strict640x480-v2: add audited camera_alignment (100 demos)
Browse files- strict640x480-v2/data/camera_alignment/manifest.json +554 -0
- strict640x480-v2/data/camera_alignment/strict_audit.json +1062 -0
- strict640x480-v2/data/camera_alignment/worker_00.h5 +3 -0
- strict640x480-v2/data/camera_alignment/worker_00.json +403 -0
- strict640x480-v2/data/camera_alignment/worker_01.h5 +3 -0
- strict640x480-v2/data/camera_alignment/worker_01.json +403 -0
- strict640x480-v2/data/camera_alignment/worker_02.h5 +3 -0
- strict640x480-v2/data/camera_alignment/worker_02.json +403 -0
- strict640x480-v2/data/camera_alignment/worker_03.h5 +3 -0
- strict640x480-v2/data/camera_alignment/worker_03.json +403 -0
strict640x480-v2/data/camera_alignment/manifest.json
ADDED
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@@ -0,0 +1,554 @@
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| 1 |
+
{
|
| 2 |
+
"task": "camera_alignment",
|
| 3 |
+
"spec": {
|
| 4 |
+
"env_id": "CameraAlignment-rf",
|
| 5 |
+
"config": "robofactory/configs/table/camera_alignment.yaml",
|
| 6 |
+
"agents": [
|
| 7 |
+
0,
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| 8 |
+
1,
|
| 9 |
+
2
|
| 10 |
+
],
|
| 11 |
+
"group": "three"
|
| 12 |
+
},
|
| 13 |
+
"camera": {
|
| 14 |
+
"mount": "panda_hand",
|
| 15 |
+
"width": 640,
|
| 16 |
+
"height": 480,
|
| 17 |
+
"observation_mode": "rgbd",
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| 18 |
+
"depth_storage_unit": "millimeters"
|
| 19 |
+
},
|
| 20 |
+
"reports": [
|
| 21 |
+
{
|
| 22 |
+
"worker": 0,
|
| 23 |
+
"h5": "/workspace/RoboFactory/runs/strict640x480_v2/camera_alignment/worker_00.h5",
|
| 24 |
+
"successes": 25,
|
| 25 |
+
"attempts": 25,
|
| 26 |
+
"records": [
|
| 27 |
+
{
|
| 28 |
+
"seed": 500000,
|
| 29 |
+
"success": true,
|
| 30 |
+
"steps": 109
|
| 31 |
+
},
|
| 32 |
+
{
|
| 33 |
+
"seed": 500004,
|
| 34 |
+
"success": true,
|
| 35 |
+
"steps": 109
|
| 36 |
+
},
|
| 37 |
+
{
|
| 38 |
+
"seed": 500008,
|
| 39 |
+
"success": true,
|
| 40 |
+
"steps": 104
|
| 41 |
+
},
|
| 42 |
+
{
|
| 43 |
+
"seed": 500012,
|
| 44 |
+
"success": true,
|
| 45 |
+
"steps": 104
|
| 46 |
+
},
|
| 47 |
+
{
|
| 48 |
+
"seed": 500016,
|
| 49 |
+
"success": true,
|
| 50 |
+
"steps": 107
|
| 51 |
+
},
|
| 52 |
+
{
|
| 53 |
+
"seed": 500020,
|
| 54 |
+
"success": true,
|
| 55 |
+
"steps": 112
|
| 56 |
+
},
|
| 57 |
+
{
|
| 58 |
+
"seed": 500024,
|
| 59 |
+
"success": true,
|
| 60 |
+
"steps": 101
|
| 61 |
+
},
|
| 62 |
+
{
|
| 63 |
+
"seed": 500028,
|
| 64 |
+
"success": true,
|
| 65 |
+
"steps": 104
|
| 66 |
+
},
|
| 67 |
+
{
|
| 68 |
+
"seed": 500032,
|
| 69 |
+
"success": true,
|
| 70 |
+
"steps": 107
|
| 71 |
+
},
|
| 72 |
+
{
|
| 73 |
+
"seed": 500036,
|
| 74 |
+
"success": true,
|
| 75 |
+
"steps": 109
|
| 76 |
+
},
|
| 77 |
+
{
|
| 78 |
+
"seed": 500040,
|
| 79 |
+
"success": true,
|
| 80 |
+
"steps": 106
|
| 81 |
+
},
|
| 82 |
+
{
|
| 83 |
+
"seed": 500044,
|
| 84 |
+
"success": true,
|
| 85 |
+
"steps": 109
|
| 86 |
+
},
|
| 87 |
+
{
|
| 88 |
+
"seed": 500048,
|
| 89 |
+
"success": true,
|
| 90 |
+
"steps": 107
|
| 91 |
+
},
|
| 92 |
+
{
|
| 93 |
+
"seed": 500052,
|
| 94 |
+
"success": true,
|
| 95 |
+
"steps": 106
|
| 96 |
+
},
|
| 97 |
+
{
|
| 98 |
+
"seed": 500056,
|
| 99 |
+
"success": true,
|
| 100 |
+
"steps": 107
|
| 101 |
+
},
|
| 102 |
+
{
|
| 103 |
+
"seed": 500060,
|
| 104 |
+
"success": true,
|
| 105 |
+
"steps": 112
|
| 106 |
+
},
|
| 107 |
+
{
|
| 108 |
+
"seed": 500064,
|
| 109 |
+
"success": true,
|
| 110 |
+
"steps": 105
|
| 111 |
+
},
|
| 112 |
+
{
|
| 113 |
+
"seed": 500068,
|
| 114 |
+
"success": true,
|
| 115 |
+
"steps": 109
|
| 116 |
+
},
|
| 117 |
+
{
|
| 118 |
+
"seed": 500072,
|
| 119 |
+
"success": true,
|
| 120 |
+
"steps": 106
|
| 121 |
+
},
|
| 122 |
+
{
|
| 123 |
+
"seed": 500076,
|
| 124 |
+
"success": true,
|
| 125 |
+
"steps": 101
|
| 126 |
+
},
|
| 127 |
+
{
|
| 128 |
+
"seed": 500080,
|
| 129 |
+
"success": true,
|
| 130 |
+
"steps": 112
|
| 131 |
+
},
|
| 132 |
+
{
|
| 133 |
+
"seed": 500084,
|
| 134 |
+
"success": true,
|
| 135 |
+
"steps": 105
|
| 136 |
+
},
|
| 137 |
+
{
|
| 138 |
+
"seed": 500088,
|
| 139 |
+
"success": true,
|
| 140 |
+
"steps": 107
|
| 141 |
+
},
|
| 142 |
+
{
|
| 143 |
+
"seed": 500092,
|
| 144 |
+
"success": true,
|
| 145 |
+
"steps": 107
|
| 146 |
+
},
|
| 147 |
+
{
|
| 148 |
+
"seed": 500096,
|
| 149 |
+
"success": true,
|
| 150 |
+
"steps": 104
|
| 151 |
+
}
|
| 152 |
+
]
|
| 153 |
+
},
|
| 154 |
+
{
|
| 155 |
+
"worker": 1,
|
| 156 |
+
"h5": "/workspace/RoboFactory/runs/strict640x480_v2/camera_alignment/worker_01.h5",
|
| 157 |
+
"successes": 25,
|
| 158 |
+
"attempts": 25,
|
| 159 |
+
"records": [
|
| 160 |
+
{
|
| 161 |
+
"seed": 500001,
|
| 162 |
+
"success": true,
|
| 163 |
+
"steps": 106
|
| 164 |
+
},
|
| 165 |
+
{
|
| 166 |
+
"seed": 500005,
|
| 167 |
+
"success": true,
|
| 168 |
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|
strict640x480-v2/data/camera_alignment/strict_audit.json
ADDED
|
@@ -0,0 +1,1062 @@
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|
| 1 |
+
{
|
| 2 |
+
"status": "PASS_STRICT640X480_V2",
|
| 3 |
+
"task": "camera_alignment",
|
| 4 |
+
"episodes": 100,
|
| 5 |
+
"local_streams": 300,
|
| 6 |
+
"policy_observation": "one local panda_hand RGB-D camera plus own qpos only",
|
| 7 |
+
"native_rgb_shape": [
|
| 8 |
+
480,
|
| 9 |
+
640,
|
| 10 |
+
3
|
| 11 |
+
],
|
| 12 |
+
"native_depth_shape": [
|
| 13 |
+
480,
|
| 14 |
+
640,
|
| 15 |
+
1
|
| 16 |
+
],
|
| 17 |
+
"dino_vit_b16_grid": [
|
| 18 |
+
30,
|
| 19 |
+
40
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+
"2"
|
| 933 |
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]
|
| 934 |
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},
|
| 935 |
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{
|
| 936 |
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"file": "worker_03.h5",
|
| 937 |
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"trajectory": "traj_19",
|
| 938 |
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|
| 939 |
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"0",
|
| 940 |
+
"1",
|
| 941 |
+
"2"
|
| 942 |
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]
|
| 943 |
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},
|
| 944 |
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{
|
| 945 |
+
"file": "worker_03.h5",
|
| 946 |
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"trajectory": "traj_2",
|
| 947 |
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"arms": [
|
| 948 |
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"0",
|
| 949 |
+
"1",
|
| 950 |
+
"2"
|
| 951 |
+
]
|
| 952 |
+
},
|
| 953 |
+
{
|
| 954 |
+
"file": "worker_03.h5",
|
| 955 |
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"trajectory": "traj_20",
|
| 956 |
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"arms": [
|
| 957 |
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|
| 958 |
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"1",
|
| 959 |
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"2"
|
| 960 |
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|
| 961 |
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|
| 962 |
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{
|
| 963 |
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"file": "worker_03.h5",
|
| 964 |
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|
| 965 |
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|
| 966 |
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|
| 967 |
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|
| 968 |
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"2"
|
| 969 |
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|
| 970 |
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|
| 971 |
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{
|
| 972 |
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"file": "worker_03.h5",
|
| 973 |
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|
| 974 |
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|
| 975 |
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|
| 976 |
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|
| 977 |
+
"2"
|
| 978 |
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]
|
| 979 |
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|
| 980 |
+
{
|
| 981 |
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"file": "worker_03.h5",
|
| 982 |
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"trajectory": "traj_23",
|
| 983 |
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"arms": [
|
| 984 |
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"0",
|
| 985 |
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"1",
|
| 986 |
+
"2"
|
| 987 |
+
]
|
| 988 |
+
},
|
| 989 |
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{
|
| 990 |
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"file": "worker_03.h5",
|
| 991 |
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"trajectory": "traj_24",
|
| 992 |
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"arms": [
|
| 993 |
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"0",
|
| 994 |
+
"1",
|
| 995 |
+
"2"
|
| 996 |
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]
|
| 997 |
+
},
|
| 998 |
+
{
|
| 999 |
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"file": "worker_03.h5",
|
| 1000 |
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"trajectory": "traj_3",
|
| 1001 |
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"arms": [
|
| 1002 |
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"0",
|
| 1003 |
+
"1",
|
| 1004 |
+
"2"
|
| 1005 |
+
]
|
| 1006 |
+
},
|
| 1007 |
+
{
|
| 1008 |
+
"file": "worker_03.h5",
|
| 1009 |
+
"trajectory": "traj_4",
|
| 1010 |
+
"arms": [
|
| 1011 |
+
"0",
|
| 1012 |
+
"1",
|
| 1013 |
+
"2"
|
| 1014 |
+
]
|
| 1015 |
+
},
|
| 1016 |
+
{
|
| 1017 |
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"file": "worker_03.h5",
|
| 1018 |
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"trajectory": "traj_5",
|
| 1019 |
+
"arms": [
|
| 1020 |
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"0",
|
| 1021 |
+
"1",
|
| 1022 |
+
"2"
|
| 1023 |
+
]
|
| 1024 |
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},
|
| 1025 |
+
{
|
| 1026 |
+
"file": "worker_03.h5",
|
| 1027 |
+
"trajectory": "traj_6",
|
| 1028 |
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"arms": [
|
| 1029 |
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"0",
|
| 1030 |
+
"1",
|
| 1031 |
+
"2"
|
| 1032 |
+
]
|
| 1033 |
+
},
|
| 1034 |
+
{
|
| 1035 |
+
"file": "worker_03.h5",
|
| 1036 |
+
"trajectory": "traj_7",
|
| 1037 |
+
"arms": [
|
| 1038 |
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"0",
|
| 1039 |
+
"1",
|
| 1040 |
+
"2"
|
| 1041 |
+
]
|
| 1042 |
+
},
|
| 1043 |
+
{
|
| 1044 |
+
"file": "worker_03.h5",
|
| 1045 |
+
"trajectory": "traj_8",
|
| 1046 |
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"arms": [
|
| 1047 |
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"0",
|
| 1048 |
+
"1",
|
| 1049 |
+
"2"
|
| 1050 |
+
]
|
| 1051 |
+
},
|
| 1052 |
+
{
|
| 1053 |
+
"file": "worker_03.h5",
|
| 1054 |
+
"trajectory": "traj_9",
|
| 1055 |
+
"arms": [
|
| 1056 |
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"0",
|
| 1057 |
+
"1",
|
| 1058 |
+
"2"
|
| 1059 |
+
]
|
| 1060 |
+
}
|
| 1061 |
+
]
|
| 1062 |
+
}
|
strict640x480-v2/data/camera_alignment/worker_00.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:4b0d3cfd4fde486774a61a44e35690e739303d494d820784a06631fd57d2a738
|
| 3 |
+
size 2286760083
|
strict640x480-v2/data/camera_alignment/worker_00.json
ADDED
|
@@ -0,0 +1,403 @@
|
|
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|
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|
|
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|
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|
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|
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|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
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|
|
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|
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|
|
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|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"env_info": {
|
| 3 |
+
"env_id": "CameraAlignment-rf",
|
| 4 |
+
"env_kwargs": {
|
| 5 |
+
"config": "/workspace/RoboFactory/robofactory/configs/table/camera_alignment.yaml",
|
| 6 |
+
"obs_mode": "rgbd",
|
| 7 |
+
"control_mode": "pd_joint_pos",
|
| 8 |
+
"render_mode": "sensors",
|
| 9 |
+
"reward_mode": "dense",
|
| 10 |
+
"sim_backend": "cpu",
|
| 11 |
+
"sensor_configs": {
|
| 12 |
+
"shader_pack": "default"
|
| 13 |
+
},
|
| 14 |
+
"human_render_camera_configs": {
|
| 15 |
+
"shader_pack": "default"
|
| 16 |
+
},
|
| 17 |
+
"viewer_camera_configs": {
|
| 18 |
+
"shader_pack": "default"
|
| 19 |
+
}
|
| 20 |
+
},
|
| 21 |
+
"max_episode_steps": 1500
|
| 22 |
+
},
|
| 23 |
+
"commit_info": null,
|
| 24 |
+
"episodes": [
|
| 25 |
+
{
|
| 26 |
+
"episode_id": 0,
|
| 27 |
+
"episode_seed": 500000,
|
| 28 |
+
"control_mode": {
|
| 29 |
+
"panda-0": "pd_joint_pos",
|
| 30 |
+
"panda-1": "pd_joint_pos",
|
| 31 |
+
"panda-2": "pd_joint_pos"
|
| 32 |
+
},
|
| 33 |
+
"elapsed_steps": 109,
|
| 34 |
+
"reset_kwargs": {
|
| 35 |
+
"options": {},
|
| 36 |
+
"seed": 500000
|
| 37 |
+
},
|
| 38 |
+
"success": true
|
| 39 |
+
},
|
| 40 |
+
{
|
| 41 |
+
"episode_id": 1,
|
| 42 |
+
"episode_seed": 500004,
|
| 43 |
+
"control_mode": {
|
| 44 |
+
"panda-0": "pd_joint_pos",
|
| 45 |
+
"panda-1": "pd_joint_pos",
|
| 46 |
+
"panda-2": "pd_joint_pos"
|
| 47 |
+
},
|
| 48 |
+
"elapsed_steps": 109,
|
| 49 |
+
"reset_kwargs": {
|
| 50 |
+
"options": {},
|
| 51 |
+
"seed": 500004
|
| 52 |
+
},
|
| 53 |
+
"success": true
|
| 54 |
+
},
|
| 55 |
+
{
|
| 56 |
+
"episode_id": 2,
|
| 57 |
+
"episode_seed": 500008,
|
| 58 |
+
"control_mode": {
|
| 59 |
+
"panda-0": "pd_joint_pos",
|
| 60 |
+
"panda-1": "pd_joint_pos",
|
| 61 |
+
"panda-2": "pd_joint_pos"
|
| 62 |
+
},
|
| 63 |
+
"elapsed_steps": 104,
|
| 64 |
+
"reset_kwargs": {
|
| 65 |
+
"options": {},
|
| 66 |
+
"seed": 500008
|
| 67 |
+
},
|
| 68 |
+
"success": true
|
| 69 |
+
},
|
| 70 |
+
{
|
| 71 |
+
"episode_id": 3,
|
| 72 |
+
"episode_seed": 500012,
|
| 73 |
+
"control_mode": {
|
| 74 |
+
"panda-0": "pd_joint_pos",
|
| 75 |
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"panda-1": "pd_joint_pos",
|
| 76 |
+
"panda-2": "pd_joint_pos"
|
| 77 |
+
},
|
| 78 |
+
"elapsed_steps": 104,
|
| 79 |
+
"reset_kwargs": {
|
| 80 |
+
"options": {},
|
| 81 |
+
"seed": 500012
|
| 82 |
+
},
|
| 83 |
+
"success": true
|
| 84 |
+
},
|
| 85 |
+
{
|
| 86 |
+
"episode_id": 4,
|
| 87 |
+
"episode_seed": 500016,
|
| 88 |
+
"control_mode": {
|
| 89 |
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"panda-0": "pd_joint_pos",
|
| 90 |
+
"panda-1": "pd_joint_pos",
|
| 91 |
+
"panda-2": "pd_joint_pos"
|
| 92 |
+
},
|
| 93 |
+
"elapsed_steps": 107,
|
| 94 |
+
"reset_kwargs": {
|
| 95 |
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"options": {},
|
| 96 |
+
"seed": 500016
|
| 97 |
+
},
|
| 98 |
+
"success": true
|
| 99 |
+
},
|
| 100 |
+
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|
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|
| 401 |
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"source_type": "motionplanning",
|
| 402 |
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"source_desc": "camera_alignment; local RGB cameras mounted on matching panda_hand links"
|
| 403 |
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}
|
strict640x480-v2/data/camera_alignment/worker_01.h5
ADDED
|
@@ -0,0 +1,3 @@
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version https://git-lfs.github.com/spec/v1
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size 2301094381
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strict640x480-v2/data/camera_alignment/worker_01.json
ADDED
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@@ -0,0 +1,403 @@
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| 1 |
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| 2 |
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"panda-1": "pd_joint_pos",
|
| 346 |
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"panda-2": "pd_joint_pos"
|
| 347 |
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},
|
| 348 |
+
"elapsed_steps": 103,
|
| 349 |
+
"reset_kwargs": {
|
| 350 |
+
"options": {},
|
| 351 |
+
"seed": 500085
|
| 352 |
+
},
|
| 353 |
+
"success": true
|
| 354 |
+
},
|
| 355 |
+
{
|
| 356 |
+
"episode_id": 22,
|
| 357 |
+
"episode_seed": 500089,
|
| 358 |
+
"control_mode": {
|
| 359 |
+
"panda-0": "pd_joint_pos",
|
| 360 |
+
"panda-1": "pd_joint_pos",
|
| 361 |
+
"panda-2": "pd_joint_pos"
|
| 362 |
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},
|
| 363 |
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"elapsed_steps": 109,
|
| 364 |
+
"reset_kwargs": {
|
| 365 |
+
"options": {},
|
| 366 |
+
"seed": 500089
|
| 367 |
+
},
|
| 368 |
+
"success": true
|
| 369 |
+
},
|
| 370 |
+
{
|
| 371 |
+
"episode_id": 23,
|
| 372 |
+
"episode_seed": 500093,
|
| 373 |
+
"control_mode": {
|
| 374 |
+
"panda-0": "pd_joint_pos",
|
| 375 |
+
"panda-1": "pd_joint_pos",
|
| 376 |
+
"panda-2": "pd_joint_pos"
|
| 377 |
+
},
|
| 378 |
+
"elapsed_steps": 115,
|
| 379 |
+
"reset_kwargs": {
|
| 380 |
+
"options": {},
|
| 381 |
+
"seed": 500093
|
| 382 |
+
},
|
| 383 |
+
"success": true
|
| 384 |
+
},
|
| 385 |
+
{
|
| 386 |
+
"episode_id": 24,
|
| 387 |
+
"episode_seed": 500097,
|
| 388 |
+
"control_mode": {
|
| 389 |
+
"panda-0": "pd_joint_pos",
|
| 390 |
+
"panda-1": "pd_joint_pos",
|
| 391 |
+
"panda-2": "pd_joint_pos"
|
| 392 |
+
},
|
| 393 |
+
"elapsed_steps": 104,
|
| 394 |
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"reset_kwargs": {
|
| 395 |
+
"options": {},
|
| 396 |
+
"seed": 500097
|
| 397 |
+
},
|
| 398 |
+
"success": true
|
| 399 |
+
}
|
| 400 |
+
],
|
| 401 |
+
"source_type": "motionplanning",
|
| 402 |
+
"source_desc": "camera_alignment; local RGB cameras mounted on matching panda_hand links"
|
| 403 |
+
}
|
strict640x480-v2/data/camera_alignment/worker_02.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
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|
|
|
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|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a677b4d46790a7e69d8437a18e69a35a7758c88251863b6bc98d74609ce1661a
|
| 3 |
+
size 2289924306
|
strict640x480-v2/data/camera_alignment/worker_02.json
ADDED
|
@@ -0,0 +1,403 @@
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|
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|
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|
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|
|
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|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"env_info": {
|
| 3 |
+
"env_id": "CameraAlignment-rf",
|
| 4 |
+
"env_kwargs": {
|
| 5 |
+
"config": "/workspace/RoboFactory/robofactory/configs/table/camera_alignment.yaml",
|
| 6 |
+
"obs_mode": "rgbd",
|
| 7 |
+
"control_mode": "pd_joint_pos",
|
| 8 |
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"render_mode": "sensors",
|
| 9 |
+
"reward_mode": "dense",
|
| 10 |
+
"sim_backend": "cpu",
|
| 11 |
+
"sensor_configs": {
|
| 12 |
+
"shader_pack": "default"
|
| 13 |
+
},
|
| 14 |
+
"human_render_camera_configs": {
|
| 15 |
+
"shader_pack": "default"
|
| 16 |
+
},
|
| 17 |
+
"viewer_camera_configs": {
|
| 18 |
+
"shader_pack": "default"
|
| 19 |
+
}
|
| 20 |
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},
|
| 21 |
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"max_episode_steps": 1500
|
| 22 |
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},
|
| 23 |
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"commit_info": null,
|
| 24 |
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"episodes": [
|
| 25 |
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{
|
| 26 |
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|
| 27 |
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|
| 28 |
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"control_mode": {
|
| 29 |
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"panda-0": "pd_joint_pos",
|
| 30 |
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|
| 31 |
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"panda-2": "pd_joint_pos"
|
| 32 |
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},
|
| 33 |
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|
| 34 |
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|
| 35 |
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"options": {},
|
| 36 |
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"seed": 500002
|
| 37 |
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},
|
| 38 |
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"success": true
|
| 39 |
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},
|
| 40 |
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{
|
| 41 |
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|
| 42 |
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"episode_seed": 500006,
|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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"seed": 500006
|
| 52 |
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|
| 53 |
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"success": true
|
| 54 |
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},
|
| 55 |
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{
|
| 56 |
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|
| 57 |
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|
| 58 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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|
| 64 |
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|
| 65 |
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|
| 66 |
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"seed": 500010
|
| 67 |
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|
| 68 |
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|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
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| 77 |
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|
| 79 |
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| 81 |
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|
| 82 |
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|
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| 97 |
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| 98 |
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|
| 99 |
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| 100 |
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| 101 |
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|
| 102 |
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| 103 |
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| 104 |
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|
| 105 |
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| 106 |
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|
| 107 |
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| 108 |
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|
| 109 |
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|
| 110 |
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|
| 111 |
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|
| 112 |
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| 113 |
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|
| 114 |
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|
| 115 |
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| 116 |
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|
| 117 |
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|
| 118 |
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|
| 119 |
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|
| 120 |
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| 121 |
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|
| 122 |
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|
| 123 |
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|
| 124 |
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|
| 125 |
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|
| 126 |
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|
| 127 |
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|
| 128 |
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|
| 129 |
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|
| 130 |
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|
| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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|
| 135 |
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| 136 |
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|
| 137 |
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|
| 138 |
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|
| 139 |
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|
| 140 |
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|
| 141 |
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|
| 142 |
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|
| 143 |
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|
| 144 |
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|
| 145 |
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|
| 146 |
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|
| 147 |
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|
| 148 |
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| 149 |
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|
| 150 |
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| 151 |
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|
| 152 |
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| 153 |
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| 154 |
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| 155 |
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| 156 |
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| 157 |
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| 158 |
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|
| 159 |
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| 160 |
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| 161 |
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| 162 |
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|
| 165 |
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|
| 166 |
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|
| 167 |
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|
| 168 |
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|
| 169 |
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|
| 170 |
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"options": {},
|
| 171 |
+
"seed": 500038
|
| 172 |
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},
|
| 173 |
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"success": true
|
| 174 |
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},
|
| 175 |
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{
|
| 176 |
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"episode_id": 10,
|
| 177 |
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"episode_seed": 500042,
|
| 178 |
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|
| 179 |
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"panda-0": "pd_joint_pos",
|
| 180 |
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|
| 181 |
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|
| 182 |
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|
| 183 |
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|
| 184 |
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|
| 185 |
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|
| 186 |
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|
| 187 |
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|
| 188 |
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|
| 189 |
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|
| 190 |
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{
|
| 191 |
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|
| 192 |
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|
| 193 |
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|
| 194 |
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|
| 195 |
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|
| 196 |
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|
| 197 |
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|
| 198 |
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|
| 199 |
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|
| 200 |
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|
| 201 |
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|
| 202 |
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|
| 203 |
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|
| 204 |
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| 205 |
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|
| 206 |
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|
| 207 |
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|
| 208 |
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|
| 209 |
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|
| 210 |
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|
| 211 |
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|
| 212 |
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|
| 213 |
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|
| 214 |
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|
| 215 |
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|
| 216 |
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|
| 217 |
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|
| 218 |
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|
| 219 |
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|
| 220 |
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|
| 221 |
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|
| 222 |
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| 223 |
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| 224 |
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| 225 |
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| 226 |
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| 227 |
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| 228 |
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|
| 229 |
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| 230 |
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| 231 |
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|
| 232 |
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| 233 |
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|
| 234 |
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| 235 |
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| 236 |
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|
| 237 |
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|
| 238 |
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| 239 |
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|
| 240 |
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| 241 |
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|
| 242 |
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|
| 244 |
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| 245 |
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| 246 |
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|
| 247 |
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| 248 |
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|
| 249 |
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| 250 |
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| 251 |
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|
| 252 |
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| 253 |
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| 254 |
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|
| 255 |
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|
| 256 |
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|
| 257 |
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| 258 |
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|
| 259 |
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| 261 |
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| 262 |
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|
| 264 |
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| 265 |
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| 266 |
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|
| 267 |
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| 268 |
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| 269 |
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|
| 270 |
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| 271 |
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| 272 |
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| 273 |
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| 274 |
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| 275 |
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| 290 |
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| 293 |
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|
| 294 |
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| 295 |
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| 296 |
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|
| 297 |
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|
| 298 |
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| 299 |
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|
| 300 |
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|
| 302 |
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|
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|
| 312 |
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| 313 |
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| 314 |
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|
| 315 |
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| 316 |
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| 317 |
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| 320 |
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| 321 |
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| 322 |
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| 323 |
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|
| 324 |
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| 325 |
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| 326 |
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|
| 327 |
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|
| 328 |
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| 329 |
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| 330 |
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| 331 |
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|
| 332 |
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| 333 |
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|
| 334 |
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| 335 |
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| 336 |
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|
| 337 |
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| 338 |
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|
| 339 |
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| 340 |
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|
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| 343 |
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|
| 347 |
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|
| 349 |
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|
| 350 |
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|
| 351 |
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|
| 352 |
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|
| 353 |
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"success": true
|
| 354 |
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},
|
| 355 |
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{
|
| 356 |
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"episode_id": 22,
|
| 357 |
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"episode_seed": 500090,
|
| 358 |
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|
| 359 |
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|
| 360 |
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|
| 361 |
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|
| 362 |
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|
| 363 |
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|
| 364 |
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|
| 365 |
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|
| 366 |
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|
| 367 |
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|
| 368 |
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"success": true
|
| 369 |
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},
|
| 370 |
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{
|
| 371 |
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|
| 372 |
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|
| 373 |
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|
| 374 |
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|
| 375 |
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|
| 376 |
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|
| 377 |
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|
| 378 |
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|
| 379 |
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|
| 380 |
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|
| 381 |
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|
| 382 |
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|
| 383 |
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|
| 384 |
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|
| 385 |
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{
|
| 386 |
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|
| 387 |
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|
| 388 |
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|
| 389 |
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|
| 390 |
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|
| 391 |
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"panda-2": "pd_joint_pos"
|
| 392 |
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|
| 393 |
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|
| 394 |
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| 395 |
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|
| 396 |
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"seed": 500098
|
| 397 |
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},
|
| 398 |
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"success": true
|
| 399 |
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}
|
| 400 |
+
],
|
| 401 |
+
"source_type": "motionplanning",
|
| 402 |
+
"source_desc": "camera_alignment; local RGB cameras mounted on matching panda_hand links"
|
| 403 |
+
}
|
strict640x480-v2/data/camera_alignment/worker_03.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
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| 2 |
+
oid sha256:a58b34d543dd68d80e953f33f0f8ac805d37f2a50d7bd8d7ca631ea87516e12f
|
| 3 |
+
size 2270023506
|
strict640x480-v2/data/camera_alignment/worker_03.json
ADDED
|
@@ -0,0 +1,403 @@
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|
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| 1 |
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| 3 |
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