779 lines
15 KiB
JSON
779 lines
15 KiB
JSON
{
|
|
"trace": "ml/runs/round29_trace.pt",
|
|
"n": 512,
|
|
"reported_collision_tasks": 9,
|
|
"replayed_first_hits32": 9,
|
|
"replayed_first_hits64": 9,
|
|
"scope": "Replay reported first hits only; same geometry kernel at float32/float64, not a full safety audit.",
|
|
"rows": [
|
|
{
|
|
"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"
|
|
},
|
|
"first_hit_s": 5.659999847412109,
|
|
"dls_it": -1,
|
|
"point_order": [
|
|
"q0",
|
|
"previous",
|
|
"midpoint",
|
|
"endpoint"
|
|
],
|
|
"gap32_mm": [
|
|
0.5,
|
|
0.5,
|
|
0.35770511627197266,
|
|
-0.3957242965698242
|
|
],
|
|
"gap64_mm": [
|
|
0.5,
|
|
0.5,
|
|
0.3577231796451059,
|
|
-0.39572636491366353
|
|
],
|
|
"pair32": [
|
|
0,
|
|
0,
|
|
5,
|
|
5
|
|
],
|
|
"pair64": [
|
|
0,
|
|
0,
|
|
5,
|
|
5
|
|
],
|
|
"boundary_joints": [
|
|
5
|
|
],
|
|
"previous": [
|
|
139.78468322753906,
|
|
87.256591796875,
|
|
6.928672790527344,
|
|
103.78778839111328,
|
|
-94.0,
|
|
19.4688720703125
|
|
],
|
|
"endpoint": [
|
|
139.50450134277344,
|
|
87.4175796508789,
|
|
6.71871280670166,
|
|
104.29376983642578,
|
|
-94.0,
|
|
21.218488693237305
|
|
],
|
|
"dense_nsegments": 175,
|
|
"dense_gap64_min_mm": -0.39572636491366353
|
|
},
|
|
{
|
|
"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"
|
|
},
|
|
"first_hit_s": 5.980000019073486,
|
|
"dls_it": -1,
|
|
"point_order": [
|
|
"q0",
|
|
"previous",
|
|
"midpoint",
|
|
"endpoint"
|
|
],
|
|
"gap32_mm": [
|
|
0.5,
|
|
0.030836105346679688,
|
|
-0.1565418243408203,
|
|
-0.11790847778320312
|
|
],
|
|
"gap64_mm": [
|
|
0.5,
|
|
0.030838235678215753,
|
|
-0.15655898804830848,
|
|
-0.11791701257236653
|
|
],
|
|
"pair32": [
|
|
0,
|
|
6,
|
|
6,
|
|
6
|
|
],
|
|
"pair64": [
|
|
0,
|
|
6,
|
|
6,
|
|
6
|
|
],
|
|
"boundary_joints": [
|
|
5
|
|
],
|
|
"previous": [
|
|
-69.87329864501953,
|
|
36.559112548828125,
|
|
2.094588279724121,
|
|
102.22724151611328,
|
|
89.0,
|
|
-212.1793212890625
|
|
],
|
|
"endpoint": [
|
|
-69.79582214355469,
|
|
37.351837158203125,
|
|
-0.033895254135131836,
|
|
102.45509338378906,
|
|
89.0,
|
|
-214.75440979003906
|
|
],
|
|
"dense_nsegments": 258,
|
|
"dense_gap64_min_mm": -0.16882067924099076
|
|
},
|
|
{
|
|
"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"
|
|
},
|
|
"first_hit_s": 5.599999904632568,
|
|
"dls_it": -1,
|
|
"point_order": [
|
|
"q0",
|
|
"previous",
|
|
"midpoint",
|
|
"endpoint"
|
|
],
|
|
"gap32_mm": [
|
|
0.5,
|
|
0.5,
|
|
0.3180522918701172,
|
|
-0.19827747344970703
|
|
],
|
|
"gap64_mm": [
|
|
0.5,
|
|
0.5,
|
|
0.318071359587325,
|
|
-0.19825289671655533
|
|
],
|
|
"pair32": [
|
|
0,
|
|
0,
|
|
5,
|
|
5
|
|
],
|
|
"pair64": [
|
|
0,
|
|
0,
|
|
5,
|
|
5
|
|
],
|
|
"boundary_joints": [
|
|
5
|
|
],
|
|
"previous": [
|
|
-36.05080032348633,
|
|
49.852294921875,
|
|
22.054914474487305,
|
|
67.3380126953125,
|
|
-94.0,
|
|
79.87274932861328
|
|
],
|
|
"endpoint": [
|
|
-35.60316848754883,
|
|
48.9223747253418,
|
|
21.386226654052734,
|
|
67.87915802001953,
|
|
-94.0,
|
|
79.27398681640625
|
|
],
|
|
"dense_nsegments": 93,
|
|
"dense_gap64_min_mm": -0.19825289671655533
|
|
},
|
|
{
|
|
"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"
|
|
},
|
|
"first_hit_s": 3.0399999618530273,
|
|
"dls_it": -1,
|
|
"point_order": [
|
|
"q0",
|
|
"previous",
|
|
"midpoint",
|
|
"endpoint"
|
|
],
|
|
"gap32_mm": [
|
|
0.5,
|
|
0.5,
|
|
0.5,
|
|
-0.12672901153564453
|
|
],
|
|
"gap64_mm": [
|
|
0.5,
|
|
0.5,
|
|
0.5,
|
|
-0.12673094091899273
|
|
],
|
|
"pair32": [
|
|
0,
|
|
0,
|
|
0,
|
|
5
|
|
],
|
|
"pair64": [
|
|
0,
|
|
0,
|
|
0,
|
|
5
|
|
],
|
|
"boundary_joints": [
|
|
5
|
|
],
|
|
"previous": [
|
|
-33.6672248840332,
|
|
39.63850021362305,
|
|
-60.174774169921875,
|
|
-108.2870864868164,
|
|
88.27082061767578,
|
|
-74.56200408935547
|
|
],
|
|
"endpoint": [
|
|
-32.8936882019043,
|
|
39.478729248046875,
|
|
-58.639915466308594,
|
|
-107.65913391113281,
|
|
89.0,
|
|
-74.92655944824219
|
|
],
|
|
"dense_nsegments": 154,
|
|
"dense_gap64_min_mm": -0.12673094091899273
|
|
},
|
|
{
|
|
"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"
|
|
},
|
|
"first_hit_s": 0.8399999737739563,
|
|
"dls_it": 144,
|
|
"point_order": [
|
|
"q0",
|
|
"previous",
|
|
"midpoint",
|
|
"endpoint"
|
|
],
|
|
"gap32_mm": [
|
|
0.5,
|
|
0.4698514938354492,
|
|
-0.6612262725830078,
|
|
-0.9359521865844727
|
|
],
|
|
"gap64_mm": [
|
|
0.5,
|
|
0.4698356780126254,
|
|
-0.6612412101671552,
|
|
-0.9359581587234
|
|
],
|
|
"pair32": [
|
|
0,
|
|
6,
|
|
6,
|
|
6
|
|
],
|
|
"pair64": [
|
|
0,
|
|
6,
|
|
6,
|
|
6
|
|
],
|
|
"boundary_joints": [
|
|
5
|
|
],
|
|
"previous": [
|
|
-42.48794937133789,
|
|
11.756612777709961,
|
|
-124.7530288696289,
|
|
-46.12489700317383,
|
|
-94.0,
|
|
-54.57075500488281
|
|
],
|
|
"endpoint": [
|
|
-42.73639678955078,
|
|
10.6148681640625,
|
|
-124.47537231445312,
|
|
-48.52891159057617,
|
|
-94.0,
|
|
-55.451263427734375
|
|
],
|
|
"dense_nsegments": 241,
|
|
"dense_gap64_min_mm": -0.9544276230224238
|
|
},
|
|
{
|
|
"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"
|
|
},
|
|
"first_hit_s": 1.1399999856948853,
|
|
"dls_it": 102,
|
|
"point_order": [
|
|
"q0",
|
|
"previous",
|
|
"midpoint",
|
|
"endpoint"
|
|
],
|
|
"gap32_mm": [
|
|
0.5,
|
|
0.06517887115478516,
|
|
-0.0172576904296875,
|
|
0.013133049011230469
|
|
],
|
|
"gap64_mm": [
|
|
0.5,
|
|
0.06521150921177998,
|
|
-0.017227151210720493,
|
|
0.013145878955246104
|
|
],
|
|
"pair32": [
|
|
0,
|
|
5,
|
|
5,
|
|
5
|
|
],
|
|
"pair64": [
|
|
0,
|
|
5,
|
|
5,
|
|
5
|
|
],
|
|
"boundary_joints": [
|
|
5
|
|
],
|
|
"previous": [
|
|
1.8212896585464478,
|
|
-9.327469825744629,
|
|
-150.87704467773438,
|
|
-23.00735855102539,
|
|
-94.0,
|
|
93.73664855957031
|
|
],
|
|
"endpoint": [
|
|
1.3598560094833374,
|
|
-9.66404914855957,
|
|
-150.52992248535156,
|
|
-23.200042724609375,
|
|
-94.0,
|
|
92.69589233398438
|
|
],
|
|
"dense_nsegments": 105,
|
|
"dense_gap64_min_mm": -0.020246891242656773
|
|
},
|
|
{
|
|
"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"
|
|
},
|
|
"first_hit_s": 3.5399999618530273,
|
|
"dls_it": -1,
|
|
"point_order": [
|
|
"q0",
|
|
"previous",
|
|
"midpoint",
|
|
"endpoint"
|
|
],
|
|
"gap32_mm": [
|
|
0.5,
|
|
0.5,
|
|
0.5,
|
|
-0.08817481994628906
|
|
],
|
|
"gap64_mm": [
|
|
0.5,
|
|
0.5,
|
|
0.5,
|
|
-0.08817155079043282
|
|
],
|
|
"pair32": [
|
|
0,
|
|
0,
|
|
0,
|
|
6
|
|
],
|
|
"pair64": [
|
|
0,
|
|
0,
|
|
0,
|
|
6
|
|
],
|
|
"boundary_joints": [
|
|
5
|
|
],
|
|
"previous": [
|
|
34.57734298706055,
|
|
32.23564910888672,
|
|
-71.76512908935547,
|
|
10.783411979675293,
|
|
88.44934844970703,
|
|
-105.16633605957031
|
|
],
|
|
"endpoint": [
|
|
34.31901931762695,
|
|
33.24732208251953,
|
|
-72.12022399902344,
|
|
10.171412467956543,
|
|
89.0,
|
|
-106.89080810546875
|
|
],
|
|
"dense_nsegments": 173,
|
|
"dense_gap64_min_mm": -0.08817155079043282
|
|
},
|
|
{
|
|
"i": 266,
|
|
"task": {
|
|
"tid": 458057184,
|
|
"id": "s0005_000271",
|
|
"cat": "B",
|
|
"mode": "pos",
|
|
"q0": [
|
|
44.394,
|
|
32.402,
|
|
-145.074,
|
|
-48.37,
|
|
-85.543,
|
|
13.576
|
|
],
|
|
"T": [
|
|
184.38,
|
|
-306.445,
|
|
433.207
|
|
],
|
|
"R": null,
|
|
"exec_s": 2.52,
|
|
"travel": 376.205,
|
|
"reached": true,
|
|
"err": 0,
|
|
"split": "val"
|
|
},
|
|
"first_hit_s": 1.2200000286102295,
|
|
"dls_it": 304,
|
|
"point_order": [
|
|
"q0",
|
|
"previous",
|
|
"midpoint",
|
|
"endpoint"
|
|
],
|
|
"gap32_mm": [
|
|
0.5,
|
|
0.5,
|
|
0.2372283935546875,
|
|
-0.05915641784667969
|
|
],
|
|
"gap64_mm": [
|
|
0.5,
|
|
0.5,
|
|
0.23719947210205383,
|
|
-0.05918908805933398
|
|
],
|
|
"pair32": [
|
|
0,
|
|
0,
|
|
5,
|
|
5
|
|
],
|
|
"pair64": [
|
|
0,
|
|
0,
|
|
5,
|
|
5
|
|
],
|
|
"boundary_joints": [
|
|
5
|
|
],
|
|
"previous": [
|
|
20.49032974243164,
|
|
10.35391902923584,
|
|
-172.87489318847656,
|
|
-73.93492126464844,
|
|
-93.70915985107422,
|
|
14.725995063781738
|
|
],
|
|
"endpoint": [
|
|
20.34522819519043,
|
|
10.012239456176758,
|
|
-172.91363525390625,
|
|
-74.4600601196289,
|
|
-94.0,
|
|
13.266871452331543
|
|
],
|
|
"dense_nsegments": 146,
|
|
"dense_gap64_min_mm": -0.05918908805933398
|
|
},
|
|
{
|
|
"i": 325,
|
|
"task": {
|
|
"tid": 1206824904,
|
|
"id": "s0005_001755",
|
|
"cat": "B",
|
|
"mode": "pose",
|
|
"q0": [
|
|
-68.225,
|
|
58.481,
|
|
-31.386,
|
|
57.2,
|
|
-31.831,
|
|
-80.259
|
|
],
|
|
"T": [
|
|
30.805,
|
|
353.752,
|
|
661.419
|
|
],
|
|
"R": [
|
|
0.5493387160259536,
|
|
0.13571391775309405,
|
|
0.8245051289125273,
|
|
-0.09525700289583322,
|
|
-0.9701190077749987,
|
|
0.22314841283987508,
|
|
0.8301524429129026,
|
|
-0.2011239500451364,
|
|
-0.5199962290670785
|
|
],
|
|
"exec_s": 2.34,
|
|
"travel": 659.756,
|
|
"reached": true,
|
|
"err": 0,
|
|
"split": "val"
|
|
},
|
|
"first_hit_s": 3.0999999046325684,
|
|
"dls_it": -1,
|
|
"point_order": [
|
|
"q0",
|
|
"previous",
|
|
"midpoint",
|
|
"endpoint"
|
|
],
|
|
"gap32_mm": [
|
|
0.5,
|
|
0.3628082275390625,
|
|
0.004294395446777344,
|
|
-0.6861848831176758
|
|
],
|
|
"gap64_mm": [
|
|
0.5,
|
|
0.3628058862147938,
|
|
0.004307730814957722,
|
|
-0.686172816414107
|
|
],
|
|
"pair32": [
|
|
0,
|
|
18,
|
|
5,
|
|
5
|
|
],
|
|
"pair64": [
|
|
0,
|
|
18,
|
|
5,
|
|
5
|
|
],
|
|
"boundary_joints": [
|
|
5
|
|
],
|
|
"previous": [
|
|
-39.524147033691406,
|
|
54.68175506591797,
|
|
-18.574026107788086,
|
|
103.78845977783203,
|
|
-94.0,
|
|
-53.657958984375
|
|
],
|
|
"endpoint": [
|
|
-39.42676544189453,
|
|
55.778987884521484,
|
|
-18.88759994506836,
|
|
103.97470092773438,
|
|
-94.0,
|
|
-54.84250259399414
|
|
],
|
|
"dense_nsegments": 119,
|
|
"dense_gap64_min_mm": -0.686172816414107
|
|
}
|
|
]
|
|
} |