485 lines
10 KiB
JSON
485 lines
10 KiB
JSON
|
{
|
||
|
|
"trace": "ml/runs/round30_after.pt",
|
||
|
|
"tasks_sha256": "249bd93457825cda98c59e64d9a096d3473c69aeb3553de1dea6d9e56be71772",
|
||
|
|
"kin_fp": "2ebcbf17",
|
||
|
|
"indices": [
|
||
|
|
0,
|
||
|
|
21,
|
||
|
|
84,
|
||
|
|
128,
|
||
|
|
145,
|
||
|
|
164,
|
||
|
|
175,
|
||
|
|
180,
|
||
|
|
197,
|
||
|
|
215,
|
||
|
|
224,
|
||
|
|
255
|
||
|
|
],
|
||
|
|
"max_step_deg": 0.05,
|
||
|
|
"dtype": "float64",
|
||
|
|
"device": "cuda",
|
||
|
|
"scope": "Executed trajectory through each task deadline or arrival, including initial state; finite sampling, not continuous certification.",
|
||
|
|
"collision_tasks": 1,
|
||
|
|
"rows": [
|
||
|
|
{
|
||
|
|
"i": 0,
|
||
|
|
"task": {
|
||
|
|
"tid": 919549409,
|
||
|
|
"id": "s0001_000001",
|
||
|
|
"cat": "B",
|
||
|
|
"mode": "pos",
|
||
|
|
"q0": [
|
||
|
|
-129.897,
|
||
|
|
46.68,
|
||
|
|
43.494,
|
||
|
|
-97.461,
|
||
|
|
-85.102,
|
||
|
|
-139.71
|
||
|
|
],
|
||
|
|
"T": [
|
||
|
|
-116.172,
|
||
|
|
268.408,
|
||
|
|
179.282
|
||
|
|
],
|
||
|
|
"R": null,
|
||
|
|
"exec_s": 3.48,
|
||
|
|
"travel": 345.324,
|
||
|
|
"reached": true,
|
||
|
|
"err": 0,
|
||
|
|
"split": "val"
|
||
|
|
},
|
||
|
|
"steps": 174,
|
||
|
|
"sampled_points": 6211,
|
||
|
|
"initial_gap64_mm": 0.5,
|
||
|
|
"min_gap64_mm": 0.02673023799951224,
|
||
|
|
"collision_segments": 0,
|
||
|
|
"first_collision_s": null
|
||
|
|
},
|
||
|
|
{
|
||
|
|
"i": 21,
|
||
|
|
"task": {
|
||
|
|
"tid": 1223280991,
|
||
|
|
"id": "s0001_000564",
|
||
|
|
"cat": "A",
|
||
|
|
"mode": "pose",
|
||
|
|
"q0": [
|
||
|
|
178.767,
|
||
|
|
101.917,
|
||
|
|
25.283,
|
||
|
|
31.588,
|
||
|
|
-12.179,
|
||
|
|
-6.464
|
||
|
|
],
|
||
|
|
"T": [
|
||
|
|
320.779,
|
||
|
|
79.294,
|
||
|
|
350.853
|
||
|
|
],
|
||
|
|
"R": [
|
||
|
|
-0.5548626629953249,
|
||
|
|
-0.1382477148217311,
|
||
|
|
-0.820374910976869,
|
||
|
|
-0.29956278115972873,
|
||
|
|
-0.8867511636570162,
|
||
|
|
0.35204334093514156,
|
||
|
|
-0.7761375943462505,
|
||
|
|
0.44108949556693955,
|
||
|
|
0.4506112421399604
|
||
|
|
],
|
||
|
|
"exec_s": 2.86,
|
||
|
|
"travel": 581.023,
|
||
|
|
"reached": true,
|
||
|
|
"err": 0,
|
||
|
|
"split": "val"
|
||
|
|
},
|
||
|
|
"steps": 286,
|
||
|
|
"sampled_points": 6059,
|
||
|
|
"initial_gap64_mm": 0.5,
|
||
|
|
"min_gap64_mm": 0.009057896844284485,
|
||
|
|
"collision_segments": 0,
|
||
|
|
"first_collision_s": null
|
||
|
|
},
|
||
|
|
{
|
||
|
|
"i": 84,
|
||
|
|
"task": {
|
||
|
|
"tid": 1268963905,
|
||
|
|
"id": "s0002_000538",
|
||
|
|
"cat": "B",
|
||
|
|
"mode": "pose",
|
||
|
|
"q0": [
|
||
|
|
-49.198,
|
||
|
|
52.395,
|
||
|
|
108.796,
|
||
|
|
75.534,
|
||
|
|
82.302,
|
||
|
|
-121.823
|
||
|
|
],
|
||
|
|
"T": [
|
||
|
|
-85.062,
|
||
|
|
275.378,
|
||
|
|
888.929
|
||
|
|
],
|
||
|
|
"R": [
|
||
|
|
0.5139412462799992,
|
||
|
|
-0.4285630099475821,
|
||
|
|
-0.7431003578769356,
|
||
|
|
-0.5533754886400825,
|
||
|
|
-0.8275489878032067,
|
||
|
|
0.09454227286372051,
|
||
|
|
-0.6554692700230204,
|
||
|
|
0.36262435010704513,
|
||
|
|
-0.6624678231921397
|
||
|
|
],
|
||
|
|
"exec_s": 3.2600000000000002,
|
||
|
|
"travel": 349.09,
|
||
|
|
"reached": true,
|
||
|
|
"err": 0,
|
||
|
|
"split": "val"
|
||
|
|
},
|
||
|
|
"steps": 326,
|
||
|
|
"sampled_points": 6251,
|
||
|
|
"initial_gap64_mm": 0.5,
|
||
|
|
"min_gap64_mm": 0.006206321604070197,
|
||
|
|
"collision_segments": 0,
|
||
|
|
"first_collision_s": null
|
||
|
|
},
|
||
|
|
{
|
||
|
|
"i": 128,
|
||
|
|
"task": {
|
||
|
|
"tid": 408952743,
|
||
|
|
"id": "s0002_001588",
|
||
|
|
"cat": "A",
|
||
|
|
"mode": "pos",
|
||
|
|
"q0": [
|
||
|
|
-153.539,
|
||
|
|
100.454,
|
||
|
|
108.434,
|
||
|
|
3.379,
|
||
|
|
70.254,
|
||
|
|
-179.848
|
||
|
|
],
|
||
|
|
"T": [
|
||
|
|
-324.009,
|
||
|
|
70.778,
|
||
|
|
919.477
|
||
|
|
],
|
||
|
|
"R": null,
|
||
|
|
"exec_s": 0.8200000000000001,
|
||
|
|
"travel": 121.056,
|
||
|
|
"reached": true,
|
||
|
|
"err": 0,
|
||
|
|
"split": "val"
|
||
|
|
},
|
||
|
|
"steps": 63,
|
||
|
|
"sampled_points": 2403,
|
||
|
|
"initial_gap64_mm": 0.5,
|
||
|
|
"min_gap64_mm": 0.5,
|
||
|
|
"collision_segments": 0,
|
||
|
|
"first_collision_s": null
|
||
|
|
},
|
||
|
|
{
|
||
|
|
"i": 145,
|
||
|
|
"task": {
|
||
|
|
"tid": 593213945,
|
||
|
|
"id": "s0003_000414",
|
||
|
|
"cat": "B",
|
||
|
|
"mode": "pose",
|
||
|
|
"q0": [
|
||
|
|
-49.395,
|
||
|
|
84.783,
|
||
|
|
2.744,
|
||
|
|
14.841,
|
||
|
|
-86.783,
|
||
|
|
81.932
|
||
|
|
],
|
||
|
|
"T": [
|
||
|
|
5.391,
|
||
|
|
506.723,
|
||
|
|
383.367
|
||
|
|
],
|
||
|
|
"R": [
|
||
|
|
-0.5269859333114162,
|
||
|
|
-0.7554822816510317,
|
||
|
|
-0.38927156099983334,
|
||
|
|
0.6402732880654818,
|
||
|
|
-0.05172298162073713,
|
||
|
|
-0.7664038424760652,
|
||
|
|
0.5588702377848656,
|
||
|
|
-0.6531242265324508,
|
||
|
|
0.5109724082909718
|
||
|
|
],
|
||
|
|
"exec_s": 2.96,
|
||
|
|
"travel": 560.55,
|
||
|
|
"reached": true,
|
||
|
|
"err": 0,
|
||
|
|
"split": "val"
|
||
|
|
},
|
||
|
|
"steps": 296,
|
||
|
|
"sampled_points": 4509,
|
||
|
|
"initial_gap64_mm": 0.5,
|
||
|
|
"min_gap64_mm": 0.002145835308116517,
|
||
|
|
"collision_segments": 0,
|
||
|
|
"first_collision_s": null
|
||
|
|
},
|
||
|
|
{
|
||
|
|
"i": 164,
|
||
|
|
"task": {
|
||
|
|
"tid": 1743026973,
|
||
|
|
"id": "s0003_000814",
|
||
|
|
"cat": "C",
|
||
|
|
"mode": "pos",
|
||
|
|
"q0": [
|
||
|
|
-65.982,
|
||
|
|
5.595,
|
||
|
|
-64.669,
|
||
|
|
-72.912,
|
||
|
|
85.732,
|
||
|
|
-86.377
|
||
|
|
],
|
||
|
|
"T": [
|
||
|
|
-189.354,
|
||
|
|
221.034,
|
||
|
|
302.457
|
||
|
|
],
|
||
|
|
"R": null,
|
||
|
|
"exec_s": 2.3000000000000003,
|
||
|
|
"travel": 306.824,
|
||
|
|
"reached": true,
|
||
|
|
"err": 0,
|
||
|
|
"split": "val"
|
||
|
|
},
|
||
|
|
"steps": 230,
|
||
|
|
"sampled_points": 3985,
|
||
|
|
"initial_gap64_mm": 0.5,
|
||
|
|
"min_gap64_mm": 0.008857213584009926,
|
||
|
|
"collision_segments": 0,
|
||
|
|
"first_collision_s": null
|
||
|
|
},
|
||
|
|
{
|
||
|
|
"i": 175,
|
||
|
|
"task": {
|
||
|
|
"tid": 444406422,
|
||
|
|
"id": "s0003_001100",
|
||
|
|
"cat": "B",
|
||
|
|
"mode": "pos",
|
||
|
|
"q0": [
|
||
|
|
-28.854,
|
||
|
|
43.33,
|
||
|
|
-137.874,
|
||
|
|
-6.895,
|
||
|
|
-88.001,
|
||
|
|
-43.745
|
||
|
|
],
|
||
|
|
"T": [
|
||
|
|
379.105,
|
||
|
|
293.88,
|
||
|
|
653.541
|
||
|
|
],
|
||
|
|
"R": null,
|
||
|
|
"exec_s": 2.58,
|
||
|
|
"travel": 465.057,
|
||
|
|
"reached": true,
|
||
|
|
"err": 0,
|
||
|
|
"split": "val"
|
||
|
|
},
|
||
|
|
"steps": 143,
|
||
|
|
"sampled_points": 5547,
|
||
|
|
"initial_gap64_mm": 0.5,
|
||
|
|
"min_gap64_mm": 0.18812628629569694,
|
||
|
|
"collision_segments": 0,
|
||
|
|
"first_collision_s": null
|
||
|
|
},
|
||
|
|
{
|
||
|
|
"i": 180,
|
||
|
|
"task": {
|
||
|
|
"tid": 737760595,
|
||
|
|
"id": "s0003_001280",
|
||
|
|
"cat": "B",
|
||
|
|
"mode": "pos",
|
||
|
|
"q0": [
|
||
|
|
41.213,
|
||
|
|
49.353,
|
||
|
|
-149.808,
|
||
|
|
-8.981,
|
||
|
|
-88.566,
|
||
|
|
83.45
|
||
|
|
],
|
||
|
|
"T": [
|
||
|
|
118.145,
|
||
|
|
2.733,
|
||
|
|
266.082
|
||
|
|
],
|
||
|
|
"R": null,
|
||
|
|
"exec_s": 1.78,
|
||
|
|
"travel": 228.67,
|
||
|
|
"reached": true,
|
||
|
|
"err": 0,
|
||
|
|
"split": "val"
|
||
|
|
},
|
||
|
|
"steps": 95,
|
||
|
|
"sampled_points": 3153,
|
||
|
|
"initial_gap64_mm": 0.5,
|
||
|
|
"min_gap64_mm": -0.1492959159660998,
|
||
|
|
"collision_segments": 1,
|
||
|
|
"first_collision_s": 1.0915789473684212
|
||
|
|
},
|
||
|
|
{
|
||
|
|
"i": 197,
|
||
|
|
"task": {
|
||
|
|
"tid": 1433345185,
|
||
|
|
"id": "s0004_000020",
|
||
|
|
"cat": "B",
|
||
|
|
"mode": "pose",
|
||
|
|
"q0": [
|
||
|
|
20.112,
|
||
|
|
-20.013,
|
||
|
|
-177.85,
|
||
|
|
32.746,
|
||
|
|
-70.888,
|
||
|
|
-30.111
|
||
|
|
],
|
||
|
|
"T": [
|
||
|
|
-288.364,
|
||
|
|
63.606,
|
||
|
|
672.54
|
||
|
|
],
|
||
|
|
"R": [
|
||
|
|
-0.5335375732231524,
|
||
|
|
-0.7509294450860695,
|
||
|
|
0.38915630081225366,
|
||
|
|
-0.8443344656004893,
|
||
|
|
0.4997538915602813,
|
||
|
|
-0.19324947107169785,
|
||
|
|
-0.049365657681080755,
|
||
|
|
-0.4316839311036288,
|
||
|
|
-0.9006730902323173
|
||
|
|
],
|
||
|
|
"exec_s": 2.14,
|
||
|
|
"travel": 634.022,
|
||
|
|
"reached": true,
|
||
|
|
"err": 0,
|
||
|
|
"split": "val"
|
||
|
|
},
|
||
|
|
"steps": 214,
|
||
|
|
"sampled_points": 4641,
|
||
|
|
"initial_gap64_mm": 0.5,
|
||
|
|
"min_gap64_mm": 0.0010684324191032601,
|
||
|
|
"collision_segments": 0,
|
||
|
|
"first_collision_s": null
|
||
|
|
},
|
||
|
|
{
|
||
|
|
"i": 215,
|
||
|
|
"task": {
|
||
|
|
"tid": 169730876,
|
||
|
|
"id": "s0004_000544",
|
||
|
|
"cat": "B",
|
||
|
|
"mode": "pos",
|
||
|
|
"q0": [
|
||
|
|
47.051,
|
||
|
|
-1.179,
|
||
|
|
-94.31,
|
||
|
|
-43.128,
|
||
|
|
67.067,
|
||
|
|
-119.867
|
||
|
|
],
|
||
|
|
"T": [
|
||
|
|
-142.696,
|
||
|
|
-139.159,
|
||
|
|
726.163
|
||
|
|
],
|
||
|
|
"R": null,
|
||
|
|
"exec_s": 2.16,
|
||
|
|
"travel": 461.684,
|
||
|
|
"reached": true,
|
||
|
|
"err": 0,
|
||
|
|
"split": "val"
|
||
|
|
},
|
||
|
|
"steps": 216,
|
||
|
|
"sampled_points": 6605,
|
||
|
|
"initial_gap64_mm": 0.5,
|
||
|
|
"min_gap64_mm": 0.2112382958686112,
|
||
|
|
"collision_segments": 0,
|
||
|
|
"first_collision_s": null
|
||
|
|
},
|
||
|
|
{
|
||
|
|
"i": 224,
|
||
|
|
"task": {
|
||
|
|
"tid": 1884410379,
|
||
|
|
"id": "s0004_000721",
|
||
|
|
"cat": "A",
|
||
|
|
"mode": "pose",
|
||
|
|
"q0": [
|
||
|
|
-127.447,
|
||
|
|
7.845,
|
||
|
|
-124.228,
|
||
|
|
-20.968,
|
||
|
|
-21.51,
|
||
|
|
-35.505
|
||
|
|
],
|
||
|
|
"T": [
|
||
|
|
-233.158,
|
||
|
|
-59.78,
|
||
|
|
648.987
|
||
|
|
],
|
||
|
|
"R": [
|
||
|
|
0.3964618999442966,
|
||
|
|
-0.020495209950317686,
|
||
|
|
0.9178223729358808,
|
||
|
|
-0.8179090164279511,
|
||
|
|
0.4461640898622928,
|
||
|
|
0.3632663564978371,
|
||
|
|
-0.41694460392049726,
|
||
|
|
-0.8947164641865291,
|
||
|
|
0.1601238457417738
|
||
|
|
],
|
||
|
|
"exec_s": 1.48,
|
||
|
|
"travel": 356.988,
|
||
|
|
"reached": true,
|
||
|
|
"err": 0,
|
||
|
|
"split": "val"
|
||
|
|
},
|
||
|
|
"steps": 128,
|
||
|
|
"sampled_points": 4707,
|
||
|
|
"initial_gap64_mm": 0.5,
|
||
|
|
"min_gap64_mm": 0.0041216155493710716,
|
||
|
|
"collision_segments": 0,
|
||
|
|
"first_collision_s": null
|
||
|
|
},
|
||
|
|
{
|
||
|
|
"i": 255,
|
||
|
|
"task": {
|
||
|
|
"tid": 712677274,
|
||
|
|
"id": "s0004_001686",
|
||
|
|
"cat": "C",
|
||
|
|
"mode": "pos",
|
||
|
|
"q0": [
|
||
|
|
-65.548,
|
||
|
|
71.865,
|
||
|
|
27.462,
|
||
|
|
-75.048,
|
||
|
|
60.325,
|
||
|
|
151.872
|
||
|
|
],
|
||
|
|
"T": [
|
||
|
|
-53.154,
|
||
|
|
50.204,
|
||
|
|
397.489
|
||
|
|
],
|
||
|
|
"R": null,
|
||
|
|
"exec_s": 1.84,
|
||
|
|
"travel": 238.182,
|
||
|
|
"reached": true,
|
||
|
|
"err": 0,
|
||
|
|
"split": "val"
|
||
|
|
},
|
||
|
|
"steps": 184,
|
||
|
|
"sampled_points": 2495,
|
||
|
|
"initial_gap64_mm": 0.5,
|
||
|
|
"min_gap64_mm": 0.004616787795093558,
|
||
|
|
"collision_segments": 0,
|
||
|
|
"first_collision_s": null
|
||
|
|
}
|
||
|
|
],
|
||
|
|
"audit_wall_s": 15.056756100006169
|
||
|
|
}
|