Buckets:
| {"method": "initial", "loss": 0.5740039070179149} | |
| {"method": "random", "event": "unstable_candidate", "error": "Initial objects tray and stapler interpenetrate (0.0247 m)"} | |
| {"method": "random", "event": "unstable_candidate", "error": "Initial objects tray and phone interpenetrate (0.0119 m)"} | |
| {"method": "random", "event": "unstable_candidate", "error": "Initial objects tray and phone interpenetrate (0.0089 m)"} | |
| {"method": "random", "iteration": 1, "loss": 0.5740039070179149} | |
| {"method": "random", "iteration": 2, "loss": 0.5740039070179149} | |
| {"method": "random", "iteration": 3, "loss": 0.5740039070179149} | |
| {"method": "random", "iteration": 4, "loss": 0.5740039070179149} | |
| {"method": "cem", "event": "unstable_candidate", "error": "Initial objects tray and stapler interpenetrate (0.0247 m)"} | |
| {"method": "cem", "event": "unstable_candidate", "error": "Initial objects tray and phone interpenetrate (0.0119 m)"} | |
| {"method": "cem", "event": "unstable_candidate", "error": "Initial objects tray and phone interpenetrate (0.0089 m)"} | |
| {"method": "cem", "iteration": 1, "loss": 0.5740039070179149} | |
| {"method": "cem", "iteration": 2, "loss": 0.5633878446988355} | |
| {"method": "cem", "iteration": 3, "loss": 0.5633878446988355} | |
| {"method": "cem", "iteration": 4, "loss": 0.5520296393922953} | |
| {"event": "exported", "method": "initial", "sampled_objective": 0.5740039070179149, "full_mask_loss": 0.5766580834481015, "maximum_lift_m": 0.0, "lifted_objects": [], "objects": {"stapler": {"stable": true, "maximum_lift_m": 0.0, "final_height_change_m": -0.01037752759299404, "maximum_displacement_m": 0.013142283171997702, "lifted": false, "hand_object_contact_detected": true, "lift_and_hand_contact_observed": false, "contact_diagnostics": {"mass_kg": 0.1, "collider": "convex", "parent": null, "maximum_lift_m": 0.0, "final_displacement_m": 0.013016658971177333, "hand_object_contact_count": 518, "hand_object_contacts_by_hand": [0, 518], "peak_hand_object_normal_force_n": 7.014910470987709, "hand_object_normal_impulse_ns": 2.0634920438595308, "table_contact_count": 7299, "initial_support_adjustment_m": 0.0, "source_frame_index": 10}}, "phone": {"stable": true, "maximum_lift_m": 0.0, "final_height_change_m": -0.0033009488981502466, "maximum_displacement_m": 0.003992366483448904, "lifted": false, "hand_object_contact_detected": false, "lift_and_hand_contact_observed": false, "contact_diagnostics": {"mass_kg": 0.18, "collider": "convex", "parent": null, "maximum_lift_m": 0.0, "final_displacement_m": 0.003391022318196337, "hand_object_contact_count": 0, "hand_object_contacts_by_hand": [0, 0], "peak_hand_object_normal_force_n": 0.0, "hand_object_normal_impulse_ns": 0.0, "table_contact_count": 7057, "initial_support_adjustment_m": 0.0, "source_frame_index": 63}}, "popit": {"stable": true, "maximum_lift_m": 0.0, "final_height_change_m": -0.014319564094908643, "maximum_displacement_m": 0.015606390225694877, "lifted": false, "hand_object_contact_detected": true, "lift_and_hand_contact_observed": false, "contact_diagnostics": {"mass_kg": 0.08, "collider": "convex", "parent": null, "maximum_lift_m": 0.0, "final_displacement_m": 0.014601135672573855, "hand_object_contact_count": 28, "hand_object_contacts_by_hand": [0, 28], "peak_hand_object_normal_force_n": 0.32539033874057455, "hand_object_normal_impulse_ns": 0.004806517694242867, "table_contact_count": 7344, "initial_support_adjustment_m": 0.0, "source_frame_index": 111}}, "pliers": {"stable": true, "maximum_lift_m": 0.0, "final_height_change_m": -0.003737533402419446, "maximum_displacement_m": 0.004350434572910883, "lifted": false, "hand_object_contact_detected": false, "lift_and_hand_contact_observed": false, "contact_diagnostics": {"mass_kg": 0.12, "collider": "convex", "parent": null, "maximum_lift_m": 0.0, "final_displacement_m": 0.0037816349473573743, "hand_object_contact_count": 0, "hand_object_contacts_by_hand": [0, 0], "peak_hand_object_normal_force_n": 0.0, "hand_object_normal_impulse_ns": 0.0, "table_contact_count": 7456, "initial_support_adjustment_m": 0.0, "source_frame_index": 10}}, "tray": {"stable": true, "maximum_lift_m": 0.0, "final_height_change_m": -0.0010052575996213342, "maximum_displacement_m": 0.0013495023168914142, "lifted": false, "hand_object_contact_detected": false, "lift_and_hand_contact_observed": false, "contact_diagnostics": {"mass_kg": 0.06, "collider": "container", "parent": null, "maximum_lift_m": 0.0, "final_displacement_m": 0.001005258872546066, "hand_object_contact_count": 0, "hand_object_contacts_by_hand": [0, 0], "peak_hand_object_normal_force_n": 0.0, "hand_object_normal_impulse_ns": 0.0, "table_contact_count": 49820, "initial_support_adjustment_m": 0.0, "source_frame_index": 10}}, "cube": {"stable": true, "maximum_lift_m": 0.0, "final_height_change_m": -0.01578610020524529, "maximum_displacement_m": 0.018672047214764117, "lifted": false, "hand_object_contact_detected": false, "lift_and_hand_contact_observed": false, "contact_diagnostics": {"mass_kg": 0.045, "collider": "convex", "parent": "tray", "maximum_lift_m": 0.0, "final_displacement_m": 0.017469763247873707, "hand_object_contact_count": 0, "hand_object_contacts_by_hand": [0, 0], "peak_hand_object_normal_force_n": 0.0, "hand_object_normal_impulse_ns": 0.0, "table_contact_count": 0, "initial_support_adjustment_m": 0.0010000000000000009, "source_frame_index": 10}}, "hammer": {"stable": true, "maximum_lift_m": 0.0, "final_height_change_m": -0.009280380083032225, "maximum_displacement_m": 0.010040673358290546, "lifted": false, "hand_object_contact_detected": false, "lift_and_hand_contact_observed": false, "contact_diagnostics": {"mass_kg": 0.06, "collider": "convex", "parent": "tray", "maximum_lift_m": 0.0, "final_displacement_m": 0.0095210197810753, "hand_object_contact_count": 0, "hand_object_contacts_by_hand": [0, 0], "peak_hand_object_normal_force_n": 0.0, "hand_object_normal_impulse_ns": 0.0, "table_contact_count": 0, "initial_support_adjustment_m": 0.0007585081800489668, "source_frame_index": 10}}}} | |
| {"event": "exported", "method": "random", "sampled_objective": 0.5740039070179149, "full_mask_loss": 0.5766580834481015, "maximum_lift_m": 0.0, "lifted_objects": [], "objects": {"stapler": {"stable": true, "maximum_lift_m": 0.0, "final_height_change_m": -0.01037752759299404, "maximum_displacement_m": 0.013142283171997702, "lifted": false, "hand_object_contact_detected": true, "lift_and_hand_contact_observed": false, "contact_diagnostics": {"mass_kg": 0.1, "collider": "convex", "parent": null, "maximum_lift_m": 0.0, "final_displacement_m": 0.013016658971177333, "hand_object_contact_count": 518, "hand_object_contacts_by_hand": [0, 518], "peak_hand_object_normal_force_n": 7.014910470987709, "hand_object_normal_impulse_ns": 2.0634920438595308, "table_contact_count": 7299, "initial_support_adjustment_m": 0.0, "source_frame_index": 10}}, "phone": {"stable": true, "maximum_lift_m": 0.0, "final_height_change_m": -0.0033009488981502466, "maximum_displacement_m": 0.003992366483448904, "lifted": false, "hand_object_contact_detected": false, "lift_and_hand_contact_observed": false, "contact_diagnostics": {"mass_kg": 0.18, "collider": "convex", "parent": null, "maximum_lift_m": 0.0, "final_displacement_m": 0.003391022318196337, "hand_object_contact_count": 0, "hand_object_contacts_by_hand": [0, 0], "peak_hand_object_normal_force_n": 0.0, "hand_object_normal_impulse_ns": 0.0, "table_contact_count": 7057, "initial_support_adjustment_m": 0.0, "source_frame_index": 63}}, "popit": {"stable": true, "maximum_lift_m": 0.0, "final_height_change_m": -0.014319564094908643, "maximum_displacement_m": 0.015606390225694877, "lifted": false, "hand_object_contact_detected": true, "lift_and_hand_contact_observed": false, "contact_diagnostics": {"mass_kg": 0.08, "collider": "convex", "parent": null, "maximum_lift_m": 0.0, "final_displacement_m": 0.014601135672573855, "hand_object_contact_count": 28, "hand_object_contacts_by_hand": [0, 28], "peak_hand_object_normal_force_n": 0.32539033874057455, "hand_object_normal_impulse_ns": 0.004806517694242867, "table_contact_count": 7344, "initial_support_adjustment_m": 0.0, "source_frame_index": 111}}, "pliers": {"stable": true, "maximum_lift_m": 0.0, "final_height_change_m": -0.003737533402419446, "maximum_displacement_m": 0.004350434572910883, "lifted": false, "hand_object_contact_detected": false, "lift_and_hand_contact_observed": false, "contact_diagnostics": {"mass_kg": 0.12, "collider": "convex", "parent": null, "maximum_lift_m": 0.0, "final_displacement_m": 0.0037816349473573743, "hand_object_contact_count": 0, "hand_object_contacts_by_hand": [0, 0], "peak_hand_object_normal_force_n": 0.0, "hand_object_normal_impulse_ns": 0.0, "table_contact_count": 7456, "initial_support_adjustment_m": 0.0, "source_frame_index": 10}}, "tray": {"stable": true, "maximum_lift_m": 0.0, "final_height_change_m": -0.0010052575996213342, "maximum_displacement_m": 0.0013495023168914142, "lifted": false, "hand_object_contact_detected": false, "lift_and_hand_contact_observed": false, "contact_diagnostics": {"mass_kg": 0.06, "collider": "container", "parent": null, "maximum_lift_m": 0.0, "final_displacement_m": 0.001005258872546066, "hand_object_contact_count": 0, "hand_object_contacts_by_hand": [0, 0], "peak_hand_object_normal_force_n": 0.0, "hand_object_normal_impulse_ns": 0.0, "table_contact_count": 49820, "initial_support_adjustment_m": 0.0, "source_frame_index": 10}}, "cube": {"stable": true, "maximum_lift_m": 0.0, "final_height_change_m": -0.01578610020524529, "maximum_displacement_m": 0.018672047214764117, "lifted": false, "hand_object_contact_detected": false, "lift_and_hand_contact_observed": false, "contact_diagnostics": {"mass_kg": 0.045, "collider": "convex", "parent": "tray", "maximum_lift_m": 0.0, "final_displacement_m": 0.017469763247873707, "hand_object_contact_count": 0, "hand_object_contacts_by_hand": [0, 0], "peak_hand_object_normal_force_n": 0.0, "hand_object_normal_impulse_ns": 0.0, "table_contact_count": 0, "initial_support_adjustment_m": 0.0010000000000000009, "source_frame_index": 10}}, "hammer": {"stable": true, "maximum_lift_m": 0.0, "final_height_change_m": -0.009280380083032225, "maximum_displacement_m": 0.010040673358290546, "lifted": false, "hand_object_contact_detected": false, "lift_and_hand_contact_observed": false, "contact_diagnostics": {"mass_kg": 0.06, "collider": "convex", "parent": "tray", "maximum_lift_m": 0.0, "final_displacement_m": 0.0095210197810753, "hand_object_contact_count": 0, "hand_object_contacts_by_hand": [0, 0], "peak_hand_object_normal_force_n": 0.0, "hand_object_normal_impulse_ns": 0.0, "table_contact_count": 0, "initial_support_adjustment_m": 0.0007585081800489668, "source_frame_index": 10}}}} | |
| {"event": "exported", "method": "cem", "sampled_objective": 0.5520296393922953, "full_mask_loss": 0.552229014774305, "maximum_lift_m": 0.08885857547842024, "lifted_objects": ["stapler"], "objects": {"stapler": {"stable": true, "maximum_lift_m": 0.08885857547842024, "final_height_change_m": -0.022382021547849296, "maximum_displacement_m": 0.21683765868821295, "lifted": true, "hand_object_contact_detected": true, "lift_and_hand_contact_observed": true, "contact_diagnostics": {"mass_kg": 0.1, "collider": "convex", "parent": null, "maximum_lift_m": 0.08885857547842024, "final_displacement_m": 0.0926531728426939, "hand_object_contact_count": 1519, "hand_object_contacts_by_hand": [0, 1519], "peak_hand_object_normal_force_n": 11.75401067640491, "hand_object_normal_impulse_ns": 2.984342728916386, "table_contact_count": 4050, "initial_support_adjustment_m": 0.0012424155322099395, "source_frame_index": 10}}, "phone": {"stable": true, "maximum_lift_m": 0.0, "final_height_change_m": -0.007023493925856994, "maximum_displacement_m": 0.007849161565975435, "lifted": false, "hand_object_contact_detected": false, "lift_and_hand_contact_observed": false, "contact_diagnostics": {"mass_kg": 0.18, "collider": "convex", "parent": null, "maximum_lift_m": 0.0, "final_displacement_m": 0.007060994690226223, "hand_object_contact_count": 0, "hand_object_contacts_by_hand": [0, 0], "peak_hand_object_normal_force_n": 0.0, "hand_object_normal_impulse_ns": 0.0, "table_contact_count": 6970, "initial_support_adjustment_m": 0.0, "source_frame_index": 63}}, "popit": {"stable": true, "maximum_lift_m": 0.0, "final_height_change_m": -0.014658487225779893, "maximum_displacement_m": 0.019443817006118438, "lifted": false, "hand_object_contact_detected": true, "lift_and_hand_contact_observed": false, "contact_diagnostics": {"mass_kg": 0.08, "collider": "convex", "parent": null, "maximum_lift_m": 0.0, "final_displacement_m": 0.019442563484243766, "hand_object_contact_count": 228, "hand_object_contacts_by_hand": [0, 228], "peak_hand_object_normal_force_n": 2.3235423086375215, "hand_object_normal_impulse_ns": 0.24961447516229712, "table_contact_count": 7238, "initial_support_adjustment_m": 0.0, "source_frame_index": 111}}, "pliers": {"stable": true, "maximum_lift_m": 0.0, "final_height_change_m": -0.0035748011679028746, "maximum_displacement_m": 0.004227942903075191, "lifted": false, "hand_object_contact_detected": false, "lift_and_hand_contact_observed": false, "contact_diagnostics": {"mass_kg": 0.12, "collider": "convex", "parent": null, "maximum_lift_m": 0.0, "final_displacement_m": 0.003604755712371338, "hand_object_contact_count": 0, "hand_object_contacts_by_hand": [0, 0], "peak_hand_object_normal_force_n": 0.0, "hand_object_normal_impulse_ns": 0.0, "table_contact_count": 7439, "initial_support_adjustment_m": 0.0, "source_frame_index": 10}}, "tray": {"stable": true, "maximum_lift_m": 0.0, "final_height_change_m": -0.0027249348643679783, "maximum_displacement_m": 0.00831072413743297, "lifted": false, "hand_object_contact_detected": false, "lift_and_hand_contact_observed": false, "contact_diagnostics": {"mass_kg": 0.06, "collider": "container", "parent": null, "maximum_lift_m": 0.0, "final_displacement_m": 0.008293440294938467, "hand_object_contact_count": 0, "hand_object_contacts_by_hand": [0, 0], "peak_hand_object_normal_force_n": 0.0, "hand_object_normal_impulse_ns": 0.0, "table_contact_count": 48392, "initial_support_adjustment_m": 0.002676201630920305, "source_frame_index": 10}}, "cube": {"stable": true, "maximum_lift_m": 0.0, "final_height_change_m": -0.018395107051543236, "maximum_displacement_m": 0.021268939453156485, "lifted": false, "hand_object_contact_detected": false, "lift_and_hand_contact_observed": false, "contact_diagnostics": {"mass_kg": 0.045, "collider": "convex", "parent": "tray", "maximum_lift_m": 0.0, "final_displacement_m": 0.020861815123176926, "hand_object_contact_count": 0, "hand_object_contacts_by_hand": [0, 0], "peak_hand_object_normal_force_n": 0.0, "hand_object_normal_impulse_ns": 0.0, "table_contact_count": 0, "initial_support_adjustment_m": 0.003041327969315666, "source_frame_index": 10}}, "hammer": {"stable": true, "maximum_lift_m": 0.0, "final_height_change_m": -0.010183892798443783, "maximum_displacement_m": 0.011707929508109612, "lifted": false, "hand_object_contact_detected": false, "lift_and_hand_contact_observed": false, "contact_diagnostics": {"mass_kg": 0.06, "collider": "convex", "parent": "tray", "maximum_lift_m": 0.0, "final_displacement_m": 0.011427696815130436, "hand_object_contact_count": 0, "hand_object_contacts_by_hand": [0, 0], "peak_hand_object_normal_force_n": 0.0, "hand_object_normal_impulse_ns": 0.0, "table_contact_count": 0, "initial_support_adjustment_m": 0.002914908026551477, "source_frame_index": 10}}}} | |
| {"event": "completed", "output": "/pfss/mlde/workspaces/mlde_wsp_IAS_SAMMerge/triquang/ego-real2sim/outputs/basic_pick_place_multi/physics", "best_method": "cem", "best_loss": 0.5520296393922953, "best_rollout_stable": true, "maximum_lift_m": 0.08885857547842024} | |
Xet Storage Details
- Size:
- 15.8 kB
- Xet hash:
- 76cbe343ae1db4d27d8abc1cea3d2161f485e9ca6de38a875a3bf3da2071d8ec
·
Xet efficiently stores files, intelligently splitting them into unique chunks and accelerating uploads and downloads. More info.