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{"episode_index": 2, "task_index": 0, "length": 275, "trial_type": "sfp", "trial_id": "trial_3", "seed": 100002, "randomization": {"board_pose": {"x": 0.18319008084386884, "y": -0.21897466793264903, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 2.7232199383244042}, "rails": {"nic_rail_0": {"entity_present": false}, "nic_rail_1": {"entity_present": true, "entity_name": "nic_card_mount_1", "entity_pose": {"translation": 0.014047972315056868, "roll": 0.0, "pitch": 0.0, "yaw": -0.1162588221014105}}, "nic_rail_2": {"entity_present": false}, "nic_rail_3": {"entity_present": false}, "nic_rail_4": {"entity_present": false}, "sc_rail_0": {"entity_present": false}, "sc_rail_1": {"entity_present": false}, "lc_mount_rail_0": {"entity_present": false}, "lc_mount_rail_1": {"entity_present": false}, "sfp_mount_rail_0": {"entity_present": false}, "sfp_mount_rail_1": {"entity_present": false}, "sc_mount_rail_0": {"entity_present": false}, "sc_mount_rail_1": {"entity_present": false}}, "grasp": {"gripper_offset": {"x": 0.001861118926013695, "y": 0.01603300587180205, "z": 0.043012439862399325}, "roll": 0.4354064109218212, "pitch": -0.4892908512518799, "yaw": 1.4000690266136675}, "cable_type": "sfp_sc_cable"}, "target": {"cable_type": "sfp_sc", "cable_name": "cable_0", "plug_type": "sfp", "plug_name": "sfp_tip", "port_type": "sfp", "port_name": "sfp_port_0", "target_module_name": "nic_card_mount_1", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.706863585099946, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.645672727272727, "message": "Task duration: 34.12 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.634200456061155, "message": "Total end-effector path length: 0.26 m, initial plug-port distance: 0.20 m"}, "trajectory smoothness": {"score": 5.426990401766062, "message": "Average linear jerk magnitude of the end effector: 4.78 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0}
{"episode_index": 3, "task_index": 0, "length": 274, "trial_type": "sfp", "trial_id": "trial_4", "seed": 100003, "randomization": {"board_pose": {"x": 0.13704720411173713, "y": -0.18870042325726974, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.521111825319184}, "rails": {"nic_rail_0": {"entity_present": true, "entity_name": "nic_card_mount_0", "entity_pose": {"translation": 0.01562959390791613, "roll": 0.0, "pitch": 0.0, "yaw": 0.160116298080235}}, "nic_rail_1": {"entity_present": false}, "nic_rail_2": {"entity_present": false}, "nic_rail_3": {"entity_present": false}, "nic_rail_4": {"entity_present": false}, "sc_rail_0": {"entity_present": false}, "sc_rail_1": {"entity_present": false}, "lc_mount_rail_0": {"entity_present": false}, "lc_mount_rail_1": {"entity_present": false}, "sfp_mount_rail_0": {"entity_present": false}, "sfp_mount_rail_1": {"entity_present": false}, "sc_mount_rail_0": {"entity_present": false}, "sc_mount_rail_1": {"entity_present": false}}, "grasp": {"gripper_offset": {"x": -0.005391340840236614, "y": 0.015371931843291874, "z": 0.043950656836848956}, "roll": 0.5010593335197795, "pitch": -0.5156661361599998, "yaw": 1.3651903788355004}, "cable_type": "sfp_sc_cable"}, "target": {"cable_type": "sfp_sc", "cable_name": "cable_0", "plug_type": "sfp", "plug_name": "sfp_tip", "port_type": "sfp", "port_name": "sfp_port_0", "target_module_name": "nic_card_mount_0", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.555838083604208, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.4113454545454545, "message": "Task duration: 35.20 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.868116679550072, "message": "Total end-effector path length: 0.16 m, initial plug-port distance: 0.14 m"}, "trajectory smoothness": {"score": 5.2763759495086795, "message": "Average linear jerk magnitude of the end effector: 6.03 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0}
{"episode_index": 4, "task_index": 0, "length": 235, "trial_type": "sfp", "trial_id": "trial_5", "seed": 100004, "randomization": {"board_pose": {"x": 0.19422514288289944, "y": -0.24666635071146237, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.381687590977612}, "rails": {"nic_rail_0": {"entity_present": false}, "nic_rail_1": {"entity_present": false}, "nic_rail_2": {"entity_present": true, "entity_name": "nic_card_mount_2", "entity_pose": {"translation": 0.0038459060580647783, "roll": 0.0, "pitch": 0.0, "yaw": -0.0987550154457518}}, "nic_rail_3": {"entity_present": false}, "nic_rail_4": {"entity_present": false}, "sc_rail_0": {"entity_present": false}, "sc_rail_1": {"entity_present": false}, "lc_mount_rail_0": {"entity_present": false}, "lc_mount_rail_1": {"entity_present": false}, "sfp_mount_rail_0": {"entity_present": false}, "sfp_mount_rail_1": {"entity_present": false}, "sc_mount_rail_0": {"entity_present": false}, "sc_mount_rail_1": {"entity_present": false}}, "grasp": {"gripper_offset": {"x": -0.002532808940768601, "y": 0.014904387221714372, "z": 0.039752470385541756}, "roll": 0.4710064687899568, "pitch": -0.4653484168820462, "yaw": 1.2855964618096787}, "cable_type": "sfp_sc_cable"}, "target": {"cable_type": "sfp_sc", "cable_name": "cable_0", "plug_type": "sfp", "plug_name": "sfp_tip", "port_type": "sfp", "port_name": "sfp_port_0", "target_module_name": "nic_card_mount_2", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.75239612123262, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.636072727272728, "message": "Task duration: 34.17 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.686548870368668, "message": "Total end-effector path length: 0.24 m, initial plug-port distance: 0.18 m"}, "trajectory smoothness": {"score": 5.429774523591224, "message": "Average linear jerk magnitude of the end effector: 4.75 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0}
{"episode_index": 100, "task_index": 1, "length": 520, "trial_type": "sc", "trial_id": "trial_1", "seed": 200000, "randomization": {"board_pose": {"x": 0.11624335876834524, "y": -0.21573635708904115, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.555040679928264}, "rails": {"nic_rail_0": {"entity_present": false}, "nic_rail_1": {"entity_present": false}, "nic_rail_2": {"entity_present": false}, "nic_rail_3": {"entity_present": false}, "nic_rail_4": {"entity_present": false}, "sc_rail_0": {"entity_present": false}, "sc_rail_1": {"entity_present": true, "entity_name": "sc_port_1", "entity_pose": {"translation": 0.023254463946313322, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "lc_mount_rail_0": {"entity_present": false}, "lc_mount_rail_1": {"entity_present": false}, "sfp_mount_rail_0": {"entity_present": false}, "sfp_mount_rail_1": {"entity_present": false}, "sc_mount_rail_0": {"entity_present": false}, "sc_mount_rail_1": {"entity_present": false}}, "grasp": {"gripper_offset": {"x": -0.0010847838173756428, "y": 0.014784849655781074, "z": 0.042055798991672104}, "roll": 0.49843299750665776, "pitch": -0.4982747511855034, "yaw": 1.3209283010637218}, "cable_type": "sfp_sc_cable_reversed"}, "target": {"cable_type": "sfp_sc", "cable_name": "cable_0", "plug_type": "sc", "plug_name": "sc_tip", "port_type": "sc", "port_name": "sc_port_base", "target_module_name": "sc_port_1", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.10351288842856, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.165672727272727, "message": "Task duration: 36.32 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.581802972530774, "message": "Total end-effector path length: 0.45 m, initial plug-port distance: 0.38 m"}, "trajectory smoothness": {"score": 5.3560371886250575, "message": "Average linear jerk magnitude of the end effector: 5.37 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0}
{"episode_index": 5, "task_index": 0, "length": 279, "trial_type": "sfp", "trial_id": "trial_6", "seed": 100005, "randomization": {"board_pose": {"x": 0.16364905115717943, "y": -0.1592592862149571, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.3718938305719575}, "rails": {"nic_rail_0": {"entity_present": true, "entity_name": "nic_card_mount_0", "entity_pose": {"translation": -0.00964178110740977, "roll": 0.0, "pitch": 0.0, "yaw": -0.082027431163242}}, "nic_rail_1": {"entity_present": false}, "nic_rail_2": {"entity_present": false}, "nic_rail_3": {"entity_present": false}, "nic_rail_4": {"entity_present": false}, "sc_rail_0": {"entity_present": false}, "sc_rail_1": {"entity_present": false}, "lc_mount_rail_0": {"entity_present": false}, "lc_mount_rail_1": {"entity_present": false}, "sfp_mount_rail_0": {"entity_present": false}, "sfp_mount_rail_1": {"entity_present": false}, "sc_mount_rail_0": {"entity_present": false}, "sc_mount_rail_1": {"entity_present": false}}, "grasp": {"gripper_offset": {"x": 0.0006794380775955685, "y": 0.01761806045919241, "z": 0.043715985119414616}, "roll": 0.47582808584705494, "pitch": -0.48162488386442004, "yaw": 1.2895764177691886}, "cable_type": "sfp_sc_cable"}, "target": {"cable_type": "sfp_sc", "cable_name": "cable_0", "plug_type": "sfp", "plug_name": "sfp_tip", "port_type": "sfp", "port_name": "sfp_port_0", "target_module_name": "nic_card_mount_0", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.701103126140254, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.406109090909091, "message": "Task duration: 35.22 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.935588422580328, "message": "Total end-effector path length: 0.16 m, initial plug-port distance: 0.15 m"}, "trajectory smoothness": {"score": 5.359405612650836, "message": "Average linear jerk magnitude of the end effector: 5.34 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0}
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