| { | |
| "dataset": "/home/ubuntu/workspace/wayne/qoowa/src/nimble_brain/python/src/nimble/brain/sim/outputs/mimic/insert_bottles/0807_1/wpgen.hdf5", | |
| "demos": 3801, | |
| "achieved_motion_violations": {}, | |
| "command_label_violations": { | |
| "right_cmd:j4_cmdvel": 3, | |
| "right_cmd:j4_pos": 3560, | |
| "right_cmd:j5_pos": 4, | |
| "right_cmd:j6_cmdvel": 11 | |
| }, | |
| "j4_cmd_past_90deg": { | |
| "demos": 3565, | |
| "excess_deg": { | |
| "p0": 0.0049, | |
| "p10": 1.1125, | |
| "p50": 3.6141, | |
| "p90": 6.9674, | |
| "p100": 10.9887 | |
| }, | |
| "handled_by": "export clip in replay_wpgen_isaac.py (not culled)" | |
| }, | |
| "carry_squeeze_margin_m": { | |
| "p0": 0.0249, | |
| "p10": 0.0252, | |
| "p50": 0.0252, | |
| "p90": 0.0256, | |
| "p100": 0.026 | |
| }, | |
| "press_contact_min_dist_m": { | |
| "p0": 0.0002, | |
| "p10": 0.0022, | |
| "p50": 0.0038, | |
| "p90": 0.0102, | |
| "p100": 0.0455 | |
| }, | |
| "press_displacement_m": { | |
| "p0": 0.0, | |
| "p10": 0.0, | |
| "p50": 0.0004, | |
| "p90": 0.0057, | |
| "p100": 0.0127 | |
| }, | |
| "press_aim_lateral_m": { | |
| "p0": 0.0, | |
| "p10": 0.0007, | |
| "p50": 0.0032, | |
| "p90": 0.0096, | |
| "p100": 0.0446 | |
| }, | |
| "press_aim_across_strip_m": { | |
| "p0": 0.0, | |
| "p10": 0.0002, | |
| "p50": 0.0014, | |
| "p90": 0.0082, | |
| "p100": 0.0162 | |
| }, | |
| "press_aim_note": "REPORTED, not culled. Aim of the demonstrated press, TCP-to-payload in the tray frame at closest contact. A press that misses still contacts and still seats, so the generation gate cannot see this -- but BC clones the aim (see brush 0723_8 in docs/3-inspect-filter.md). Across-strip has the least margin: a bottle strip is ~17 mm across.", | |
| "stream_bad": [], | |
| "no_press_contact": [ | |
| "demo_404", | |
| "demo_2108", | |
| "demo_2152", | |
| "demo_3136", | |
| "demo_3396" | |
| ], | |
| "cull": { | |
| "count": 19, | |
| "keep": 3782 | |
| } | |
| } |