + -1871.5007, + -1278.5965, + 889.1579 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1871.5007, + -1278.5965, + 889.1579 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1871.5007, + -1278.5965, + 889.1579 + ], + "actual_end_pos": [ + -1871.5007, + -1278.5965, + 889.1579 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1871.5007, + -1278.5965, + 889.1579 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1871.5007, + -1278.5965, + 889.1579 + ], + "actual_end_pos": [ + -1871.5007, + -1278.5965, + 889.1579 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1871.5007, + -1278.5965, + 889.1579 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1871.5007, + -1278.5965, + 889.1579 + ], + "actual_end_pos": [ + -1871.5007, + -1278.5965, + 889.1579 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1871.5007, + -1278.5965, + 889.1579 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1871.5007, + -1278.5965, + 889.1579 + ], + "actual_end_pos": [ + -1871.5007, + -1278.5965, + 889.1579 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1871.5007, + -1278.5965, + 889.1579 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1871.5007, + -1278.5965, + 889.1579 + ], + "actual_end_pos": [ + -1871.5007, + -1278.5965, + 889.1579 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1871.5007, + -1278.5965, + 889.1579 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1871.5007, + -1278.5965, + 889.1579 + ], + "actual_end_pos": [ + -1871.5007, + -1278.5965, + 889.1579 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1871.5007, + -1278.5965, + 889.1579 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1871.5007, + -1278.5965, + 889.1579 + ], + "actual_end_pos": [ + -1871.5007, + -1278.5965, + 889.1579 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1871.5007, + -1278.5965, + 889.1579 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1871.5007, + -1278.5965, + 889.1579 + ], + "actual_end_pos": [ + -1871.5007, + -1278.5965, + 889.1579 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1871.5007, + -1278.5965, + 889.1579 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1871.5007, + -1278.5965, + 889.1579 + ], + "actual_end_pos": [ + -1871.5007, + -1278.5965, + 889.1579 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1871.5007, + -1278.5965, + 889.1579 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1821.5007, + -1191.994, + 889.1579 + ], + "actual_end_pos": [ + -1821.5007, + -1191.994, + 889.1579 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1821.5007, + -1191.994, + 889.1579 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1735.639, + -1241.5662, + 876.1052 + ], + "actual_end_pos": [ + -1735.639, + -1241.5662, + 876.1052 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1735.639, + -1241.5662, + 876.1052 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1649.7774, + -1291.1384, + 863.0526 + ], + "actual_end_pos": [ + -1649.7774, + -1291.1384, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1649.7774, + -1291.1384, + 863.0526 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1599.7774, + -1204.5359, + 863.0526 + ], + "actual_end_pos": [ + -1599.7774, + -1204.5359, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1599.7774, + -1204.5359, + 863.0526 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1599.7774, + -1204.5359, + 863.0526 + ], + "actual_end_pos": [ + -1599.7774, + -1204.5359, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1599.7774, + -1204.5359, + 863.0526 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1529.0667, + -1133.8252, + 863.0526 + ], + "actual_end_pos": [ + -1529.0667, + -1133.8252, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1529.0667, + -1133.8252, + 863.0526 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -1529.0667, + -1133.8252, + 863.0526 + ], + "actual_end_pos": [ + -1529.0667, + -1133.8252, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1529.0667, + -1133.8252, + 863.0526 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1443.2051, + -1183.3975, + 850.0 + ], + "actual_end_pos": [ + -1443.2051, + -1183.3975, + 850.0 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1443.2051, + -1183.3975, + 850.0 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1493.2051, + -1270.0, + 850.0 + ], + "actual_end_pos": [ + -1493.2051, + -1270.0, + 850.0 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -1493.2051, + -1270.0, + 850.0 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1493.2051, + -1270.0, + 850.0 + ], + "actual_end_pos": [ + -1493.2051, + -1270.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1493.2051, + -1270.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1406.6025, + -1320.0, + 850.0 + ], + "actual_end_pos": [ + -1406.6025, + -1320.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1406.6025, + -1320.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1320.0, + -1370.0, + 850.0 + ], + "actual_end_pos": [ + -1320.0, + -1370.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1320.0, + -1370.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1320.0, + -1370.0, + 850.0 + ], + "actual_end_pos": [ + -1320.0, + -1370.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1320.0, + -1370.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1320.0, + -1370.0, + 850.0 + ], + "actual_end_pos": [ + -1320.0, + -1370.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1320.0, + -1370.0, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -1320.0, + -1370.0, + 850.0 + ], + "actual_end_pos": [ + -1320.0, + -1370.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260422_172644__traj_001226_meta.json b/inverse_easy/run_20260422_172644__traj_001226_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..352de2f12e7ce24d79d588b87db54e11fa4ef39e --- /dev/null +++ b/inverse_easy/run_20260422_172644__traj_001226_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 1226, + "episode_id": 0, + "state_id": 896, + "sample_index": 896, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -1320.0, + -170.0, + 850.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_left", + "no_op", + "turn_right", + "turn_right", + "look_up", + "move_backward", + "turn_left", + "move_backward", + "look_down", + "move_forward", + "turn_left", + "look_up", + "turn_right", + "move_forward", + "move_right", + "turn_left", + "turn_left", + "look_up", + "move_left", + "no_op", + "no_op", + "move_right", + "look_down", + "turn_right", + "turn_right", + "move_left", + "move_backward", + "turn_left", + "look_down", + "turn_right", + "move_backward", + "look_up", + "move_forward", + "turn_right", + "move_forward", + "look_down", + "turn_left", + "turn_left", + "no_op", + "turn_right" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1320.0, + -170.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1320.0, + -170.0, + 850.0 + ], + "actual_end_pos": [ + -1320.0, + -170.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1320.0, + -170.0, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -1320.0, + -170.0, + 850.0 + ], + "actual_end_pos": [ + -1320.0, + -170.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1320.0, + -170.0, + 850.0 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -1320.0, + -170.0, + 850.0 + ], + "actual_end_pos": [ + -1320.0, + -170.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1320.0, + -170.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1320.0, + -170.0, + 850.0 + ], + "actual_end_pos": [ + -1320.0, + -170.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -1320.0, + -170.0, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -1320.0, + -170.0, + 850.0 + ], + "actual_end_pos": [ + -1320.0, + -170.0, + 850.0 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1320.0, + -170.0, + 850.0 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -1415.7662, + -195.6605, + 836.9474 + ], + "actual_end_pos": [ + -1415.7662, + -195.6605, + 836.9474 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1415.7662, + -195.6605, + 836.9474 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -1415.7662, + -195.6605, + 836.9474 + ], + "actual_end_pos": [ + -1415.7662, + -195.6605, + 836.9474 + ], + "actual_end_rot": [ + 7.5, + 0.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1415.7662, + -195.6605, + 836.9474 + ], + "start_rot": [ + 7.5, + 0.0, + -0.0 + ], + "expected_end_pos": [ + -1514.9107, + -195.6605, + 823.8948 + ], + "actual_end_pos": [ + -1514.9107, + -195.6605, + 823.8948 + ], + "actual_end_rot": [ + 7.5, + 0.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -1514.9107, + -195.6605, + 823.8948 + ], + "start_rot": [ + 7.5, + 0.0, + -0.0 + ], + "expected_end_pos": [ + -1514.9107, + -195.6605, + 823.8948 + ], + "actual_end_pos": [ + -1514.9107, + -195.6605, + 823.8948 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1514.9107, + -195.6605, + 823.8948 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1414.9107, + -195.6605, + 823.8948 + ], + "actual_end_pos": [ + -1414.9107, + -195.6605, + 823.8948 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1414.9107, + -195.6605, + 823.8948 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1414.9107, + -195.6605, + 823.8948 + ], + "actual_end_pos": [ + -1414.9107, + -195.6605, + 823.8948 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -1414.9107, + -195.6605, + 823.8948 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -1414.9107, + -195.6605, + 823.8948 + ], + "actual_end_pos": [ + -1414.9107, + -195.6605, + 823.8948 + ], + "actual_end_rot": [ + 7.5, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1414.9107, + -195.6605, + 823.8948 + ], + "start_rot": [ + 7.5, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -1414.9107, + -195.6605, + 823.8948 + ], + "actual_end_pos": [ + -1414.9107, + -195.6605, + 823.8948 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1414.9107, + -195.6605, + 823.8948 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1315.7662, + -195.6605, + 836.9474 + ], + "actual_end_pos": [ + -1315.7662, + -195.6605, + 836.9474 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1315.7662, + -195.6605, + 836.9474 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1315.7662, + -95.6605, + 836.9474 + ], + "actual_end_pos": [ + -1315.7662, + -95.6605, + 836.9474 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1315.7662, + -95.6605, + 836.9474 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1315.7662, + -95.6605, + 836.9474 + ], + "actual_end_pos": [ + -1315.7662, + -95.6605, + 836.9474 + ], + "actual_end_rot": [ + 7.5, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1315.7662, + -95.6605, + 836.9474 + ], + "start_rot": [ + 7.5, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -1315.7662, + -95.6605, + 836.9474 + ], + "actual_end_pos": [ + -1315.7662, + -95.6605, + 836.9474 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -1315.7662, + -95.6605, + 836.9474 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1315.7662, + -95.6605, + 836.9474 + ], + "actual_end_pos": [ + -1315.7662, + -95.6605, + 836.9474 + ], + "actual_end_rot": [ + 15.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1315.7662, + -95.6605, + 836.9474 + ], + "start_rot": [ + 15.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1365.7662, + -182.263, + 836.9474 + ], + "actual_end_pos": [ + -1365.7662, + -182.263, + 836.9474 + ], + "actual_end_rot": [ + 15.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1365.7662, + -182.263, + 836.9474 + ], + "start_rot": [ + 15.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1365.7662, + -182.263, + 836.9474 + ], + "actual_end_pos": [ + -1365.7662, + -182.263, + 836.9474 + ], + "actual_end_rot": [ + 15.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1365.7662, + -182.263, + 836.9474 + ], + "start_rot": [ + 15.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1365.7662, + -182.263, + 836.9474 + ], + "actual_end_pos": [ + -1365.7662, + -182.263, + 836.9474 + ], + "actual_end_rot": [ + 15.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1365.7662, + -182.263, + 836.9474 + ], + "start_rot": [ + 15.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1315.7662, + -95.6605, + 836.9474 + ], + "actual_end_pos": [ + -1315.7662, + -95.6605, + 836.9474 + ], + "actual_end_rot": [ + 15.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -1315.7662, + -95.6605, + 836.9474 + ], + "start_rot": [ + 15.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1315.7662, + -95.6605, + 836.9474 + ], + "actual_end_pos": [ + -1315.7662, + -95.6605, + 836.9474 + ], + "actual_end_rot": [ + 7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1315.7662, + -95.6605, + 836.9474 + ], + "start_rot": [ + 7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -1315.7662, + -95.6605, + 836.9474 + ], + "actual_end_pos": [ + -1315.7662, + -95.6605, + 836.9474 + ], + "actual_end_rot": [ + 7.5, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1315.7662, + -95.6605, + 836.9474 + ], + "start_rot": [ + 7.5, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -1315.7662, + -95.6605, + 836.9474 + ], + "actual_end_pos": [ + -1315.7662, + -95.6605, + 836.9474 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1315.7662, + -95.6605, + 836.9474 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1315.7662, + -195.6605, + 836.9474 + ], + "actual_end_pos": [ + -1315.7662, + -195.6605, + 836.9474 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1315.7662, + -195.6605, + 836.9474 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1414.9107, + -195.6605, + 823.8948 + ], + "actual_end_pos": [ + -1414.9107, + -195.6605, + 823.8948 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1414.9107, + -195.6605, + 823.8948 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1414.9107, + -195.6605, + 823.8948 + ], + "actual_end_pos": [ + -1414.9107, + -195.6605, + 823.8948 + ], + "actual_end_rot": [ + 7.5, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -1414.9107, + -195.6605, + 823.8948 + ], + "start_rot": [ + 7.5, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -1414.9107, + -195.6605, + 823.8948 + ], + "actual_end_pos": [ + -1414.9107, + -195.6605, + 823.8948 + ], + "actual_end_rot": [ + 0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1414.9107, + -195.6605, + 823.8948 + ], + "start_rot": [ + 0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -1414.9107, + -195.6605, + 823.8948 + ], + "actual_end_pos": [ + -1414.9107, + -195.6605, + 823.8948 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1414.9107, + -195.6605, + 823.8948 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1514.9107, + -195.6605, + 823.8948 + ], + "actual_end_pos": [ + -1514.9107, + -195.6605, + 823.8948 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -1514.9107, + -195.6605, + 823.8948 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1514.9107, + -195.6605, + 823.8948 + ], + "actual_end_pos": [ + -1514.9107, + -195.6605, + 823.8948 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1514.9107, + -195.6605, + 823.8948 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1415.7662, + -195.6605, + 836.9474 + ], + "actual_end_pos": [ + -1415.7662, + -195.6605, + 836.9474 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1415.7662, + -195.6605, + 836.9474 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1415.7662, + -195.6605, + 836.9474 + ], + "actual_end_pos": [ + -1415.7662, + -195.6605, + 836.9474 + ], + "actual_end_rot": [ + 7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1415.7662, + -195.6605, + 836.9474 + ], + "start_rot": [ + 7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -1320.0, + -170.0, + 850.0 + ], + "actual_end_pos": [ + -1320.0, + -170.0, + 850.0 + ], + "actual_end_rot": [ + 7.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -1320.0, + -170.0, + 850.0 + ], + "start_rot": [ + 7.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -1320.0, + -170.0, + 850.0 + ], + "actual_end_pos": [ + -1320.0, + -170.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1320.0, + -170.0, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -1320.0, + -170.0, + 850.0 + ], + "actual_end_pos": [ + -1320.0, + -170.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1320.0, + -170.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1320.0, + -170.0, + 850.0 + ], + "actual_end_pos": [ + -1320.0, + -170.0, + 850.0 + ], + "actual_end_rot": [ + -0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1320.0, + -170.0, + 850.0 + ], + "start_rot": [ + -0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -1320.0, + -170.0, + 850.0 + ], + "actual_end_pos": [ + -1320.0, + -170.0, + 850.0 + ], + "actual_end_rot": [ + -0.0, + -15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1320.0, + -170.0, + 850.0 + ], + "start_rot": [ + -0.0, + -15.0, + 0.0 + ], + "expected_end_pos": [ + -1320.0, + -170.0, + 850.0 + ], + "actual_end_pos": [ + -1320.0, + -170.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260422_172644__traj_001240_meta.json b/inverse_easy/run_20260422_172644__traj_001240_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4aa1c2b7385562d94d5420a456524679b11c6869 --- /dev/null +++ b/inverse_easy/run_20260422_172644__traj_001240_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 1240, + "episode_id": 0, + "state_id": 907, + "sample_index": 907, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -1320.0, + 30.0, + 850.0 + ], + "rotation": [ + 0.0, + 135.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "turn_left", + "no_op", + "turn_right", + "move_backward", + "move_left", + "move_right", + "move_forward", + "look_up", + "turn_left", + "turn_left", + "move_right", + "turn_left", + "move_left", + "turn_left", + "move_backward", + "move_backward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "move_forward", + "move_forward", + "turn_right", + "move_right", + "turn_right", + "move_left", + "turn_right", + "turn_right", + "look_down", + "move_backward", + "move_left", + "move_right", + "move_forward", + "turn_left", + "no_op", + "turn_right", + "move_backward" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1320.0, + 30.0, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1390.7107, + 100.7107, + 850.0 + ], + "actual_end_pos": [ + -1390.7107, + 100.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1390.7107, + 100.7107, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1390.7107, + 100.7107, + 850.0 + ], + "actual_end_pos": [ + -1390.7107, + 100.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1390.7107, + 100.7107, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -1390.7107, + 100.7107, + 850.0 + ], + "actual_end_pos": [ + -1390.7107, + 100.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1390.7107, + 100.7107, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -1390.7107, + 100.7107, + 850.0 + ], + "actual_end_pos": [ + -1390.7107, + 100.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1390.7107, + 100.7107, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1320.0, + 30.0, + 850.0 + ], + "actual_end_pos": [ + -1320.0, + 30.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1320.0, + 30.0, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1249.2893, + 100.7107, + 850.0 + ], + "actual_end_pos": [ + -1249.2893, + 100.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1249.2893, + 100.7107, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1320.0, + 30.0, + 850.0 + ], + "actual_end_pos": [ + -1320.0, + 30.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1320.0, + 30.0, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1390.7107, + 100.7107, + 850.0 + ], + "actual_end_pos": [ + -1390.7107, + 100.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -1390.7107, + 100.7107, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1390.7107, + 100.7107, + 850.0 + ], + "actual_end_pos": [ + -1390.7107, + 100.7107, + 850.0 + ], + "actual_end_rot": [ + 7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1390.7107, + 100.7107, + 850.0 + ], + "start_rot": [ + 7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1390.7107, + 100.7107, + 850.0 + ], + "actual_end_pos": [ + -1390.7107, + 100.7107, + 850.0 + ], + "actual_end_rot": [ + 7.5, + 120.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1390.7107, + 100.7107, + 850.0 + ], + "start_rot": [ + 7.5, + 120.0, + -0.0 + ], + "expected_end_pos": [ + -1390.7107, + 100.7107, + 850.0 + ], + "actual_end_pos": [ + -1390.7107, + 100.7107, + 850.0 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1390.7107, + 100.7107, + 850.0 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -1487.3033, + 74.8288, + 850.0 + ], + "actual_end_pos": [ + -1487.3033, + 74.8288, + 850.0 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1487.3033, + 74.8288, + 850.0 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -1487.3033, + 74.8288, + 850.0 + ], + "actual_end_pos": [ + -1487.3033, + 74.8288, + 850.0 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1487.3033, + 74.8288, + 850.0 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1387.3033, + 74.8288, + 850.0 + ], + "actual_end_pos": [ + -1387.3033, + 74.8288, + 850.0 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1387.3033, + 74.8288, + 850.0 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1387.3033, + 74.8288, + 850.0 + ], + "actual_end_pos": [ + -1387.3033, + 74.8288, + 850.0 + ], + "actual_end_rot": [ + 7.5, + 75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1387.3033, + 74.8288, + 850.0 + ], + "start_rot": [ + 7.5, + 75.0, + -0.0 + ], + "expected_end_pos": [ + -1412.9637, + -20.9374, + 836.9474 + ], + "actual_end_pos": [ + -1412.9637, + -20.9374, + 836.9474 + ], + "actual_end_rot": [ + 7.5, + 75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1412.9637, + -20.9374, + 836.9474 + ], + "start_rot": [ + 7.5, + 75.0, + -0.0 + ], + "expected_end_pos": [ + -1438.6242, + -116.7037, + 823.8948 + ], + "actual_end_pos": [ + -1438.6242, + -116.7037, + 823.8948 + ], + "actual_end_rot": [ + 7.5, + 75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1438.6242, + -116.7037, + 823.8948 + ], + "start_rot": [ + 7.5, + 75.0, + -0.0 + ], + "expected_end_pos": [ + -1438.6242, + -116.7037, + 823.8948 + ], + "actual_end_pos": [ + -1438.6242, + -116.7037, + 823.8948 + ], + "actual_end_rot": [ + 7.5, + 75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1438.6242, + -116.7037, + 823.8948 + ], + "start_rot": [ + 7.5, + 75.0, + -0.0 + ], + "expected_end_pos": [ + -1438.6242, + -116.7037, + 823.8948 + ], + "actual_end_pos": [ + -1438.6242, + -116.7037, + 823.8948 + ], + "actual_end_rot": [ + 7.5, + 75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1438.6242, + -116.7037, + 823.8948 + ], + "start_rot": [ + 7.5, + 75.0, + -0.0 + ], + "expected_end_pos": [ + -1438.6242, + -116.7037, + 823.8948 + ], + "actual_end_pos": [ + -1438.6242, + -116.7037, + 823.8948 + ], + "actual_end_rot": [ + 7.5, + 75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1438.6242, + -116.7037, + 823.8948 + ], + "start_rot": [ + 7.5, + 75.0, + -0.0 + ], + "expected_end_pos": [ + -1438.6242, + -116.7037, + 823.8948 + ], + "actual_end_pos": [ + -1438.6242, + -116.7037, + 823.8948 + ], + "actual_end_rot": [ + 7.5, + 75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1438.6242, + -116.7037, + 823.8948 + ], + "start_rot": [ + 7.5, + 75.0, + -0.0 + ], + "expected_end_pos": [ + -1438.6242, + -116.7037, + 823.8948 + ], + "actual_end_pos": [ + -1438.6242, + -116.7037, + 823.8948 + ], + "actual_end_rot": [ + 7.5, + 75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1438.6242, + -116.7037, + 823.8948 + ], + "start_rot": [ + 7.5, + 75.0, + -0.0 + ], + "expected_end_pos": [ + -1438.6242, + -116.7037, + 823.8948 + ], + "actual_end_pos": [ + -1438.6242, + -116.7037, + 823.8948 + ], + "actual_end_rot": [ + 7.5, + 75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1438.6242, + -116.7037, + 823.8948 + ], + "start_rot": [ + 7.5, + 75.0, + -0.0 + ], + "expected_end_pos": [ + -1412.9637, + -20.9374, + 836.9474 + ], + "actual_end_pos": [ + -1412.9637, + -20.9374, + 836.9474 + ], + "actual_end_rot": [ + 7.5, + 75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1412.9637, + -20.9374, + 836.9474 + ], + "start_rot": [ + 7.5, + 75.0, + -0.0 + ], + "expected_end_pos": [ + -1387.3033, + 74.8288, + 850.0 + ], + "actual_end_pos": [ + -1387.3033, + 74.8288, + 850.0 + ], + "actual_end_rot": [ + 7.5, + 75.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1387.3033, + 74.8288, + 850.0 + ], + "start_rot": [ + 7.5, + 75.0, + -0.0 + ], + "expected_end_pos": [ + -1387.3033, + 74.8288, + 850.0 + ], + "actual_end_pos": [ + -1387.3033, + 74.8288, + 850.0 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1387.3033, + 74.8288, + 850.0 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1487.3033, + 74.8288, + 850.0 + ], + "actual_end_pos": [ + -1487.3033, + 74.8288, + 850.0 + ], + "actual_end_rot": [ + 7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1487.3033, + 74.8288, + 850.0 + ], + "start_rot": [ + 7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -1487.3033, + 74.8288, + 850.0 + ], + "actual_end_pos": [ + -1487.3033, + 74.8288, + 850.0 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1487.3033, + 74.8288, + 850.0 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -1390.7107, + 100.7107, + 850.0 + ], + "actual_end_pos": [ + -1390.7107, + 100.7107, + 850.0 + ], + "actual_end_rot": [ + 7.5, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1390.7107, + 100.7107, + 850.0 + ], + "start_rot": [ + 7.5, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -1390.7107, + 100.7107, + 850.0 + ], + "actual_end_pos": [ + -1390.7107, + 100.7107, + 850.0 + ], + "actual_end_rot": [ + 7.5, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1390.7107, + 100.7107, + 850.0 + ], + "start_rot": [ + 7.5, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -1390.7107, + 100.7107, + 850.0 + ], + "actual_end_pos": [ + -1390.7107, + 100.7107, + 850.0 + ], + "actual_end_rot": [ + 7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -1390.7107, + 100.7107, + 850.0 + ], + "start_rot": [ + 7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1390.7107, + 100.7107, + 850.0 + ], + "actual_end_pos": [ + -1390.7107, + 100.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1390.7107, + 100.7107, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1320.0, + 30.0, + 850.0 + ], + "actual_end_pos": [ + -1320.0, + 30.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1320.0, + 30.0, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1249.2893, + 100.7107, + 850.0 + ], + "actual_end_pos": [ + -1249.2893, + 100.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1249.2893, + 100.7107, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1320.0, + 30.0, + 850.0 + ], + "actual_end_pos": [ + -1320.0, + 30.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1320.0, + 30.0, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1390.7107, + 100.7107, + 850.0 + ], + "actual_end_pos": [ + -1390.7107, + 100.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1390.7107, + 100.7107, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1390.7107, + 100.7107, + 850.0 + ], + "actual_end_pos": [ + -1390.7107, + 100.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1390.7107, + 100.7107, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -1390.7107, + 100.7107, + 850.0 + ], + "actual_end_pos": [ + -1390.7107, + 100.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 120.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1390.7107, + 100.7107, + 850.0 + ], + "start_rot": [ + 0.0, + 120.0, + 0.0 + ], + "expected_end_pos": [ + -1390.7107, + 100.7107, + 850.0 + ], + "actual_end_pos": [ + -1390.7107, + 100.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1390.7107, + 100.7107, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1320.0, + 30.0, + 850.0 + ], + "actual_end_pos": [ + -1320.0, + 30.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260422_172644__traj_001411_meta.json b/inverse_easy/run_20260422_172644__traj_001411_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9a33241d2a0a23991b7b4b888a54443bae00c507 --- /dev/null +++ b/inverse_easy/run_20260422_172644__traj_001411_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 1411, + "episode_id": 0, + "state_id": 1040, + "sample_index": 1040, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -1120.0, + 230.0, + 850.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "move_right", + "look_up", + "look_up", + "look_up", + "move_left", + "move_left", + "move_backward", + "turn_right", + "move_forward", + "move_forward", + "move_right", + "move_backward", + "look_up", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "look_down", + "move_forward", + "move_left", + "move_backward", + "move_backward", + "turn_left", + "move_forward", + "move_right", + "move_right", + "look_down", + "look_down", + "look_down", + "move_left", + "move_left" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1120.0, + 230.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1120.0, + 330.0, + 850.0 + ], + "actual_end_pos": [ + -1120.0, + 330.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1120.0, + 330.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1120.0, + 430.0, + 850.0 + ], + "actual_end_pos": [ + -1120.0, + 430.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -1120.0, + 430.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1120.0, + 430.0, + 850.0 + ], + "actual_end_pos": [ + -1120.0, + 430.0, + 850.0 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -1120.0, + 430.0, + 850.0 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1120.0, + 430.0, + 850.0 + ], + "actual_end_pos": [ + -1120.0, + 430.0, + 850.0 + ], + "actual_end_rot": [ + 15.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -1120.0, + 430.0, + 850.0 + ], + "start_rot": [ + 15.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1120.0, + 430.0, + 850.0 + ], + "actual_end_pos": [ + -1120.0, + 430.0, + 850.0 + ], + "actual_end_rot": [ + 22.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1120.0, + 430.0, + 850.0 + ], + "start_rot": [ + 22.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1120.0, + 330.0, + 850.0 + ], + "actual_end_pos": [ + -1120.0, + 330.0, + 850.0 + ], + "actual_end_rot": [ + 22.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1120.0, + 330.0, + 850.0 + ], + "start_rot": [ + 22.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1120.0, + 230.0, + 850.0 + ], + "actual_end_pos": [ + -1120.0, + 230.0, + 850.0 + ], + "actual_end_rot": [ + 22.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1120.0, + 230.0, + 850.0 + ], + "start_rot": [ + 22.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1212.388, + 230.0, + 811.7317 + ], + "actual_end_pos": [ + -1212.388, + 230.0, + 811.7317 + ], + "actual_end_rot": [ + 22.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1212.388, + 230.0, + 811.7317 + ], + "start_rot": [ + 22.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1212.388, + 230.0, + 811.7317 + ], + "actual_end_pos": [ + -1212.388, + 230.0, + 811.7317 + ], + "actual_end_rot": [ + 22.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1212.388, + 230.0, + 811.7317 + ], + "start_rot": [ + 22.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -1123.148, + 253.9118, + 850.0 + ], + "actual_end_pos": [ + -1123.148, + 253.9118, + 850.0 + ], + "actual_end_rot": [ + 22.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1123.148, + 253.9118, + 850.0 + ], + "start_rot": [ + 22.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -1033.9081, + 277.8235, + 888.2683 + ], + "actual_end_pos": [ + -1033.9081, + 277.8235, + 888.2683 + ], + "actual_end_rot": [ + 22.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1033.9081, + 277.8235, + 888.2683 + ], + "start_rot": [ + 22.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -1059.79, + 374.4161, + 888.2683 + ], + "actual_end_pos": [ + -1059.79, + 374.4161, + 888.2683 + ], + "actual_end_rot": [ + 22.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1059.79, + 374.4161, + 888.2683 + ], + "start_rot": [ + 22.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -1149.0299, + 350.5043, + 850.0 + ], + "actual_end_pos": [ + -1149.0299, + 350.5043, + 850.0 + ], + "actual_end_rot": [ + 22.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -1149.0299, + 350.5043, + 850.0 + ], + "start_rot": [ + 22.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -1149.0299, + 350.5043, + 850.0 + ], + "actual_end_pos": [ + -1149.0299, + 350.5043, + 850.0 + ], + "actual_end_rot": [ + 30.0, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1149.0299, + 350.5043, + 850.0 + ], + "start_rot": [ + 30.0, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -1149.0299, + 350.5043, + 850.0 + ], + "actual_end_pos": [ + -1149.0299, + 350.5043, + 850.0 + ], + "actual_end_rot": [ + 30.0, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1149.0299, + 350.5043, + 850.0 + ], + "start_rot": [ + 30.0, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -1149.0299, + 350.5043, + 850.0 + ], + "actual_end_pos": [ + -1149.0299, + 350.5043, + 850.0 + ], + "actual_end_rot": [ + 30.0, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1149.0299, + 350.5043, + 850.0 + ], + "start_rot": [ + 30.0, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -1149.0299, + 350.5043, + 850.0 + ], + "actual_end_pos": [ + -1149.0299, + 350.5043, + 850.0 + ], + "actual_end_rot": [ + 30.0, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1149.0299, + 350.5043, + 850.0 + ], + "start_rot": [ + 30.0, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -1149.0299, + 350.5043, + 850.0 + ], + "actual_end_pos": [ + -1149.0299, + 350.5043, + 850.0 + ], + "actual_end_rot": [ + 30.0, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1149.0299, + 350.5043, + 850.0 + ], + "start_rot": [ + 30.0, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -1149.0299, + 350.5043, + 850.0 + ], + "actual_end_pos": [ + -1149.0299, + 350.5043, + 850.0 + ], + "actual_end_rot": [ + 30.0, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1149.0299, + 350.5043, + 850.0 + ], + "start_rot": [ + 30.0, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -1149.0299, + 350.5043, + 850.0 + ], + "actual_end_pos": [ + -1149.0299, + 350.5043, + 850.0 + ], + "actual_end_rot": [ + 30.0, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1149.0299, + 350.5043, + 850.0 + ], + "start_rot": [ + 30.0, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -1149.0299, + 350.5043, + 850.0 + ], + "actual_end_pos": [ + -1149.0299, + 350.5043, + 850.0 + ], + "actual_end_rot": [ + 30.0, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1149.0299, + 350.5043, + 850.0 + ], + "start_rot": [ + 30.0, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -1149.0299, + 350.5043, + 850.0 + ], + "actual_end_pos": [ + -1149.0299, + 350.5043, + 850.0 + ], + "actual_end_rot": [ + 30.0, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1149.0299, + 350.5043, + 850.0 + ], + "start_rot": [ + 30.0, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -1149.0299, + 350.5043, + 850.0 + ], + "actual_end_pos": [ + -1149.0299, + 350.5043, + 850.0 + ], + "actual_end_rot": [ + 30.0, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1149.0299, + 350.5043, + 850.0 + ], + "start_rot": [ + 30.0, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -1149.0299, + 350.5043, + 850.0 + ], + "actual_end_pos": [ + -1149.0299, + 350.5043, + 850.0 + ], + "actual_end_rot": [ + 30.0, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1149.0299, + 350.5043, + 850.0 + ], + "start_rot": [ + 30.0, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -1149.0299, + 350.5043, + 850.0 + ], + "actual_end_pos": [ + -1149.0299, + 350.5043, + 850.0 + ], + "actual_end_rot": [ + 30.0, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1149.0299, + 350.5043, + 850.0 + ], + "start_rot": [ + 30.0, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -1149.0299, + 350.5043, + 850.0 + ], + "actual_end_pos": [ + -1149.0299, + 350.5043, + 850.0 + ], + "actual_end_rot": [ + 30.0, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -1149.0299, + 350.5043, + 850.0 + ], + "start_rot": [ + 30.0, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -1149.0299, + 350.5043, + 850.0 + ], + "actual_end_pos": [ + -1149.0299, + 350.5043, + 850.0 + ], + "actual_end_rot": [ + 22.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1149.0299, + 350.5043, + 850.0 + ], + "start_rot": [ + 22.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -1059.79, + 374.4161, + 888.2683 + ], + "actual_end_pos": [ + -1059.79, + 374.4161, + 888.2683 + ], + "actual_end_rot": [ + 22.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1059.79, + 374.4161, + 888.2683 + ], + "start_rot": [ + 22.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -1033.9081, + 277.8235, + 888.2683 + ], + "actual_end_pos": [ + -1033.9081, + 277.8235, + 888.2683 + ], + "actual_end_rot": [ + 22.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1033.9081, + 277.8235, + 888.2683 + ], + "start_rot": [ + 22.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -1123.148, + 253.9118, + 850.0 + ], + "actual_end_pos": [ + -1123.148, + 253.9118, + 850.0 + ], + "actual_end_rot": [ + 22.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1123.148, + 253.9118, + 850.0 + ], + "start_rot": [ + 22.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -1212.388, + 230.0, + 811.7317 + ], + "actual_end_pos": [ + -1212.388, + 230.0, + 811.7317 + ], + "actual_end_rot": [ + 22.5, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1212.388, + 230.0, + 811.7317 + ], + "start_rot": [ + 22.5, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -1212.388, + 230.0, + 811.7317 + ], + "actual_end_pos": [ + -1212.388, + 230.0, + 811.7317 + ], + "actual_end_rot": [ + 22.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1212.388, + 230.0, + 811.7317 + ], + "start_rot": [ + 22.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1120.0, + 230.0, + 850.0 + ], + "actual_end_pos": [ + -1120.0, + 230.0, + 850.0 + ], + "actual_end_rot": [ + 22.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1120.0, + 230.0, + 850.0 + ], + "start_rot": [ + 22.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1120.0, + 330.0, + 850.0 + ], + "actual_end_pos": [ + -1120.0, + 330.0, + 850.0 + ], + "actual_end_rot": [ + 22.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1120.0, + 330.0, + 850.0 + ], + "start_rot": [ + 22.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1120.0, + 430.0, + 850.0 + ], + "actual_end_pos": [ + -1120.0, + 430.0, + 850.0 + ], + "actual_end_rot": [ + 22.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -1120.0, + 430.0, + 850.0 + ], + "start_rot": [ + 22.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1120.0, + 430.0, + 850.0 + ], + "actual_end_pos": [ + -1120.0, + 430.0, + 850.0 + ], + "actual_end_rot": [ + 15.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -1120.0, + 430.0, + 850.0 + ], + "start_rot": [ + 15.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1120.0, + 430.0, + 850.0 + ], + "actual_end_pos": [ + -1120.0, + 430.0, + 850.0 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -1120.0, + 430.0, + 850.0 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1120.0, + 430.0, + 850.0 + ], + "actual_end_pos": [ + -1120.0, + 430.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1120.0, + 430.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1120.0, + 330.0, + 850.0 + ], + "actual_end_pos": [ + -1120.0, + 330.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1120.0, + 330.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1120.0, + 230.0, + 850.0 + ], + "actual_end_pos": [ + -1120.0, + 230.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260422_172644__traj_001516_meta.json b/inverse_easy/run_20260422_172644__traj_001516_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1ad3e4c1536318d88746ba582da4ecf9084cd987 --- /dev/null +++ b/inverse_easy/run_20260422_172644__traj_001516_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 1516, + "episode_id": 0, + "state_id": 1116, + "sample_index": 1116, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -1120.0, + 4830.0, + 850.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "turn_left", + "move_left", + "move_backward", + "move_left", + "turn_left", + "turn_left", + "move_right", + "turn_right", + "move_right", + "turn_right", + "turn_right", + "no_op", + "move_left", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "move_right", + "no_op", + "turn_left", + "turn_left", + "move_left", + "turn_left", + "move_left", + "turn_right", + "turn_right", + "move_right", + "move_forward", + "move_right", + "turn_right", + "move_left" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1120.0, + 4830.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1120.0, + 4730.0, + 850.0 + ], + "actual_end_pos": [ + -1120.0, + 4730.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1120.0, + 4730.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1120.0, + 4730.0, + 850.0 + ], + "actual_end_pos": [ + -1120.0, + 4730.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1120.0, + 4730.0, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -1094.1181, + 4826.5926, + 850.0 + ], + "actual_end_pos": [ + -1094.1181, + 4826.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1094.1181, + 4826.5926, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -997.5255, + 4800.7107, + 850.0 + ], + "actual_end_pos": [ + -997.5255, + 4800.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -997.5255, + 4800.7107, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -971.6436, + 4897.3033, + 850.0 + ], + "actual_end_pos": [ + -971.6436, + 4897.3033, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -971.6436, + 4897.3033, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -971.6436, + 4897.3033, + 850.0 + ], + "actual_end_pos": [ + -971.6436, + 4897.3033, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -971.6436, + 4897.3033, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -971.6436, + 4897.3033, + 850.0 + ], + "actual_end_pos": [ + -971.6436, + 4897.3033, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -971.6436, + 4897.3033, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1042.3543, + 4826.5926, + 850.0 + ], + "actual_end_pos": [ + -1042.3543, + 4826.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1042.3543, + 4826.5926, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -1042.3543, + 4826.5926, + 850.0 + ], + "actual_end_pos": [ + -1042.3543, + 4826.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1042.3543, + 4826.5926, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -1092.3543, + 4739.99, + 850.0 + ], + "actual_end_pos": [ + -1092.3543, + 4739.99, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1092.3543, + 4739.99, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -1092.3543, + 4739.99, + 850.0 + ], + "actual_end_pos": [ + -1092.3543, + 4739.99, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1092.3543, + 4739.99, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -1092.3543, + 4739.99, + 850.0 + ], + "actual_end_pos": [ + -1092.3543, + 4739.99, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1092.3543, + 4739.99, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1092.3543, + 4739.99, + 850.0 + ], + "actual_end_pos": [ + -1092.3543, + 4739.99, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1092.3543, + 4739.99, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1092.3543, + 4839.99, + 850.0 + ], + "actual_end_pos": [ + -1092.3543, + 4839.99, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1092.3543, + 4839.99, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1092.3543, + 4839.99, + 850.0 + ], + "actual_end_pos": [ + -1092.3543, + 4839.99, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1092.3543, + 4839.99, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1092.3543, + 4839.99, + 850.0 + ], + "actual_end_pos": [ + -1092.3543, + 4839.99, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1092.3543, + 4839.99, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1092.3543, + 4839.99, + 850.0 + ], + "actual_end_pos": [ + -1092.3543, + 4839.99, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1092.3543, + 4839.99, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1092.3543, + 4839.99, + 850.0 + ], + "actual_end_pos": [ + -1092.3543, + 4839.99, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1092.3543, + 4839.99, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1092.3543, + 4839.99, + 850.0 + ], + "actual_end_pos": [ + -1092.3543, + 4839.99, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1092.3543, + 4839.99, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1092.3543, + 4839.99, + 850.0 + ], + "actual_end_pos": [ + -1092.3543, + 4839.99, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1092.3543, + 4839.99, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1092.3543, + 4839.99, + 850.0 + ], + "actual_end_pos": [ + -1092.3543, + 4839.99, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1092.3543, + 4839.99, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1092.3543, + 4839.99, + 850.0 + ], + "actual_end_pos": [ + -1092.3543, + 4839.99, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1092.3543, + 4839.99, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1092.3543, + 4839.99, + 850.0 + ], + "actual_end_pos": [ + -1092.3543, + 4839.99, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1092.3543, + 4839.99, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1092.3543, + 4839.99, + 850.0 + ], + "actual_end_pos": [ + -1092.3543, + 4839.99, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1092.3543, + 4839.99, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1092.3543, + 4839.99, + 850.0 + ], + "actual_end_pos": [ + -1092.3543, + 4839.99, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1092.3543, + 4839.99, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1092.3543, + 4839.99, + 850.0 + ], + "actual_end_pos": [ + -1092.3543, + 4839.99, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1092.3543, + 4839.99, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1092.3543, + 4739.99, + 850.0 + ], + "actual_end_pos": [ + -1092.3543, + 4739.99, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1092.3543, + 4739.99, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1092.3543, + 4739.99, + 850.0 + ], + "actual_end_pos": [ + -1092.3543, + 4739.99, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1092.3543, + 4739.99, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1092.3543, + 4739.99, + 850.0 + ], + "actual_end_pos": [ + -1092.3543, + 4739.99, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1092.3543, + 4739.99, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -1092.3543, + 4739.99, + 850.0 + ], + "actual_end_pos": [ + -1092.3543, + 4739.99, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1092.3543, + 4739.99, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -1042.3543, + 4826.5926, + 850.0 + ], + "actual_end_pos": [ + -1042.3543, + 4826.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1042.3543, + 4826.5926, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -1042.3543, + 4826.5926, + 850.0 + ], + "actual_end_pos": [ + -1042.3543, + 4826.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1042.3543, + 4826.5926, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -971.6436, + 4897.3033, + 850.0 + ], + "actual_end_pos": [ + -971.6436, + 4897.3033, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -971.6436, + 4897.3033, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -971.6436, + 4897.3033, + 850.0 + ], + "actual_end_pos": [ + -971.6436, + 4897.3033, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -971.6436, + 4897.3033, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -971.6436, + 4897.3033, + 850.0 + ], + "actual_end_pos": [ + -971.6436, + 4897.3033, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -971.6436, + 4897.3033, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -997.5255, + 4800.7107, + 850.0 + ], + "actual_end_pos": [ + -997.5255, + 4800.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -997.5255, + 4800.7107, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -1094.1181, + 4826.5926, + 850.0 + ], + "actual_end_pos": [ + -1094.1181, + 4826.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1094.1181, + 4826.5926, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -1120.0, + 4730.0, + 850.0 + ], + "actual_end_pos": [ + -1120.0, + 4730.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1120.0, + 4730.0, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -1120.0, + 4730.0, + 850.0 + ], + "actual_end_pos": [ + -1120.0, + 4730.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1120.0, + 4730.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -1120.0, + 4830.0, + 850.0 + ], + "actual_end_pos": [ + -1120.0, + 4830.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260422_172644__traj_001551_meta.json b/inverse_easy/run_20260422_172644__traj_001551_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..21c4576b0a8c62fd0fac5ba27f4e9e978d829a1a --- /dev/null +++ b/inverse_easy/run_20260422_172644__traj_001551_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 1551, + "episode_id": 0, + "state_id": 1144, + "sample_index": 1144, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -920.0, + -1570.0, + 850.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_backward", + "move_left", + "turn_right", + "look_up", + "move_backward", + "move_left", + "move_backward", + "move_right", + "move_forward", + "move_forward", + "move_right", + "move_right", + "no_op", + "move_backward", + "move_backward", + "turn_left", + "look_down", + "move_forward", + "move_forward", + "move_right", + "move_left", + "move_backward", + "move_backward", + "look_up", + "turn_right", + "move_forward", + "move_forward", + "no_op", + "move_left", + "move_left", + "move_backward", + "move_backward", + "move_left", + "move_forward", + "move_right", + "move_forward", + "look_down", + "turn_left", + "move_right", + "move_forward" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -920.0, + -1570.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1020.0, + -1570.0, + 850.0 + ], + "actual_end_pos": [ + -1020.0, + -1570.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1020.0, + -1570.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1020.0, + -1670.0, + 850.0 + ], + "actual_end_pos": [ + -1020.0, + -1670.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1020.0, + -1670.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1020.0, + -1670.0, + 850.0 + ], + "actual_end_pos": [ + -1020.0, + -1670.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -1020.0, + -1670.0, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -1020.0, + -1670.0, + 850.0 + ], + "actual_end_pos": [ + -1020.0, + -1670.0, + 850.0 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1020.0, + -1670.0, + 850.0 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -1115.7662, + -1695.6605, + 836.9474 + ], + "actual_end_pos": [ + -1115.7662, + -1695.6605, + 836.9474 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1115.7662, + -1695.6605, + 836.9474 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -1089.8843, + -1792.2531, + 836.9474 + ], + "actual_end_pos": [ + -1089.8843, + -1792.2531, + 836.9474 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1089.8843, + -1792.2531, + 836.9474 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -1185.6505, + -1817.9135, + 823.8948 + ], + "actual_end_pos": [ + -1185.6505, + -1817.9135, + 823.8948 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1185.6505, + -1817.9135, + 823.8948 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -1211.5324, + -1721.321, + 823.8948 + ], + "actual_end_pos": [ + -1211.5324, + -1721.321, + 823.8948 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1211.5324, + -1721.321, + 823.8948 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -1115.7662, + -1695.6605, + 836.9474 + ], + "actual_end_pos": [ + -1115.7662, + -1695.6605, + 836.9474 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1115.7662, + -1695.6605, + 836.9474 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -1020.0, + -1670.0, + 850.0 + ], + "actual_end_pos": [ + -1020.0, + -1670.0, + 850.0 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1020.0, + -1670.0, + 850.0 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -1045.8819, + -1573.4074, + 850.0 + ], + "actual_end_pos": [ + -1045.8819, + -1573.4074, + 850.0 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1045.8819, + -1573.4074, + 850.0 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -1071.7638, + -1476.8148, + 850.0 + ], + "actual_end_pos": [ + -1071.7638, + -1476.8148, + 850.0 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1071.7638, + -1476.8148, + 850.0 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -1071.7638, + -1476.8148, + 850.0 + ], + "actual_end_pos": [ + -1071.7638, + -1476.8148, + 850.0 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1071.7638, + -1476.8148, + 850.0 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -1167.53, + -1502.4753, + 836.9474 + ], + "actual_end_pos": [ + -1167.53, + -1502.4753, + 836.9474 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1167.53, + -1502.4753, + 836.9474 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -1263.2962, + -1528.1358, + 823.8948 + ], + "actual_end_pos": [ + -1263.2962, + -1528.1358, + 823.8948 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1263.2962, + -1528.1358, + 823.8948 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -1263.2962, + -1528.1358, + 823.8948 + ], + "actual_end_pos": [ + -1263.2962, + -1528.1358, + 823.8948 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -1263.2962, + -1528.1358, + 823.8948 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1263.2962, + -1528.1358, + 823.8948 + ], + "actual_end_pos": [ + -1263.2962, + -1528.1358, + 823.8948 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1263.2962, + -1528.1358, + 823.8948 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1163.2962, + -1528.1358, + 823.8948 + ], + "actual_end_pos": [ + -1163.2962, + -1528.1358, + 823.8948 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1163.2962, + -1528.1358, + 823.8948 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1063.2962, + -1528.1358, + 823.8948 + ], + "actual_end_pos": [ + -1063.2962, + -1528.1358, + 823.8948 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1063.2962, + -1528.1358, + 823.8948 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1063.2962, + -1428.1358, + 823.8948 + ], + "actual_end_pos": [ + -1063.2962, + -1428.1358, + 823.8948 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1063.2962, + -1428.1358, + 823.8948 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1063.2962, + -1528.1358, + 823.8948 + ], + "actual_end_pos": [ + -1063.2962, + -1528.1358, + 823.8948 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1063.2962, + -1528.1358, + 823.8948 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1163.2962, + -1528.1358, + 823.8948 + ], + "actual_end_pos": [ + -1163.2962, + -1528.1358, + 823.8948 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1163.2962, + -1528.1358, + 823.8948 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1263.2962, + -1528.1358, + 823.8948 + ], + "actual_end_pos": [ + -1263.2962, + -1528.1358, + 823.8948 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -1263.2962, + -1528.1358, + 823.8948 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1263.2962, + -1528.1358, + 823.8948 + ], + "actual_end_pos": [ + -1263.2962, + -1528.1358, + 823.8948 + ], + "actual_end_rot": [ + 7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -1263.2962, + -1528.1358, + 823.8948 + ], + "start_rot": [ + 7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1263.2962, + -1528.1358, + 823.8948 + ], + "actual_end_pos": [ + -1263.2962, + -1528.1358, + 823.8948 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1263.2962, + -1528.1358, + 823.8948 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -1167.53, + -1502.4753, + 836.9474 + ], + "actual_end_pos": [ + -1167.53, + -1502.4753, + 836.9474 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1167.53, + -1502.4753, + 836.9474 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -1071.7638, + -1476.8148, + 850.0 + ], + "actual_end_pos": [ + -1071.7638, + -1476.8148, + 850.0 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -1071.7638, + -1476.8148, + 850.0 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -1071.7638, + -1476.8148, + 850.0 + ], + "actual_end_pos": [ + -1071.7638, + -1476.8148, + 850.0 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1071.7638, + -1476.8148, + 850.0 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -1045.8819, + -1573.4074, + 850.0 + ], + "actual_end_pos": [ + -1045.8819, + -1573.4074, + 850.0 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1045.8819, + -1573.4074, + 850.0 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -1020.0, + -1670.0, + 850.0 + ], + "actual_end_pos": [ + -1020.0, + -1670.0, + 850.0 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1020.0, + -1670.0, + 850.0 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -1115.7662, + -1695.6605, + 836.9474 + ], + "actual_end_pos": [ + -1115.7662, + -1695.6605, + 836.9474 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -1115.7662, + -1695.6605, + 836.9474 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -1211.5324, + -1721.321, + 823.8948 + ], + "actual_end_pos": [ + -1211.5324, + -1721.321, + 823.8948 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -1211.5324, + -1721.321, + 823.8948 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -1185.6505, + -1817.9135, + 823.8948 + ], + "actual_end_pos": [ + -1185.6505, + -1817.9135, + 823.8948 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1185.6505, + -1817.9135, + 823.8948 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -1089.8843, + -1792.2531, + 836.9474 + ], + "actual_end_pos": [ + -1089.8843, + -1792.2531, + 836.9474 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1089.8843, + -1792.2531, + 836.9474 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -1115.7662, + -1695.6605, + 836.9474 + ], + "actual_end_pos": [ + -1115.7662, + -1695.6605, + 836.9474 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1115.7662, + -1695.6605, + 836.9474 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -1020.0, + -1670.0, + 850.0 + ], + "actual_end_pos": [ + -1020.0, + -1670.0, + 850.0 + ], + "actual_end_rot": [ + 7.5, + 15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -1020.0, + -1670.0, + 850.0 + ], + "start_rot": [ + 7.5, + 15.0, + -0.0 + ], + "expected_end_pos": [ + -1020.0, + -1670.0, + 850.0 + ], + "actual_end_pos": [ + -1020.0, + -1670.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 15.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -1020.0, + -1670.0, + 850.0 + ], + "start_rot": [ + 0.0, + 15.0, + 0.0 + ], + "expected_end_pos": [ + -1020.0, + -1670.0, + 850.0 + ], + "actual_end_pos": [ + -1020.0, + -1670.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1020.0, + -1670.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -1020.0, + -1570.0, + 850.0 + ], + "actual_end_pos": [ + -1020.0, + -1570.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1020.0, + -1570.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -920.0, + -1570.0, + 850.0 + ], + "actual_end_pos": [ + -920.0, + -1570.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260422_172644__traj_001610_meta.json b/inverse_easy/run_20260422_172644__traj_001610_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8d1bde772255c2d7712ebf1df390ff9aad007da0 --- /dev/null +++ b/inverse_easy/run_20260422_172644__traj_001610_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 1610, + "episode_id": 0, + "state_id": 1183, + "sample_index": 1183, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -920.0, + -770.0, + 850.0 + ], + "rotation": [ + 0.0, + 315.0, + 0.0 + ] + }, + "action_sequence": [ + "move_left", + "move_forward", + "turn_left", + "move_forward", + "move_forward", + "turn_left", + "move_left", + "turn_right", + "move_right", + "move_backward", + "move_left", + "move_backward", + "move_right", + "move_backward", + "turn_right", + "move_right", + "move_right", + "look_down", + "move_backward", + "no_op", + "no_op", + "move_forward", + "look_up", + "move_left", + "move_left", + "turn_left", + "move_forward", + "move_left", + "move_forward", + "move_right", + "move_forward", + "move_left", + "turn_left", + "move_right", + "turn_right", + "move_backward", + "move_backward", + "turn_right", + "move_backward", + "move_right" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -920.0, + -770.0, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -990.7107, + -840.7107, + 850.0 + ], + "actual_end_pos": [ + -990.7107, + -840.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -990.7107, + -840.7107, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -920.0, + -911.4214, + 850.0 + ], + "actual_end_pos": [ + -920.0, + -911.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -920.0, + -911.4214, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -920.0, + -911.4214, + 850.0 + ], + "actual_end_pos": [ + -920.0, + -911.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -920.0, + -911.4214, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -870.0, + -998.0239, + 850.0 + ], + "actual_end_pos": [ + -870.0, + -998.0239, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -870.0, + -998.0239, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -820.0, + -1084.6264, + 850.0 + ], + "actual_end_pos": [ + -820.0, + -1084.6264, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -820.0, + -1084.6264, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -820.0, + -1084.6264, + 850.0 + ], + "actual_end_pos": [ + -820.0, + -1084.6264, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -820.0, + -1084.6264, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -916.5926, + -1110.5083, + 850.0 + ], + "actual_end_pos": [ + -916.5926, + -1110.5083, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -916.5926, + -1110.5083, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -916.5926, + -1110.5083, + 850.0 + ], + "actual_end_pos": [ + -916.5926, + -1110.5083, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -916.5926, + -1110.5083, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -829.99, + -1060.5083, + 850.0 + ], + "actual_end_pos": [ + -829.99, + -1060.5083, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -829.99, + -1060.5083, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -879.99, + -973.9058, + 850.0 + ], + "actual_end_pos": [ + -879.99, + -973.9058, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -879.99, + -973.9058, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -966.5926, + -1023.9058, + 850.0 + ], + "actual_end_pos": [ + -966.5926, + -1023.9058, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -966.5926, + -1023.9058, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1016.5926, + -937.3033, + 850.0 + ], + "actual_end_pos": [ + -1016.5926, + -937.3033, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -1016.5926, + -937.3033, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -929.99, + -887.3033, + 850.0 + ], + "actual_end_pos": [ + -929.99, + -887.3033, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -929.99, + -887.3033, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -979.99, + -800.7007, + 850.0 + ], + "actual_end_pos": [ + -979.99, + -800.7007, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -979.99, + -800.7007, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -979.99, + -800.7007, + 850.0 + ], + "actual_end_pos": [ + -979.99, + -800.7007, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -979.99, + -800.7007, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -909.2794, + -729.99, + 850.0 + ], + "actual_end_pos": [ + -909.2794, + -729.99, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -909.2794, + -729.99, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -838.5687, + -659.2794, + 850.0 + ], + "actual_end_pos": [ + -838.5687, + -659.2794, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -838.5687, + -659.2794, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -838.5687, + -659.2794, + 850.0 + ], + "actual_end_pos": [ + -838.5687, + -659.2794, + 850.0 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -838.5687, + -659.2794, + 850.0 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -908.6744, + -589.1736, + 863.0526 + ], + "actual_end_pos": [ + -908.6744, + -589.1736, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -908.6744, + -589.1736, + 863.0526 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -908.6744, + -589.1736, + 863.0526 + ], + "actual_end_pos": [ + -908.6744, + -589.1736, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -908.6744, + -589.1736, + 863.0526 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -908.6744, + -589.1736, + 863.0526 + ], + "actual_end_pos": [ + -908.6744, + -589.1736, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -908.6744, + -589.1736, + 863.0526 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -838.5687, + -659.2794, + 850.0 + ], + "actual_end_pos": [ + -838.5687, + -659.2794, + 850.0 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -838.5687, + -659.2794, + 850.0 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -838.5687, + -659.2794, + 850.0 + ], + "actual_end_pos": [ + -838.5687, + -659.2794, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -838.5687, + -659.2794, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -909.2794, + -729.99, + 850.0 + ], + "actual_end_pos": [ + -909.2794, + -729.99, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -909.2794, + -729.99, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -979.99, + -800.7007, + 850.0 + ], + "actual_end_pos": [ + -979.99, + -800.7007, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -979.99, + -800.7007, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -979.99, + -800.7007, + 850.0 + ], + "actual_end_pos": [ + -979.99, + -800.7007, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -979.99, + -800.7007, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -929.99, + -887.3033, + 850.0 + ], + "actual_end_pos": [ + -929.99, + -887.3033, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -929.99, + -887.3033, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -1016.5926, + -937.3033, + 850.0 + ], + "actual_end_pos": [ + -1016.5926, + -937.3033, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -1016.5926, + -937.3033, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -966.5926, + -1023.9058, + 850.0 + ], + "actual_end_pos": [ + -966.5926, + -1023.9058, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -966.5926, + -1023.9058, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -879.99, + -973.9058, + 850.0 + ], + "actual_end_pos": [ + -879.99, + -973.9058, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -879.99, + -973.9058, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -829.99, + -1060.5083, + 850.0 + ], + "actual_end_pos": [ + -829.99, + -1060.5083, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -829.99, + -1060.5083, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -916.5926, + -1110.5083, + 850.0 + ], + "actual_end_pos": [ + -916.5926, + -1110.5083, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -916.5926, + -1110.5083, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -916.5926, + -1110.5083, + 850.0 + ], + "actual_end_pos": [ + -916.5926, + -1110.5083, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -916.5926, + -1110.5083, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -820.0, + -1084.6264, + 850.0 + ], + "actual_end_pos": [ + -820.0, + -1084.6264, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -75.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -820.0, + -1084.6264, + 850.0 + ], + "start_rot": [ + 0.0, + -75.0, + 0.0 + ], + "expected_end_pos": [ + -820.0, + -1084.6264, + 850.0 + ], + "actual_end_pos": [ + -820.0, + -1084.6264, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -820.0, + -1084.6264, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -870.0, + -998.0239, + 850.0 + ], + "actual_end_pos": [ + -870.0, + -998.0239, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -870.0, + -998.0239, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -920.0, + -911.4214, + 850.0 + ], + "actual_end_pos": [ + -920.0, + -911.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -60.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -920.0, + -911.4214, + 850.0 + ], + "start_rot": [ + 0.0, + -60.0, + 0.0 + ], + "expected_end_pos": [ + -920.0, + -911.4214, + 850.0 + ], + "actual_end_pos": [ + -920.0, + -911.4214, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -920.0, + -911.4214, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -990.7107, + -840.7107, + 850.0 + ], + "actual_end_pos": [ + -990.7107, + -840.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -990.7107, + -840.7107, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -920.0, + -770.0, + 850.0 + ], + "actual_end_pos": [ + -920.0, + -770.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260422_172644__traj_002138_meta.json b/inverse_easy/run_20260422_172644__traj_002138_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b3a07745f200504e287afe9a71fd490a4b7290a9 --- /dev/null +++ b/inverse_easy/run_20260422_172644__traj_002138_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 2138, + "episode_id": 0, + "state_id": 1576, + "sample_index": 1576, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -520.0, + 1430.0, + 850.0 + ], + "rotation": [ + 0.0, + 0.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "look_down", + "move_left", + "move_left", + "move_backward", + "move_left", + "move_backward", + "no_op", + "move_forward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "move_backward", + "no_op", + "move_forward", + "move_right", + "move_forward", + "move_right", + "move_right", + "look_up", + "move_left" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -520.0, + 1430.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -520.0, + 1530.0, + 850.0 + ], + "actual_end_pos": [ + -520.0, + 1530.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -520.0, + 1530.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -520.0, + 1530.0, + 850.0 + ], + "actual_end_pos": [ + -520.0, + 1530.0, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -520.0, + 1530.0, + 850.0 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -520.0, + 1430.0, + 850.0 + ], + "actual_end_pos": [ + -520.0, + 1430.0, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -520.0, + 1430.0, + 850.0 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -520.0, + 1330.0, + 850.0 + ], + "actual_end_pos": [ + -520.0, + 1330.0, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -520.0, + 1330.0, + 850.0 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -619.1445, + 1330.0, + 863.0526 + ], + "actual_end_pos": [ + -619.1445, + 1330.0, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -619.1445, + 1330.0, + 863.0526 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "actual_end_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -718.289, + 1230.0, + 876.1052 + ], + "actual_end_pos": [ + -718.289, + 1230.0, + 876.1052 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -718.289, + 1230.0, + 876.1052 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -718.289, + 1230.0, + 876.1052 + ], + "actual_end_pos": [ + -718.289, + 1230.0, + 876.1052 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -718.289, + 1230.0, + 876.1052 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "actual_end_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "actual_end_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "actual_end_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "actual_end_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "actual_end_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "actual_end_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "actual_end_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "actual_end_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "actual_end_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "actual_end_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "actual_end_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "actual_end_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "actual_end_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "actual_end_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "actual_end_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "actual_end_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "actual_end_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "actual_end_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "actual_end_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "actual_end_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "actual_end_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "actual_end_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "actual_end_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -718.289, + 1230.0, + 876.1052 + ], + "actual_end_pos": [ + -718.289, + 1230.0, + 876.1052 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -718.289, + 1230.0, + 876.1052 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -718.289, + 1230.0, + 876.1052 + ], + "actual_end_pos": [ + -718.289, + 1230.0, + 876.1052 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -718.289, + 1230.0, + 876.1052 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "actual_end_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -619.1445, + 1230.0, + 863.0526 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -619.1445, + 1330.0, + 863.0526 + ], + "actual_end_pos": [ + -619.1445, + 1330.0, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -619.1445, + 1330.0, + 863.0526 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -520.0, + 1330.0, + 850.0 + ], + "actual_end_pos": [ + -520.0, + 1330.0, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -520.0, + 1330.0, + 850.0 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -520.0, + 1430.0, + 850.0 + ], + "actual_end_pos": [ + -520.0, + 1430.0, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -520.0, + 1430.0, + 850.0 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -520.0, + 1530.0, + 850.0 + ], + "actual_end_pos": [ + -520.0, + 1530.0, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -520.0, + 1530.0, + 850.0 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -520.0, + 1530.0, + 850.0 + ], + "actual_end_pos": [ + -520.0, + 1530.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -520.0, + 1530.0, + 850.0 + ], + "start_rot": [ + 0.0, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -520.0, + 1430.0, + 850.0 + ], + "actual_end_pos": [ + -520.0, + 1430.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260422_172644__traj_002146_meta.json b/inverse_easy/run_20260422_172644__traj_002146_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..086ce6fc411deee53c174348da49d75c013a9234 --- /dev/null +++ b/inverse_easy/run_20260422_172644__traj_002146_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 2146, + "episode_id": 0, + "state_id": 1583, + "sample_index": 1583, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -520.0, + 1430.0, + 850.0 + ], + "rotation": [ + 0.0, + 315.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_right", + "look_down", + "turn_left", + "move_left", + "turn_right", + "move_forward", + "move_forward", + "move_backward", + "turn_right", + "move_right", + "turn_right", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "turn_left", + "move_left", + "turn_left", + "move_forward", + "move_backward", + "move_backward", + "turn_left", + "move_right", + "turn_right", + "look_up", + "turn_left" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -520.0, + 1430.0, + 850.0 + ], + "start_rot": [ + 0.0, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -520.0, + 1430.0, + 850.0 + ], + "actual_end_pos": [ + -520.0, + 1430.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -520.0, + 1430.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -520.0, + 1430.0, + 850.0 + ], + "actual_end_pos": [ + -520.0, + 1430.0, + 850.0 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -520.0, + 1430.0, + 850.0 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -520.0, + 1430.0, + 850.0 + ], + "actual_end_pos": [ + -520.0, + 1430.0, + 850.0 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -520.0, + 1430.0, + 850.0 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -590.7107, + 1359.2893, + 850.0 + ], + "actual_end_pos": [ + -590.7107, + 1359.2893, + 850.0 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -590.7107, + 1359.2893, + 850.0 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -590.7107, + 1359.2893, + 850.0 + ], + "actual_end_pos": [ + -590.7107, + 1359.2893, + 850.0 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -590.7107, + 1359.2893, + 850.0 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -504.849, + 1309.7171, + 836.9474 + ], + "actual_end_pos": [ + -504.849, + 1309.7171, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -504.849, + 1309.7171, + 836.9474 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -418.9874, + 1260.1448, + 823.8948 + ], + "actual_end_pos": [ + -418.9874, + 1260.1448, + 823.8948 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -418.9874, + 1260.1448, + 823.8948 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -504.849, + 1309.7171, + 836.9474 + ], + "actual_end_pos": [ + -504.849, + 1309.7171, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -504.849, + 1309.7171, + 836.9474 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -504.849, + 1309.7171, + 836.9474 + ], + "actual_end_pos": [ + -504.849, + 1309.7171, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + -15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -504.849, + 1309.7171, + 836.9474 + ], + "start_rot": [ + -7.5, + -15.0, + -0.0 + ], + "expected_end_pos": [ + -478.9671, + 1406.3097, + 836.9474 + ], + "actual_end_pos": [ + -478.9671, + 1406.3097, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + -15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -478.9671, + 1406.3097, + 836.9474 + ], + "start_rot": [ + -7.5, + -15.0, + -0.0 + ], + "expected_end_pos": [ + -478.9671, + 1406.3097, + 836.9474 + ], + "actual_end_pos": [ + -478.9671, + 1406.3097, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -478.9671, + 1406.3097, + 836.9474 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -478.9671, + 1406.3097, + 836.9474 + ], + "actual_end_pos": [ + -478.9671, + 1406.3097, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -478.9671, + 1406.3097, + 836.9474 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -478.9671, + 1406.3097, + 836.9474 + ], + "actual_end_pos": [ + -478.9671, + 1406.3097, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -478.9671, + 1406.3097, + 836.9474 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -478.9671, + 1406.3097, + 836.9474 + ], + "actual_end_pos": [ + -478.9671, + 1406.3097, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -478.9671, + 1406.3097, + 836.9474 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -478.9671, + 1406.3097, + 836.9474 + ], + "actual_end_pos": [ + -478.9671, + 1406.3097, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -478.9671, + 1406.3097, + 836.9474 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -478.9671, + 1406.3097, + 836.9474 + ], + "actual_end_pos": [ + -478.9671, + 1406.3097, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -478.9671, + 1406.3097, + 836.9474 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -478.9671, + 1406.3097, + 836.9474 + ], + "actual_end_pos": [ + -478.9671, + 1406.3097, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -478.9671, + 1406.3097, + 836.9474 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -478.9671, + 1406.3097, + 836.9474 + ], + "actual_end_pos": [ + -478.9671, + 1406.3097, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -478.9671, + 1406.3097, + 836.9474 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -478.9671, + 1406.3097, + 836.9474 + ], + "actual_end_pos": [ + -478.9671, + 1406.3097, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -478.9671, + 1406.3097, + 836.9474 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -478.9671, + 1406.3097, + 836.9474 + ], + "actual_end_pos": [ + -478.9671, + 1406.3097, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -478.9671, + 1406.3097, + 836.9474 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -478.9671, + 1406.3097, + 836.9474 + ], + "actual_end_pos": [ + -478.9671, + 1406.3097, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -478.9671, + 1406.3097, + 836.9474 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -478.9671, + 1406.3097, + 836.9474 + ], + "actual_end_pos": [ + -478.9671, + 1406.3097, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -478.9671, + 1406.3097, + 836.9474 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -478.9671, + 1406.3097, + 836.9474 + ], + "actual_end_pos": [ + -478.9671, + 1406.3097, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -478.9671, + 1406.3097, + 836.9474 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -478.9671, + 1406.3097, + 836.9474 + ], + "actual_end_pos": [ + -478.9671, + 1406.3097, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -478.9671, + 1406.3097, + 836.9474 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -478.9671, + 1406.3097, + 836.9474 + ], + "actual_end_pos": [ + -478.9671, + 1406.3097, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -478.9671, + 1406.3097, + 836.9474 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -478.9671, + 1406.3097, + 836.9474 + ], + "actual_end_pos": [ + -478.9671, + 1406.3097, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -478.9671, + 1406.3097, + 836.9474 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -478.9671, + 1406.3097, + 836.9474 + ], + "actual_end_pos": [ + -478.9671, + 1406.3097, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -478.9671, + 1406.3097, + 836.9474 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -478.9671, + 1406.3097, + 836.9474 + ], + "actual_end_pos": [ + -478.9671, + 1406.3097, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -478.9671, + 1406.3097, + 836.9474 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -478.9671, + 1406.3097, + 836.9474 + ], + "actual_end_pos": [ + -478.9671, + 1406.3097, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 0.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -478.9671, + 1406.3097, + 836.9474 + ], + "start_rot": [ + -7.5, + 0.0, + 0.0 + ], + "expected_end_pos": [ + -478.9671, + 1406.3097, + 836.9474 + ], + "actual_end_pos": [ + -478.9671, + 1406.3097, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + -15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -478.9671, + 1406.3097, + 836.9474 + ], + "start_rot": [ + -7.5, + -15.0, + -0.0 + ], + "expected_end_pos": [ + -504.849, + 1309.7171, + 836.9474 + ], + "actual_end_pos": [ + -504.849, + 1309.7171, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + -15.0, + -0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -504.849, + 1309.7171, + 836.9474 + ], + "start_rot": [ + -7.5, + -15.0, + -0.0 + ], + "expected_end_pos": [ + -504.849, + 1309.7171, + 836.9474 + ], + "actual_end_pos": [ + -504.849, + 1309.7171, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -504.849, + 1309.7171, + 836.9474 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -418.9874, + 1260.1448, + 823.8948 + ], + "actual_end_pos": [ + -418.9874, + 1260.1448, + 823.8948 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -418.9874, + 1260.1448, + 823.8948 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -504.849, + 1309.7171, + 836.9474 + ], + "actual_end_pos": [ + -504.849, + 1309.7171, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -504.849, + 1309.7171, + 836.9474 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -590.7107, + 1359.2893, + 850.0 + ], + "actual_end_pos": [ + -590.7107, + 1359.2893, + 850.0 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -590.7107, + 1359.2893, + 850.0 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -590.7107, + 1359.2893, + 850.0 + ], + "actual_end_pos": [ + -590.7107, + 1359.2893, + 850.0 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -590.7107, + 1359.2893, + 850.0 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -520.0, + 1430.0, + 850.0 + ], + "actual_end_pos": [ + -520.0, + 1430.0, + 850.0 + ], + "actual_end_rot": [ + -7.5, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -520.0, + 1430.0, + 850.0 + ], + "start_rot": [ + -7.5, + -45.0, + 0.0 + ], + "expected_end_pos": [ + -520.0, + 1430.0, + 850.0 + ], + "actual_end_pos": [ + -520.0, + 1430.0, + 850.0 + ], + "actual_end_rot": [ + -7.5, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -520.0, + 1430.0, + 850.0 + ], + "start_rot": [ + -7.5, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -520.0, + 1430.0, + 850.0 + ], + "actual_end_pos": [ + -520.0, + 1430.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -30.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -520.0, + 1430.0, + 850.0 + ], + "start_rot": [ + 0.0, + -30.0, + 0.0 + ], + "expected_end_pos": [ + -520.0, + 1430.0, + 850.0 + ], + "actual_end_pos": [ + -520.0, + 1430.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + -45.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260422_172644__traj_002297_meta.json b/inverse_easy/run_20260422_172644__traj_002297_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d4469c16d7a3dc7cb1f8cd9ecd5dc7ce3cc47307 --- /dev/null +++ b/inverse_easy/run_20260422_172644__traj_002297_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 2297, + "episode_id": 0, + "state_id": 1698, + "sample_index": 1698, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -320.0, + 2030.0, + 850.0 + ], + "rotation": [ + 0.0, + 90.0, + 0.0 + ] + }, + "action_sequence": [ + "turn_right", + "move_right", + "turn_left", + "move_backward", + "move_backward", + "move_left", + "no_op", + "move_forward", + "look_down", + "move_forward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "move_backward", + "look_up", + "move_backward", + "no_op", + "move_right", + "move_forward", + "move_forward", + "turn_right", + "move_left", + "turn_left" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -320.0, + 2030.0, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -320.0, + 2030.0, + 850.0 + ], + "actual_end_pos": [ + -320.0, + 2030.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -320.0, + 2030.0, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -416.5926, + 2004.1181, + 850.0 + ], + "actual_end_pos": [ + -416.5926, + 2004.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -416.5926, + 2004.1181, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -416.5926, + 2004.1181, + 850.0 + ], + "actual_end_pos": [ + -416.5926, + 2004.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -416.5926, + 2004.1181, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -416.5926, + 1904.1181, + 850.0 + ], + "actual_end_pos": [ + -416.5926, + 1904.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -416.5926, + 1904.1181, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -416.5926, + 1804.1181, + 850.0 + ], + "actual_end_pos": [ + -416.5926, + 1804.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -416.5926, + 1804.1181, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -316.5926, + 1804.1181, + 850.0 + ], + "actual_end_pos": [ + -316.5926, + 1804.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -316.5926, + 1804.1181, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -316.5926, + 1804.1181, + 850.0 + ], + "actual_end_pos": [ + -316.5926, + 1804.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -316.5926, + 1804.1181, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -316.5926, + 1904.1181, + 850.0 + ], + "actual_end_pos": [ + -316.5926, + 1904.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -316.5926, + 1904.1181, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -316.5926, + 1904.1181, + 850.0 + ], + "actual_end_pos": [ + -316.5926, + 1904.1181, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -316.5926, + 1904.1181, + 850.0 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -316.5926, + 2003.2626, + 836.9474 + ], + "actual_end_pos": [ + -316.5926, + 2003.2626, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -316.5926, + 2003.2626, + 836.9474 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -316.5926, + 2003.2626, + 836.9474 + ], + "actual_end_pos": [ + -316.5926, + 2003.2626, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -316.5926, + 2003.2626, + 836.9474 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -316.5926, + 2003.2626, + 836.9474 + ], + "actual_end_pos": [ + -316.5926, + 2003.2626, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -316.5926, + 2003.2626, + 836.9474 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -316.5926, + 2003.2626, + 836.9474 + ], + "actual_end_pos": [ + -316.5926, + 2003.2626, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -316.5926, + 2003.2626, + 836.9474 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -316.5926, + 2003.2626, + 836.9474 + ], + "actual_end_pos": [ + -316.5926, + 2003.2626, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -316.5926, + 2003.2626, + 836.9474 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -316.5926, + 2003.2626, + 836.9474 + ], + "actual_end_pos": [ + -316.5926, + 2003.2626, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -316.5926, + 2003.2626, + 836.9474 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -316.5926, + 2003.2626, + 836.9474 + ], + "actual_end_pos": [ + -316.5926, + 2003.2626, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -316.5926, + 2003.2626, + 836.9474 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -316.5926, + 2003.2626, + 836.9474 + ], + "actual_end_pos": [ + -316.5926, + 2003.2626, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -316.5926, + 2003.2626, + 836.9474 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -316.5926, + 2003.2626, + 836.9474 + ], + "actual_end_pos": [ + -316.5926, + 2003.2626, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -316.5926, + 2003.2626, + 836.9474 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -316.5926, + 2003.2626, + 836.9474 + ], + "actual_end_pos": [ + -316.5926, + 2003.2626, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -316.5926, + 2003.2626, + 836.9474 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -316.5926, + 2003.2626, + 836.9474 + ], + "actual_end_pos": [ + -316.5926, + 2003.2626, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -316.5926, + 2003.2626, + 836.9474 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -316.5926, + 2003.2626, + 836.9474 + ], + "actual_end_pos": [ + -316.5926, + 2003.2626, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -316.5926, + 2003.2626, + 836.9474 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -316.5926, + 2003.2626, + 836.9474 + ], + "actual_end_pos": [ + -316.5926, + 2003.2626, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -316.5926, + 2003.2626, + 836.9474 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -316.5926, + 2003.2626, + 836.9474 + ], + "actual_end_pos": [ + -316.5926, + 2003.2626, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -316.5926, + 2003.2626, + 836.9474 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -316.5926, + 2003.2626, + 836.9474 + ], + "actual_end_pos": [ + -316.5926, + 2003.2626, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -316.5926, + 2003.2626, + 836.9474 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -316.5926, + 2003.2626, + 836.9474 + ], + "actual_end_pos": [ + -316.5926, + 2003.2626, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -316.5926, + 2003.2626, + 836.9474 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -316.5926, + 2003.2626, + 836.9474 + ], + "actual_end_pos": [ + -316.5926, + 2003.2626, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -316.5926, + 2003.2626, + 836.9474 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -316.5926, + 2003.2626, + 836.9474 + ], + "actual_end_pos": [ + -316.5926, + 2003.2626, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -316.5926, + 2003.2626, + 836.9474 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -316.5926, + 2003.2626, + 836.9474 + ], + "actual_end_pos": [ + -316.5926, + 2003.2626, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -316.5926, + 2003.2626, + 836.9474 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -316.5926, + 2003.2626, + 836.9474 + ], + "actual_end_pos": [ + -316.5926, + 2003.2626, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -316.5926, + 2003.2626, + 836.9474 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -316.5926, + 2003.2626, + 836.9474 + ], + "actual_end_pos": [ + -316.5926, + 2003.2626, + 836.9474 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -316.5926, + 2003.2626, + 836.9474 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -316.5926, + 1904.1181, + 850.0 + ], + "actual_end_pos": [ + -316.5926, + 1904.1181, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -316.5926, + 1904.1181, + 850.0 + ], + "start_rot": [ + -7.5, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -316.5926, + 1904.1181, + 850.0 + ], + "actual_end_pos": [ + -316.5926, + 1904.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -316.5926, + 1904.1181, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -316.5926, + 1804.1181, + 850.0 + ], + "actual_end_pos": [ + -316.5926, + 1804.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -316.5926, + 1804.1181, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -316.5926, + 1804.1181, + 850.0 + ], + "actual_end_pos": [ + -316.5926, + 1804.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -316.5926, + 1804.1181, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -416.5926, + 1804.1181, + 850.0 + ], + "actual_end_pos": [ + -416.5926, + 1804.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -416.5926, + 1804.1181, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -416.5926, + 1904.1181, + 850.0 + ], + "actual_end_pos": [ + -416.5926, + 1904.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -416.5926, + 1904.1181, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -416.5926, + 2004.1181, + 850.0 + ], + "actual_end_pos": [ + -416.5926, + 2004.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -416.5926, + 2004.1181, + 850.0 + ], + "start_rot": [ + 0.0, + 90.0, + 0.0 + ], + "expected_end_pos": [ + -416.5926, + 2004.1181, + 850.0 + ], + "actual_end_pos": [ + -416.5926, + 2004.1181, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -416.5926, + 2004.1181, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -320.0, + 2030.0, + 850.0 + ], + "actual_end_pos": [ + -320.0, + 2030.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 105.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -320.0, + 2030.0, + 850.0 + ], + "start_rot": [ + 0.0, + 105.0, + 0.0 + ], + "expected_end_pos": [ + -320.0, + 2030.0, + 850.0 + ], + "actual_end_pos": [ + -320.0, + 2030.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 90.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260422_172644__traj_002453_meta.json b/inverse_easy/run_20260422_172644__traj_002453_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ef1713014c59bf0c609c29543872f776147da6db --- /dev/null +++ b/inverse_easy/run_20260422_172644__traj_002453_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 2453, + "episode_id": 0, + "state_id": 1812, + "sample_index": 1812, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -120.0, + 1630.0, + 850.0 + ], + "rotation": [ + 0.0, + 180.0, + 0.0 + ] + }, + "action_sequence": [ + "move_right", + "move_right", + "turn_left", + "move_forward", + "move_left", + "move_backward", + "turn_left", + "move_forward", + "move_forward", + "turn_left", + "move_left", + "move_forward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "move_backward", + "move_right", + "turn_right", + "move_backward", + "move_backward", + "turn_right", + "move_forward", + "move_right", + "move_backward", + "turn_right", + "move_left", + "move_left" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -120.0, + 1630.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -120.0, + 1530.0, + 850.0 + ], + "actual_end_pos": [ + -120.0, + 1530.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -120.0, + 1530.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -120.0, + 1430.0, + 850.0 + ], + "actual_end_pos": [ + -120.0, + 1430.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -120.0, + 1430.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -120.0, + 1430.0, + 850.0 + ], + "actual_end_pos": [ + -120.0, + 1430.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -120.0, + 1430.0, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -216.5926, + 1455.8819, + 850.0 + ], + "actual_end_pos": [ + -216.5926, + 1455.8819, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -216.5926, + 1455.8819, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -190.7107, + 1552.4745, + 850.0 + ], + "actual_end_pos": [ + -190.7107, + 1552.4745, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -190.7107, + 1552.4745, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -94.1181, + 1526.5926, + 850.0 + ], + "actual_end_pos": [ + -94.1181, + 1526.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -94.1181, + 1526.5926, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -94.1181, + 1526.5926, + 850.0 + ], + "actual_end_pos": [ + -94.1181, + 1526.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -94.1181, + 1526.5926, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -180.7206, + 1576.5926, + 850.0 + ], + "actual_end_pos": [ + -180.7206, + 1576.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -180.7206, + 1576.5926, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -267.3232, + 1626.5926, + 850.0 + ], + "actual_end_pos": [ + -267.3232, + 1626.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -267.3232, + 1626.5926, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -267.3232, + 1626.5926, + 850.0 + ], + "actual_end_pos": [ + -267.3232, + 1626.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -267.3232, + 1626.5926, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -196.6125, + 1697.3033, + 850.0 + ], + "actual_end_pos": [ + -196.6125, + 1697.3033, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -196.6125, + 1697.3033, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -267.3232, + 1768.0139, + 850.0 + ], + "actual_end_pos": [ + -267.3232, + 1768.0139, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -267.3232, + 1768.0139, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -267.3232, + 1768.0139, + 850.0 + ], + "actual_end_pos": [ + -267.3232, + 1768.0139, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -267.3232, + 1768.0139, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -267.3232, + 1768.0139, + 850.0 + ], + "actual_end_pos": [ + -267.3232, + 1768.0139, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -267.3232, + 1768.0139, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -267.3232, + 1768.0139, + 850.0 + ], + "actual_end_pos": [ + -267.3232, + 1768.0139, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -267.3232, + 1768.0139, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -267.3232, + 1768.0139, + 850.0 + ], + "actual_end_pos": [ + -267.3232, + 1768.0139, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -267.3232, + 1768.0139, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -267.3232, + 1768.0139, + 850.0 + ], + "actual_end_pos": [ + -267.3232, + 1768.0139, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -267.3232, + 1768.0139, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -267.3232, + 1768.0139, + 850.0 + ], + "actual_end_pos": [ + -267.3232, + 1768.0139, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -267.3232, + 1768.0139, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -267.3232, + 1768.0139, + 850.0 + ], + "actual_end_pos": [ + -267.3232, + 1768.0139, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -267.3232, + 1768.0139, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -267.3232, + 1768.0139, + 850.0 + ], + "actual_end_pos": [ + -267.3232, + 1768.0139, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -267.3232, + 1768.0139, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -267.3232, + 1768.0139, + 850.0 + ], + "actual_end_pos": [ + -267.3232, + 1768.0139, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -267.3232, + 1768.0139, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -267.3232, + 1768.0139, + 850.0 + ], + "actual_end_pos": [ + -267.3232, + 1768.0139, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -267.3232, + 1768.0139, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -267.3232, + 1768.0139, + 850.0 + ], + "actual_end_pos": [ + -267.3232, + 1768.0139, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -267.3232, + 1768.0139, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -267.3232, + 1768.0139, + 850.0 + ], + "actual_end_pos": [ + -267.3232, + 1768.0139, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -267.3232, + 1768.0139, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -267.3232, + 1768.0139, + 850.0 + ], + "actual_end_pos": [ + -267.3232, + 1768.0139, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -267.3232, + 1768.0139, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -267.3232, + 1768.0139, + 850.0 + ], + "actual_end_pos": [ + -267.3232, + 1768.0139, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -267.3232, + 1768.0139, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -267.3232, + 1768.0139, + 850.0 + ], + "actual_end_pos": [ + -267.3232, + 1768.0139, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -267.3232, + 1768.0139, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -267.3232, + 1768.0139, + 850.0 + ], + "actual_end_pos": [ + -267.3232, + 1768.0139, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -267.3232, + 1768.0139, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -196.6125, + 1697.3033, + 850.0 + ], + "actual_end_pos": [ + -196.6125, + 1697.3033, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -196.6125, + 1697.3033, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -267.3232, + 1626.5926, + 850.0 + ], + "actual_end_pos": [ + -267.3232, + 1626.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -267.3232, + 1626.5926, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -267.3232, + 1626.5926, + 850.0 + ], + "actual_end_pos": [ + -267.3232, + 1626.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -267.3232, + 1626.5926, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -180.7206, + 1576.5926, + 850.0 + ], + "actual_end_pos": [ + -180.7206, + 1576.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -180.7206, + 1576.5926, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -94.1181, + 1526.5926, + 850.0 + ], + "actual_end_pos": [ + -94.1181, + 1526.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -94.1181, + 1526.5926, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -94.1181, + 1526.5926, + 850.0 + ], + "actual_end_pos": [ + -94.1181, + 1526.5926, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -94.1181, + 1526.5926, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -190.7107, + 1552.4745, + 850.0 + ], + "actual_end_pos": [ + -190.7107, + 1552.4745, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -190.7107, + 1552.4745, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -216.5926, + 1455.8819, + 850.0 + ], + "actual_end_pos": [ + -216.5926, + 1455.8819, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -216.5926, + 1455.8819, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -120.0, + 1430.0, + 850.0 + ], + "actual_end_pos": [ + -120.0, + 1430.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -120.0, + 1430.0, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -120.0, + 1430.0, + 850.0 + ], + "actual_end_pos": [ + -120.0, + 1430.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -120.0, + 1430.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -120.0, + 1530.0, + 850.0 + ], + "actual_end_pos": [ + -120.0, + 1530.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -120.0, + 1530.0, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -120.0, + 1630.0, + 850.0 + ], + "actual_end_pos": [ + -120.0, + 1630.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file diff --git a/inverse_easy/run_20260422_172644__traj_002470_meta.json b/inverse_easy/run_20260422_172644__traj_002470_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7eec9a943bee8db5fa1970e08fc493ab776117f4 --- /dev/null +++ b/inverse_easy/run_20260422_172644__traj_002470_meta.json @@ -0,0 +1,1471 @@ +{ + "trajectory_id": 2470, + "episode_id": 0, + "state_id": 1827, + "sample_index": 1827, + "trajectory_index_at_point": 0, + "data_type": "reasoning", + "has_collision": false, + "trajectory_type": "inverse", + "algebraic_property": "inverse: A ∘ A⁻¹ = id (explore then reverse)", + "paired_trajectory": { + "is_paired": false + }, + "collision_count": 0, + "total_steps": 40, + "frames_per_step": 9, + "total_frames": 360, + "render_config": { + "resolution": [ + 1280, + 720 + ], + "fov": 79.0, + "image_format": "jpeg", + "modalities": [ + "rgb", + "depth" + ] + }, + "root_state": { + "position": [ + -120.0, + 2030.0, + 850.0 + ], + "rotation": [ + 0.0, + 135.0, + 0.0 + ] + }, + "action_sequence": [ + "move_forward", + "turn_right", + "move_right", + "move_right", + "turn_right", + "move_right", + "turn_right", + "move_left", + "move_forward", + "turn_left", + "turn_left", + "move_right", + "look_down", + "move_backward", + "turn_left", + "move_backward", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "no_op", + "move_forward", + "turn_right", + "move_forward", + "look_up", + "move_left", + "turn_right", + "turn_right", + "move_backward", + "move_right", + "turn_left", + "move_left", + "turn_left", + "move_left", + "move_left", + "turn_left", + "move_backward" + ], + "collision_mask": [ + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0, + 0 + ], + "steps": [ + { + "step": 0, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -120.0, + 2030.0, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -190.7107, + 2100.7107, + 850.0 + ], + "actual_end_pos": [ + -190.7107, + 2100.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_00" + }, + { + "step": 1, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -190.7107, + 2100.7107, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -190.7107, + 2100.7107, + 850.0 + ], + "actual_end_pos": [ + -190.7107, + 2100.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_01" + }, + { + "step": 2, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -190.7107, + 2100.7107, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -240.7107, + 2014.1081, + 850.0 + ], + "actual_end_pos": [ + -240.7107, + 2014.1081, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_02" + }, + { + "step": 3, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -240.7107, + 2014.1081, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -290.7107, + 1927.5056, + 850.0 + ], + "actual_end_pos": [ + -290.7107, + 1927.5056, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_03" + }, + { + "step": 4, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -290.7107, + 1927.5056, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -290.7107, + 1927.5056, + 850.0 + ], + "actual_end_pos": [ + -290.7107, + 1927.5056, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_04" + }, + { + "step": 5, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -290.7107, + 1927.5056, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -316.5926, + 1830.913, + 850.0 + ], + "actual_end_pos": [ + -316.5926, + 1830.913, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_05" + }, + { + "step": 6, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -316.5926, + 1830.913, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -316.5926, + 1830.913, + 850.0 + ], + "actual_end_pos": [ + -316.5926, + 1830.913, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_06" + }, + { + "step": 7, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -316.5926, + 1830.913, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -316.5926, + 1930.913, + 850.0 + ], + "actual_end_pos": [ + -316.5926, + 1930.913, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_07" + }, + { + "step": 8, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -316.5926, + 1930.913, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -416.5926, + 1930.913, + 850.0 + ], + "actual_end_pos": [ + -416.5926, + 1930.913, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_08" + }, + { + "step": 9, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -416.5926, + 1930.913, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -416.5926, + 1930.913, + 850.0 + ], + "actual_end_pos": [ + -416.5926, + 1930.913, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_09" + }, + { + "step": 10, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -416.5926, + 1930.913, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -416.5926, + 1930.913, + 850.0 + ], + "actual_end_pos": [ + -416.5926, + 1930.913, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_10" + }, + { + "step": 11, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -416.5926, + 1930.913, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -466.5926, + 1844.3105, + 850.0 + ], + "actual_end_pos": [ + -466.5926, + 1844.3105, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_11" + }, + { + "step": 12, + "action": "look_down", + "action_id": 7, + "start_pos": [ + -466.5926, + 1844.3105, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -466.5926, + 1844.3105, + 850.0 + ], + "actual_end_pos": [ + -466.5926, + 1844.3105, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_12" + }, + { + "step": 13, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -466.5926, + 1844.3105, + 850.0 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -380.7309, + 1794.7382, + 863.0526 + ], + "actual_end_pos": [ + -380.7309, + 1794.7382, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_13" + }, + { + "step": 14, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -380.7309, + 1794.7382, + 863.0526 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -380.7309, + 1794.7382, + 863.0526 + ], + "actual_end_pos": [ + -380.7309, + 1794.7382, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_14" + }, + { + "step": 15, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -380.7309, + 1794.7382, + 863.0526 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -310.6252, + 1724.6325, + 876.1052 + ], + "actual_end_pos": [ + -310.6252, + 1724.6325, + 876.1052 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_15" + }, + { + "step": 16, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -310.6252, + 1724.6325, + 876.1052 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -310.6252, + 1724.6325, + 876.1052 + ], + "actual_end_pos": [ + -310.6252, + 1724.6325, + 876.1052 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_16" + }, + { + "step": 17, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -310.6252, + 1724.6325, + 876.1052 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -310.6252, + 1724.6325, + 876.1052 + ], + "actual_end_pos": [ + -310.6252, + 1724.6325, + 876.1052 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_17" + }, + { + "step": 18, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -310.6252, + 1724.6325, + 876.1052 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -310.6252, + 1724.6325, + 876.1052 + ], + "actual_end_pos": [ + -310.6252, + 1724.6325, + 876.1052 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_18" + }, + { + "step": 19, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -310.6252, + 1724.6325, + 876.1052 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -310.6252, + 1724.6325, + 876.1052 + ], + "actual_end_pos": [ + -310.6252, + 1724.6325, + 876.1052 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_19" + }, + { + "step": 20, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -310.6252, + 1724.6325, + 876.1052 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -310.6252, + 1724.6325, + 876.1052 + ], + "actual_end_pos": [ + -310.6252, + 1724.6325, + 876.1052 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_20" + }, + { + "step": 21, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -310.6252, + 1724.6325, + 876.1052 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -310.6252, + 1724.6325, + 876.1052 + ], + "actual_end_pos": [ + -310.6252, + 1724.6325, + 876.1052 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_21" + }, + { + "step": 22, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -310.6252, + 1724.6325, + 876.1052 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -310.6252, + 1724.6325, + 876.1052 + ], + "actual_end_pos": [ + -310.6252, + 1724.6325, + 876.1052 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_22" + }, + { + "step": 23, + "action": "no_op", + "action_id": 8, + "start_pos": [ + -310.6252, + 1724.6325, + 876.1052 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -310.6252, + 1724.6325, + 876.1052 + ], + "actual_end_pos": [ + -310.6252, + 1724.6325, + 876.1052 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_23" + }, + { + "step": 24, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -310.6252, + 1724.6325, + 876.1052 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -380.7309, + 1794.7382, + 863.0526 + ], + "actual_end_pos": [ + -380.7309, + 1794.7382, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_24" + }, + { + "step": 25, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -380.7309, + 1794.7382, + 863.0526 + ], + "start_rot": [ + -7.5, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -380.7309, + 1794.7382, + 863.0526 + ], + "actual_end_pos": [ + -380.7309, + 1794.7382, + 863.0526 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_25" + }, + { + "step": 26, + "action": "move_forward", + "action_id": 0, + "start_pos": [ + -380.7309, + 1794.7382, + 863.0526 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -466.5926, + 1844.3105, + 850.0 + ], + "actual_end_pos": [ + -466.5926, + 1844.3105, + 850.0 + ], + "actual_end_rot": [ + -7.5, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_26" + }, + { + "step": 27, + "action": "look_up", + "action_id": 6, + "start_pos": [ + -466.5926, + 1844.3105, + 850.0 + ], + "start_rot": [ + -7.5, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -466.5926, + 1844.3105, + 850.0 + ], + "actual_end_pos": [ + -466.5926, + 1844.3105, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_27" + }, + { + "step": 28, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -466.5926, + 1844.3105, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -416.5926, + 1930.913, + 850.0 + ], + "actual_end_pos": [ + -416.5926, + 1930.913, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_28" + }, + { + "step": 29, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -416.5926, + 1930.913, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -416.5926, + 1930.913, + 850.0 + ], + "actual_end_pos": [ + -416.5926, + 1930.913, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_29" + }, + { + "step": 30, + "action": "turn_right", + "action_id": 5, + "start_pos": [ + -416.5926, + 1930.913, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -416.5926, + 1930.913, + 850.0 + ], + "actual_end_pos": [ + -416.5926, + 1930.913, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_30" + }, + { + "step": 31, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -416.5926, + 1930.913, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -316.5926, + 1930.913, + 850.0 + ], + "actual_end_pos": [ + -316.5926, + 1930.913, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_31" + }, + { + "step": 32, + "action": "move_right", + "action_id": 3, + "start_pos": [ + -316.5926, + 1930.913, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -316.5926, + 1830.913, + 850.0 + ], + "actual_end_pos": [ + -316.5926, + 1830.913, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 180.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_32" + }, + { + "step": 33, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -316.5926, + 1830.913, + 850.0 + ], + "start_rot": [ + 0.0, + 180.0, + 0.0 + ], + "expected_end_pos": [ + -316.5926, + 1830.913, + 850.0 + ], + "actual_end_pos": [ + -316.5926, + 1830.913, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_33" + }, + { + "step": 34, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -316.5926, + 1830.913, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -290.7107, + 1927.5056, + 850.0 + ], + "actual_end_pos": [ + -290.7107, + 1927.5056, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 165.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_34" + }, + { + "step": 35, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -290.7107, + 1927.5056, + 850.0 + ], + "start_rot": [ + 0.0, + 165.0, + 0.0 + ], + "expected_end_pos": [ + -290.7107, + 1927.5056, + 850.0 + ], + "actual_end_pos": [ + -290.7107, + 1927.5056, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_35" + }, + { + "step": 36, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -290.7107, + 1927.5056, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -240.7107, + 2014.1081, + 850.0 + ], + "actual_end_pos": [ + -240.7107, + 2014.1081, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_36" + }, + { + "step": 37, + "action": "move_left", + "action_id": 2, + "start_pos": [ + -240.7107, + 2014.1081, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -190.7107, + 2100.7107, + 850.0 + ], + "actual_end_pos": [ + -190.7107, + 2100.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 150.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_37" + }, + { + "step": 38, + "action": "turn_left", + "action_id": 4, + "start_pos": [ + -190.7107, + 2100.7107, + 850.0 + ], + "start_rot": [ + 0.0, + 150.0, + 0.0 + ], + "expected_end_pos": [ + -190.7107, + 2100.7107, + 850.0 + ], + "actual_end_pos": [ + -190.7107, + 2100.7107, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_38" + }, + { + "step": 39, + "action": "move_backward", + "action_id": 1, + "start_pos": [ + -190.7107, + 2100.7107, + 850.0 + ], + "start_rot": [ + 0.0, + 135.0, + 0.0 + ], + "expected_end_pos": [ + -120.0, + 2030.0, + 850.0 + ], + "actual_end_pos": [ + -120.0, + 2030.0, + 850.0 + ], + "actual_end_rot": [ + 0.0, + 135.0, + 0.0 + ], + "collision": false, + "collision_displacement": 0.0, + "frame_dir": "step_39" + } + ], + "video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4" + }, + "depth_video_encoding": { + "fps": 16.0, + "crf": 28, + "preset": "ultrafast", + "resolution": "1280x720", + "total_frames": 360, + "frames_per_step": 9, + "num_steps": 40, + "codec": "libx264", + "source_format": "frames_to_mp4", + "depth_format": "16bit_png_normalized_to_8bit_grayscale" + } +} \ No newline at end of file