| {"episode_index": 0, "task_index": 0, "length": 321, "trial_type": "sfp", "trial_id": "trial_1", "seed": 100000, "randomization": {"board_pose": {"x": 0.109340878192995, "y": -0.17124453036675003, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.3327947010713106}, "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": true, "entity_name": "nic_card_mount_4", "entity_pose": {"translation": -0.005772888975662908, "roll": 0.0, "pitch": 0.0, "yaw": 0.16311795283740113}}, "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": -3.425960531909972e-05, "y": 0.016812260500376507, "z": 0.0421875662671699}, "roll": 0.3855190807947711, "pitch": -0.4640457709736805, "yaw": 1.34356305393474}, "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_1", "target_module_name": "nic_card_mount_4", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.615600229456014, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.4157090909090915, "message": "Task duration: 35.18 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.669619070138946, "message": "Total end-effector path length: 0.23 m, initial plug-port distance: 0.17 m"}, "trajectory smoothness": {"score": 5.530272068407978, "message": "Average linear jerk magnitude of the end effector: 3.91 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 1, "task_index": 0, "length": 261, "trial_type": "sfp", "trial_id": "trial_2", "seed": 100001, "randomization": {"board_pose": {"x": 0.12673202690440305, "y": -0.20253682684111296, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 2.8329706839565842}, "rails": {"nic_rail_0": {"entity_present": false}, "nic_rail_1": {"entity_present": false}, "nic_rail_2": {"entity_present": false}, "nic_rail_3": {"entity_present": true, "entity_name": "nic_card_mount_3", "entity_pose": {"translation": 0.012651059759843333, "roll": 0.0, "pitch": 0.0, "yaw": 0.11894857998954962}}, "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": -8.742048567365895e-05, "y": 0.015350475662256745, "z": 0.04480842427114878}, "roll": 0.4945586624982422, "pitch": -0.5287894642322006, "yaw": 1.274975763006277}, "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_3", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.809526959759907, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.634763636363636, "message": "Task duration: 34.17 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.624596746964893, "message": "Total end-effector path length: 0.26 m, initial plug-port distance: 0.20 m"}, "trajectory smoothness": {"score": 5.550166576431378, "message": "Average linear jerk magnitude of the end effector: 3.75 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"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} |
| {"episode_index": 101, "task_index": 1, "length": 442, "trial_type": "sc", "trial_id": "trial_2", "seed": 200001, "randomization": {"board_pose": {"x": 0.1825923254057969, "y": -0.1875027169967333, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.1933676530418817}, "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": true, "entity_name": "sc_port_0", "entity_pose": {"translation": -0.04792128819961129, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "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": -0.002209252537940535, "y": 0.013325163883322722, "z": 0.039426726320288416}, "roll": 0.42955380796439724, "pitch": -0.48931636922159805, "yaw": 1.3228639633006087}, "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_0", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.237356041669955, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.178763636363636, "message": "Task duration: 36.26 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.634924837229727, "message": "Total end-effector path length: 0.44 m, initial plug-port distance: 0.38 m"}, "trajectory smoothness": {"score": 5.423667568076594, "message": "Average linear jerk magnitude of the end effector: 4.80 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 6, "task_index": 0, "length": 299, "trial_type": "sfp", "trial_id": "trial_7", "seed": 100006, "randomization": {"board_pose": {"x": 0.18121657728852825, "y": -0.19509239714374743, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.1246305778927495}, "rails": {"nic_rail_0": {"entity_present": true, "entity_name": "nic_card_mount_0", "entity_pose": {"translation": 0.020088858423650657, "roll": 0.0, "pitch": 0.0, "yaw": 0.053930592372751815}}, "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": 0.002490721788873875, "y": 0.017866689945484456, "z": 0.0476696816228262}, "roll": 0.421857745765895, "pitch": -0.44217292598732194, "yaw": 1.3443402124210266}, "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": 16.445363735684897, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.413963636363636, "message": "Task duration: 35.19 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.854623893850243, "message": "Total end-effector path length: 0.18 m, initial plug-port distance: 0.15 m"}, "trajectory smoothness": {"score": 5.176776205471017, "message": "Average linear jerk magnitude of the end effector: 6.86 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 102, "task_index": 1, "length": 437, "trial_type": "sc", "trial_id": "trial_3", "seed": 200002, "randomization": {"board_pose": {"x": 0.10156605825035654, "y": -0.19688989386349173, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.55171196452261}, "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": -0.006914381995437861, "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": -0.0014653729736713234, "y": 0.01605258809421285, "z": 0.03822088107961668}, "roll": 0.4156473789685714, "pitch": -0.4521183158627603, "yaw": 1.3857704523979595}, "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": 16.356837810219645, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.407854545454546, "message": "Task duration: 35.21 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.653165829585353, "message": "Total end-effector path length: 0.42 m, initial plug-port distance: 0.36 m"}, "trajectory smoothness": {"score": 5.295817435179744, "message": "Average linear jerk magnitude of the end effector: 5.87 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 7, "task_index": 0, "length": 248, "trial_type": "sfp", "trial_id": "trial_8", "seed": 100007, "randomization": {"board_pose": {"x": 0.10995852197932202, "y": -0.17715335575406338, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.398801755648768}, "rails": {"nic_rail_0": {"entity_present": true, "entity_name": "nic_card_mount_0", "entity_pose": {"translation": -0.016686225936108193, "roll": 0.0, "pitch": 0.0, "yaw": 0.13676816210995535}}, "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": 0.0037272461386624774, "y": 0.016230773704067183, "z": 0.04245872203482335}, "roll": 0.4464809950331279, "pitch": -0.49750535434543536, "yaw": 1.2718056824767403}, "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": 16.738915240181687, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.403490909090909, "message": "Task duration: 35.23 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.931472482839938, "message": "Total end-effector path length: 0.15 m, initial plug-port distance: 0.14 m"}, "trajectory smoothness": {"score": 5.40395184825084, "message": "Average linear jerk magnitude of the end effector: 4.97 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 103, "task_index": 1, "length": 421, "trial_type": "sc", "trial_id": "trial_4", "seed": 200003, "randomization": {"board_pose": {"x": 0.16179121399706275, "y": -0.19094890258574765, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.3034662760548286}, "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": true, "entity_name": "sc_port_0", "entity_pose": {"translation": 0.018822192143944552, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "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": 0.0018352855844324329, "y": 0.013577022908386647, "z": 0.04077184174256542}, "roll": 0.4853338884780707, "pitch": -0.49507059132920633, "yaw": 1.2887785422371174}, "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_0", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.474128048779892, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.394763636363636, "message": "Task duration: 35.27 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.664154423709105, "message": "Total end-effector path length: 0.41 m, initial plug-port distance: 0.36 m"}, "trajectory smoothness": {"score": 5.415209988707151, "message": "Average linear jerk magnitude of the end effector: 4.87 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 8, "task_index": 0, "length": 256, "trial_type": "sfp", "trial_id": "trial_9", "seed": 100008, "randomization": {"board_pose": {"x": 0.16141194677642884, "y": -0.23409977441855678, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.1712622361983924}, "rails": {"nic_rail_0": {"entity_present": false}, "nic_rail_1": {"entity_present": true, "entity_name": "nic_card_mount_1", "entity_pose": {"translation": 0.01504465925551559, "roll": 0.0, "pitch": 0.0, "yaw": -0.09708881891723654}}, "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": -0.002234607907935016, "y": 0.016672876566114006, "z": 0.042572226892703874}, "roll": 0.49745419723913553, "pitch": -0.46553752261857434, "yaw": 1.332005650245178}, "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": 16.87579415905102, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.642618181818182, "message": "Task duration: 34.14 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.736308650651118, "message": "Total end-effector path length: 0.20 m, initial plug-port distance: 0.16 m"}, "trajectory smoothness": {"score": 5.496867326581717, "message": "Average linear jerk magnitude of the end effector: 4.19 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 104, "task_index": 1, "length": 403, "trial_type": "sc", "trial_id": "trial_5", "seed": 200004, "randomization": {"board_pose": {"x": 0.1307349324232475, "y": -0.17598377595151607, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 2.693812862893301}, "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": -0.02443113419184622, "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": 5.287133005414669e-05, "y": 0.013259708172787536, "z": 0.03997411253127539}, "roll": 0.4123386380644851, "pitch": -0.5282619589184266, "yaw": 1.2982724292842585}, "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": 16.198130624959077, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.194472727272727, "message": "Task duration: 36.19 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.562670998080213, "message": "Total end-effector path length: 0.47 m, initial plug-port distance: 0.40 m"}, "trajectory smoothness": {"score": 5.4409868996061395, "message": "Average linear jerk magnitude of the end effector: 4.66 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 105, "task_index": 1, "length": 430, "trial_type": "sc", "trial_id": "trial_6", "seed": 200005, "randomization": {"board_pose": {"x": 0.12403350240870314, "y": -0.20761543438458488, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.011417318462267}, "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": true, "entity_name": "sc_port_0", "entity_pose": {"translation": 0.04283790308529478, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "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": -0.0012305136023472941, "y": 0.017222187807536496, "z": 0.04009034889011823}, "roll": 0.34153921686823885, "pitch": -0.46687260027412314, "yaw": 1.29145091580893}, "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_0", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.07892688584985, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.172218181818183, "message": "Task duration: 36.29 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.616976734217068, "message": "Total end-effector path length: 0.44 m, initial plug-port distance: 0.37 m"}, "trajectory smoothness": {"score": 5.289731969814601, "message": "Average linear jerk magnitude of the end effector: 5.92 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 9, "task_index": 0, "length": 767, "trial_type": "sfp", "trial_id": "trial_10", "seed": 100009, "randomization": {"board_pose": {"x": 0.18906704601106628, "y": -0.23333524610845705, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.529489350694747}, "rails": {"nic_rail_0": {"entity_present": false}, "nic_rail_1": {"entity_present": false}, "nic_rail_2": {"entity_present": false}, "nic_rail_3": {"entity_present": true, "entity_name": "nic_card_mount_3", "entity_pose": {"translation": 0.003142790507153357, "roll": 0.0, "pitch": 0.0, "yaw": -0.06548202479961891}}, "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": 0.0007211386192396215, "y": 0.015058720126372698, "z": 0.039292685449437925}, "roll": 0.4028393774501667, "pitch": -0.5407795793061434, "yaw": 1.3417006902439323}, "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_1", "target_module_name": "nic_card_mount_3", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.762918723133637, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.397818181818182, "message": "Task duration: 35.26 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.900271989008052, "message": "Total end-effector path length: 0.21 m, initial plug-port distance: 0.19 m"}, "trajectory smoothness": {"score": 5.464828552307403, "message": "Average linear jerk magnitude of the end effector: 4.46 m/s^3"}}}, "tier_3": {"score": 38.001341431371486, "message": "Partial insertion detected with distance of 0.05m."}}, "success_tier3": 38.001341431371486} |
| {"episode_index": 106, "task_index": 1, "length": 640, "trial_type": "sc", "trial_id": "trial_7", "seed": 200006, "randomization": {"board_pose": {"x": 0.15499573527779262, "y": -0.17396227791610303, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.1582794168246537}, "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": true, "entity_name": "sc_port_0", "entity_pose": {"translation": -0.05491522856785904, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "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": 0.003500109243879198, "y": 0.012632794728499859, "z": 0.04057624981660953}, "roll": 0.4005183651475639, "pitch": -0.5241255797020112, "yaw": 1.3316188479202378}, "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_0", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.48570100868842, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.402181818181818, "message": "Task duration: 35.24 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.648470050882478, "message": "Total end-effector path length: 0.42 m, initial plug-port distance: 0.36 m"}, "trajectory smoothness": {"score": 5.435049139624124, "message": "Average linear jerk magnitude of the end effector: 4.71 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 10, "task_index": 0, "length": 707, "trial_type": "sfp", "trial_id": "trial_11", "seed": 100010, "randomization": {"board_pose": {"x": 0.150584790570728, "y": -0.1977944035396561, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.173665712708459}, "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": true, "entity_name": "nic_card_mount_4", "entity_pose": {"translation": 0.020654401676773022, "roll": 0.0, "pitch": 0.0, "yaw": 0.09029300442141212}}, "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": 0.0027231099460989726, "y": 0.019578367961863484, "z": 0.04052697824151207}, "roll": 0.38780978407467054, "pitch": -0.48417065902299056, "yaw": 1.367406637200619}, "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_1", "target_module_name": "nic_card_mount_4", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.929794144877814, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.636509090909092, "message": "Task duration: 34.17 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.899361497680326, "message": "Total end-effector path length: 0.23 m, initial plug-port distance: 0.21 m"}, "trajectory smoothness": {"score": 5.393923556288397, "message": "Average linear jerk magnitude of the end effector: 5.05 m/s^3"}}}, "tier_3": {"score": 38.01124438884214, "message": "Partial insertion detected with distance of 0.05m."}}, "success_tier3": 38.01124438884214} |
| {"episode_index": 107, "task_index": 1, "length": 382, "trial_type": "sc", "trial_id": "trial_8", "seed": 200007, "randomization": {"board_pose": {"x": 0.16256253609783478, "y": -0.18937588680222123, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.1204940816922626}, "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": 0.0008337475042816123, "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": -0.0005367713323596892, "y": 0.015410323857308754, "z": 0.042553789019226386}, "roll": 0.46524986788377853, "pitch": -0.4640223955452553, "yaw": 1.3307132724403157}, "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": 16.397425258622132, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.403490909090909, "message": "Task duration: 35.23 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.571892824201857, "message": "Total end-effector path length: 0.46 m, initial plug-port distance: 0.39 m"}, "trajectory smoothness": {"score": 5.422041525329366, "message": "Average linear jerk magnitude of the end effector: 4.82 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 11, "task_index": 0, "length": 699, "trial_type": "sfp", "trial_id": "trial_12", "seed": 100011, "randomization": {"board_pose": {"x": 0.12806004890563197, "y": -0.17870864829503688, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.3246995588965653}, "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": 0.011474541164088248, "roll": 0.0, "pitch": 0.0, "yaw": 0.13298273842771088}}, "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": -0.0009654474513290652, "y": 0.01800446570057227, "z": 0.043660328625199515}, "roll": 0.3790164137405413, "pitch": -0.503987137569983, "yaw": 1.29396227734204}, "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_1", "target_module_name": "nic_card_mount_2", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 17.01487498207645, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.633454545454546, "message": "Task duration: 34.18 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 6, "message": "Total end-effector path length: 0.13 m, initial plug-port distance: 0.14 m"}, "trajectory smoothness": {"score": 5.381420436621905, "message": "Average linear jerk magnitude of the end effector: 5.15 m/s^3"}}}, "tier_3": {"score": 38.61532254883843, "message": "Partial insertion detected with distance of 0.04m."}}, "success_tier3": 38.61532254883843} |
| {"episode_index": 108, "task_index": 1, "length": 438, "trial_type": "sc", "trial_id": "trial_9", "seed": 200008, "randomization": {"board_pose": {"x": 0.10508601449706229, "y": -0.24077925703801178, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.2840036684780896}, "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": true, "entity_name": "sc_port_0", "entity_pose": {"translation": 0.04347563784218256, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "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": -0.0014466614271835283, "y": 0.01884878770628135, "z": 0.04341778032368794}, "roll": 0.4395726611113021, "pitch": -0.40002268022344084, "yaw": 1.3432690354841492}, "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_0", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.29652561765882, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.396509090909092, "message": "Task duration: 35.27 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.569001044675019, "message": "Total end-effector path length: 0.46 m, initial plug-port distance: 0.39 m"}, "trajectory smoothness": {"score": 5.331015482074709, "message": "Average linear jerk magnitude of the end effector: 5.57 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 12, "task_index": 0, "length": 214, "trial_type": "sfp", "trial_id": "trial_13", "seed": 100012, "randomization": {"board_pose": {"x": 0.19029507416809954, "y": -0.19555284172529164, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.591549575478937}, "rails": {"nic_rail_0": {"entity_present": false}, "nic_rail_1": {"entity_present": true, "entity_name": "nic_card_mount_1", "entity_pose": {"translation": -0.014171892515838912, "roll": 0.0, "pitch": 0.0, "yaw": -0.011207241050296218}}, "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": -0.0005626224817266499, "y": 0.015615870577971508, "z": 0.04143383372344881}, "roll": 0.4043934980004573, "pitch": -0.48146967246770866, "yaw": 1.4000767861260686}, "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": 16.74806459145176, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.6369454545454545, "message": "Task duration: 34.16 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.89093734414096, "message": "Total end-effector path length: 0.15 m, initial plug-port distance: 0.14 m"}, "trajectory smoothness": {"score": 5.220181792765348, "message": "Average linear jerk magnitude of the end effector: 6.50 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 109, "task_index": 1, "length": 575, "trial_type": "sc", "trial_id": "trial_10", "seed": 200009, "randomization": {"board_pose": {"x": 0.12872570346484866, "y": -0.18434602912035675, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.5111013615592324}, "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": -0.022398412866546098, "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": -0.0019557862380432793, "y": 0.017125028435384475, "z": 0.04166640495862657}, "roll": 0.4648494692801493, "pitch": -0.38836886762568007, "yaw": 1.2778652008184623}, "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": 16.387457123263275, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.400872727272727, "message": "Task duration: 35.25 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.656933750230474, "message": "Total end-effector path length: 0.42 m, initial plug-port distance: 0.37 m"}, "trajectory smoothness": {"score": 5.329650645760073, "message": "Average linear jerk magnitude of the end effector: 5.59 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 13, "task_index": 0, "length": 776, "trial_type": "sfp", "trial_id": "trial_14", "seed": 100013, "randomization": {"board_pose": {"x": 0.11460690681475003, "y": -0.15414470192252167, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 2.9739482033402775}, "rails": {"nic_rail_0": {"entity_present": false}, "nic_rail_1": {"entity_present": false}, "nic_rail_2": {"entity_present": false}, "nic_rail_3": {"entity_present": true, "entity_name": "nic_card_mount_3", "entity_pose": {"translation": -0.012719403129685723, "roll": 0.0, "pitch": 0.0, "yaw": -0.13736080968813674}}, "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": 0.002137710441443443, "y": 0.015169700951803264, "z": 0.04283236413081757}, "roll": 0.3953510958514299, "pitch": -0.5338395523078474, "yaw": 1.2929618907987734}, "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_1", "target_module_name": "nic_card_mount_3", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.621950208261048, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.85730909090909, "message": "Task duration: 33.15 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.273558720379743, "message": "Total end-effector path length: 0.21 m, initial plug-port distance: 0.09 m"}, "trajectory smoothness": {"score": 5.491082396972215, "message": "Average linear jerk magnitude of the end effector: 4.24 m/s^3"}}}, "tier_3": {"score": 24.67539572400627, "message": "No insertion detected. Final plug port distance: 0.05m."}}, "success_tier3": 24.67539572400627} |
| {"episode_index": 110, "task_index": 1, "length": 387, "trial_type": "sc", "trial_id": "trial_11", "seed": 200010, "randomization": {"board_pose": {"x": 0.1674607775151918, "y": -0.24183856975082593, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 2.9841383309350547}, "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": 0.0039935246071744895, "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": 0.001678996223946242, "y": 0.016891224325014262, "z": 0.0407386079848927}, "roll": 0.43082315373388946, "pitch": -0.45553859468266095, "yaw": 1.351129183343572}, "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": 16.330699581969615, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.394327272727272, "message": "Task duration: 35.28 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.527596593215306, "message": "Total end-effector path length: 0.51 m, initial plug-port distance: 0.43 m"}, "trajectory smoothness": {"score": 5.408775716027038, "message": "Average linear jerk magnitude of the end effector: 4.93 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 14, "task_index": 0, "length": 213, "trial_type": "sfp", "trial_id": "trial_15", "seed": 100014, "randomization": {"board_pose": {"x": 0.11417171489975278, "y": -0.21254342589057337, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.0543649225417453}, "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": true, "entity_name": "nic_card_mount_4", "entity_pose": {"translation": -0.005227976917501528, "roll": 0.0, "pitch": 0.0, "yaw": -0.1696328524702014}}, "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": 0.00018818328430379293, "y": 0.01671860938167275, "z": 0.043979567493025194}, "roll": 0.40460754509147373, "pitch": -0.4453986498763707, "yaw": 1.348489815802738}, "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_4", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.663918740658083, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.637818181818182, "message": "Task duration: 34.16 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.570364881490318, "message": "Total end-effector path length: 0.29 m, initial plug-port distance: 0.22 m"}, "trajectory smoothness": {"score": 5.4557356773495815, "message": "Average linear jerk magnitude of the end effector: 4.54 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 111, "task_index": 1, "length": 746, "trial_type": "sc", "trial_id": "trial_12", "seed": 200011, "randomization": {"board_pose": {"x": 0.14268537587878477, "y": -0.18418109479365183, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.3295384767790805}, "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": 0.0043056817760990795, "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": -0.0023841623962672902, "y": 0.018834147697892784, "z": 0.04094196226883751}, "roll": 0.4530301667337715, "pitch": -0.4167232658527209, "yaw": 1.2952053907388394}, "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": 16.450317321321307, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.417454545454545, "message": "Task duration: 35.17 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.626224590193722, "message": "Total end-effector path length: 0.44 m, initial plug-port distance: 0.38 m"}, "trajectory smoothness": {"score": 5.406638185673039, "message": "Average linear jerk magnitude of the end effector: 4.94 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 15, "task_index": 0, "length": 310, "trial_type": "sfp", "trial_id": "trial_16", "seed": 100015, "randomization": {"board_pose": {"x": 0.13999822045326035, "y": -0.2421682748413765, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 2.948943334227992}, "rails": {"nic_rail_0": {"entity_present": false}, "nic_rail_1": {"entity_present": true, "entity_name": "nic_card_mount_1", "entity_pose": {"translation": 0.020704075738428716, "roll": 0.0, "pitch": 0.0, "yaw": 0.16233858574986693}}, "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": -0.00043772421838545974, "y": 0.01767211663193703, "z": 0.04787527175907494}, "roll": 0.44654101604375235, "pitch": -0.5084592384684181, "yaw": 1.350474422833259}, "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_1", "target_module_name": "nic_card_mount_1", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.552692223474622, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.399127272727274, "message": "Task duration: 35.25 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.64941392155639, "message": "Total end-effector path length: 0.24 m, initial plug-port distance: 0.18 m"}, "trajectory smoothness": {"score": 5.5041510291909574, "message": "Average linear jerk magnitude of the end effector: 4.13 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 112, "task_index": 1, "length": 353, "trial_type": "sc", "trial_id": "trial_13", "seed": 200012, "randomization": {"board_pose": {"x": 0.11932645770531751, "y": -0.18587733601931644, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 2.9781721666546233}, "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": true, "entity_name": "sc_port_0", "entity_pose": {"translation": 0.007079128442959229, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "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": 0.0003296000440555676, "y": 0.014623810933055922, "z": 0.04162396211927625}, "roll": 0.36060732349017904, "pitch": -0.510232473474752, "yaw": 1.324313455123798}, "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_0", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.453199371016147, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.421381818181818, "message": "Task duration: 35.15 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.64398689309038, "message": "Total end-effector path length: 0.42 m, initial plug-port distance: 0.36 m"}, "trajectory smoothness": {"score": 5.38783065974395, "message": "Average linear jerk magnitude of the end effector: 5.10 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 16, "task_index": 0, "length": 604, "trial_type": "sfp", "trial_id": "trial_17", "seed": 100016, "randomization": {"board_pose": {"x": 0.18615443329530473, "y": -0.1987405335322367, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 2.8730135795360576}, "rails": {"nic_rail_0": {"entity_present": false}, "nic_rail_1": {"entity_present": false}, "nic_rail_2": {"entity_present": false}, "nic_rail_3": {"entity_present": true, "entity_name": "nic_card_mount_3", "entity_pose": {"translation": 0.019548418324534786, "roll": 0.0, "pitch": 0.0, "yaw": -0.05266413052895282}}, "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": -0.001501153720792409, "y": 0.016245459727255312, "z": 0.044553263643123446}, "roll": 0.4072101962868788, "pitch": -0.4562700273141852, "yaw": 1.324336768750659}, "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_1", "target_module_name": "nic_card_mount_3", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 15.874912085761444, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.637818181818182, "message": "Task duration: 34.16 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.571043176635971, "message": "Total end-effector path length: 0.29 m, initial plug-port distance: 0.22 m"}, "trajectory smoothness": {"score": 4.66605072730729, "message": "Average linear jerk magnitude of the end effector: 11.12 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
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| {"episode_index": 17, "task_index": 0, "length": 214, "trial_type": "sfp", "trial_id": "trial_18", "seed": 100017, "randomization": {"board_pose": {"x": 0.11353088486578625, "y": -0.15764642987910144, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.4797425147332883}, "rails": {"nic_rail_0": {"entity_present": false}, "nic_rail_1": {"entity_present": true, "entity_name": "nic_card_mount_1", "entity_pose": {"translation": 0.018113373682555507, "roll": 0.0, "pitch": 0.0, "yaw": 0.10607251651067187}}, "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": -0.0015196489166119601, "y": 0.01328930547575258, "z": 0.043309969577402525}, "roll": 0.42224633373717174, "pitch": -0.49401907674705364, "yaw": 1.3472253521501412}, "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_1", "target_module_name": "nic_card_mount_1", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.90122423295921, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.626472727272727, "message": "Task duration: 34.21 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.94758685755644, "message": "Total end-effector path length: 0.15 m, initial plug-port distance: 0.14 m"}, "trajectory smoothness": {"score": 5.327164648130042, "message": "Average linear jerk magnitude of the end effector: 5.61 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 114, "task_index": 1, "length": 721, "trial_type": "sc", "trial_id": "trial_15", "seed": 200014, "randomization": {"board_pose": {"x": 0.10169224143704231, "y": -0.20446661953844425, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.3997001233612587}, "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": 0.022964924872368286, "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": -0.0024325234906613135, "y": 0.016742072913549826, "z": 0.042048312894612264}, "roll": 0.4406136155117358, "pitch": -0.49856232804847306, "yaw": 1.2775160217470785}, "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": 15.254780411169417, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.644363636363636, "message": "Task duration: 34.13 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 4.0323233208935925, "message": "Total end-effector path length: 0.47 m, initial plug-port distance: 0.14 m"}, "trajectory smoothness": {"score": 5.57809345391219, "message": "Average linear jerk magnitude of the end effector: 3.52 m/s^3"}}}, "tier_3": {"score": 25, "message": "No insertion detected. Final plug port distance: 0.01m."}}, "success_tier3": 25.0} |
| {"episode_index": 18, "task_index": 0, "length": 871, "trial_type": "sfp", "trial_id": "trial_19", "seed": 100018, "randomization": {"board_pose": {"x": 0.17193670998417274, "y": -0.16012599478974926, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 2.7950535388159605}, "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": 0.016942712694850676, "roll": 0.0, "pitch": 0.0, "yaw": 0.08094892618014159}}, "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": -0.004103410573086944, "y": 0.014735610140931436, "z": 0.041919077167416816}, "roll": 0.4538720881273246, "pitch": -0.5122899548759106, "yaw": 1.4275683545663167}, "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": 16.208673590955765, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.408290909090908, "message": "Task duration: 35.21 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.435961336918837, "message": "Total end-effector path length: 0.24 m, initial plug-port distance: 0.15 m"}, "trajectory smoothness": {"score": 5.364421344946019, "message": "Average linear jerk magnitude of the end effector: 5.30 m/s^3"}}}, "tier_3": {"score": 24.84918528102393, "message": "No insertion detected. Final plug port distance: 0.05m."}}, "success_tier3": 24.84918528102393} |
| {"episode_index": 115, "task_index": 1, "length": 391, "trial_type": "sc", "trial_id": "trial_16", "seed": 200015, "randomization": {"board_pose": {"x": 0.18759401850849472, "y": -0.2060764181604666, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.19971407418515}, "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": true, "entity_name": "sc_port_0", "entity_pose": {"translation": -0.03169503219186744, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "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": -0.001230439592244444, "y": 0.015101116704859448, "z": 0.04271360144918267}, "roll": 0.4638469831244144, "pitch": -0.5025167179798218, "yaw": 1.340964669754556}, "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_0", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.67451066511117, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.646981818181818, "message": "Task duration: 34.12 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.5970711599719785, "message": "Total end-effector path length: 0.45 m, initial plug-port distance: 0.39 m"}, "trajectory smoothness": {"score": 5.430457686957377, "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": 19, "task_index": 0, "length": 207, "trial_type": "sfp", "trial_id": "trial_20", "seed": 100019, "randomization": {"board_pose": {"x": 0.19037016921398642, "y": -0.24561548707726538, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.567707141584287}, "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": 0.01206356712618506, "roll": 0.0, "pitch": 0.0, "yaw": -0.07569550755878442}}, "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": -0.0013664477863370745, "y": 0.012602755555724876, "z": 0.048140285562774485}, "roll": 0.45667334533675913, "pitch": -0.49633120725675234, "yaw": 1.3371290744059858}, "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": 16.813897929364543, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.636509090909092, "message": "Task duration: 34.17 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.665437508126575, "message": "Total end-effector path length: 0.23 m, initial plug-port distance: 0.18 m"}, "trajectory smoothness": {"score": 5.511951330328877, "message": "Average linear jerk magnitude of the end effector: 4.07 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 116, "task_index": 1, "length": 414, "trial_type": "sc", "trial_id": "trial_17", "seed": 200016, "randomization": {"board_pose": {"x": 0.12313152098085238, "y": -0.21231269858495924, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 2.711959255598103}, "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": -0.01918286510129738, "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": 0.0014102933615859512, "y": 0.013830535510067611, "z": 0.03935515815193616}, "roll": 0.46201493722569176, "pitch": -0.4987598951717386, "yaw": 1.3301419291226861}, "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": 15.099735162166963, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.427927272727273, "message": "Task duration: 35.12 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 4.157955520096367, "message": "Total end-effector path length: 0.45 m, initial plug-port distance: 0.14 m"}, "trajectory smoothness": {"score": 5.513852369343324, "message": "Average linear jerk magnitude of the end effector: 4.05 m/s^3"}}}, "tier_3": {"score": 23.214674122742515, "message": "No insertion detected. Final plug port distance: 0.02m."}}, "success_tier3": 23.214674122742515} |
| {"episode_index": 20, "task_index": 0, "length": 893, "trial_type": "sfp", "trial_id": "trial_21", "seed": 100020, "randomization": {"board_pose": {"x": 0.10335620935052597, "y": -0.17814855772329885, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 2.867945891051354}, "rails": {"nic_rail_0": {"entity_present": false}, "nic_rail_1": {"entity_present": false}, "nic_rail_2": {"entity_present": false}, "nic_rail_3": {"entity_present": true, "entity_name": "nic_card_mount_3", "entity_pose": {"translation": -0.020121535884378258, "roll": 0.0, "pitch": 0.0, "yaw": -0.004377693296529474}}, "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": -0.0016148997170154587, "y": 0.018326195025536566, "z": 0.041598339276424284}, "roll": 0.46560682814640864, "pitch": -0.48690588904936294, "yaw": 1.2838822908589023}, "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_3", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.77644921333211, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.407418181818182, "message": "Task duration: 35.22 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.922809166230722, "message": "Total end-effector path length: 0.20 m, initial plug-port distance: 0.19 m"}, "trajectory smoothness": {"score": 5.446221865283206, "message": "Average linear jerk magnitude of the end effector: 4.61 m/s^3"}}}, "tier_3": {"score": 38.0138368460237, "message": "Partial insertion detected with distance of 0.05m."}}, "success_tier3": 38.0138368460237} |
| {"episode_index": 117, "task_index": 1, "length": 587, "trial_type": "sc", "trial_id": "trial_18", "seed": 200017, "randomization": {"board_pose": {"x": 0.17789940061681367, "y": -0.19504944672106728, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 2.752565973163463}, "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": true, "entity_name": "sc_port_0", "entity_pose": {"translation": -0.01717859092369342, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "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": -0.00284273659037453, "y": 0.01411427138263036, "z": 0.04130116125858395}, "roll": 0.49485077461279076, "pitch": -0.4517344004576869, "yaw": 1.329761442665868}, "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_0", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.645086279751553, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.613381818181818, "message": "Task duration: 34.27 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.658373096644931, "message": "Total end-effector path length: 0.45 m, initial plug-port distance: 0.39 m"}, "trajectory smoothness": {"score": 5.3733313649248045, "message": "Average linear jerk magnitude of the end effector: 5.22 m/s^3"}}}, "tier_3": {"score": 39.66894817271262, "message": "Partial insertion detected with distance of 0.01m."}}, "success_tier3": 39.66894817271262} |
| {"episode_index": 21, "task_index": 0, "length": 177, "trial_type": "sfp", "trial_id": "trial_22", "seed": 100021, "randomization": {"board_pose": {"x": 0.10652950245680717, "y": -0.2118495656506915, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 2.7342783232376626}, "rails": {"nic_rail_0": {"entity_present": true, "entity_name": "nic_card_mount_0", "entity_pose": {"translation": 0.014621629782984584, "roll": 0.0, "pitch": 0.0, "yaw": -0.16081966844178935}}, "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": -0.0016042480299744085, "y": 0.014963993661992171, "z": 0.040797861999992274}, "roll": 0.4724729004875244, "pitch": -0.5191825290745256, "yaw": 1.342837169746008}, "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": 16.839421512292798, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.621672727272728, "message": "Task duration: 34.23 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.7685713702434445, "message": "Total end-effector path length: 0.19 m, initial plug-port distance: 0.15 m"}, "trajectory smoothness": {"score": 5.449177414776625, "message": "Average linear jerk magnitude of the end effector: 4.59 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 118, "task_index": 1, "length": 574, "trial_type": "sc", "trial_id": "trial_19", "seed": 200018, "randomization": {"board_pose": {"x": 0.19659412057119743, "y": -0.22816947081243358, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 2.885087074192567}, "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": true, "entity_name": "sc_port_0", "entity_pose": {"translation": 0.023248713089610143, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "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": 0.0009179794820635073, "y": 0.01620474670142582, "z": 0.03881516103936573}, "roll": 0.45000170030363734, "pitch": -0.4775390369776023, "yaw": 1.3155729441661264}, "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_0", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.4718991054572, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.421818181818182, "message": "Task duration: 35.15 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.58147576300505, "message": "Total end-effector path length: 0.47 m, initial plug-port distance: 0.40 m"}, "trajectory smoothness": {"score": 5.4686051606339685, "message": "Average linear jerk magnitude of the end effector: 4.43 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 22, "task_index": 0, "length": 267, "trial_type": "sfp", "trial_id": "trial_23", "seed": 100022, "randomization": {"board_pose": {"x": 0.19255044968968044, "y": -0.18406634412150796, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.4668063570506464}, "rails": {"nic_rail_0": {"entity_present": false}, "nic_rail_1": {"entity_present": false}, "nic_rail_2": {"entity_present": false}, "nic_rail_3": {"entity_present": true, "entity_name": "nic_card_mount_3", "entity_pose": {"translation": 0.02107589898373493, "roll": 0.0, "pitch": 0.0, "yaw": 0.0209760187068421}}, "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": 2.0767980382636563e-05, "y": 0.014419988846674388, "z": 0.04204500793685572}, "roll": 0.4904607535140281, "pitch": -0.5390916656298029, "yaw": 1.3154361226695113}, "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_3", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.87506235510399, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.645236363636364, "message": "Task duration: 34.13 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.704318640654338, "message": "Total end-effector path length: 0.22 m, initial plug-port distance: 0.17 m"}, "trajectory smoothness": {"score": 5.525507350813286, "message": "Average linear jerk magnitude of the end effector: 3.95 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 119, "task_index": 1, "length": 513, "trial_type": "sc", "trial_id": "trial_20", "seed": 200019, "randomization": {"board_pose": {"x": 0.188618299607803, "y": -0.20384994102286186, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.2591281487569974}, "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": true, "entity_name": "sc_port_0", "entity_pose": {"translation": 0.014829154944730694, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "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": 0.00023912676052392608, "y": 0.013751288950848558, "z": 0.04528383671937457}, "roll": 0.3961175093164357, "pitch": -0.42674566917691337, "yaw": 1.281982447109695}, "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_0", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.314529223172126, "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": 5.646327408213633, "message": "Total end-effector path length: 0.43 m, initial plug-port distance: 0.37 m"}, "trajectory smoothness": {"score": 5.262092724049403, "message": "Average linear jerk magnitude of the end effector: 6.15 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 23, "task_index": 0, "length": 337, "trial_type": "sfp", "trial_id": "trial_24", "seed": 100023, "randomization": {"board_pose": {"x": 0.18919796203839723, "y": -0.22675765933518055, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.6007235247869556}, "rails": {"nic_rail_0": {"entity_present": false}, "nic_rail_1": {"entity_present": true, "entity_name": "nic_card_mount_1", "entity_pose": {"translation": -0.009161309358783903, "roll": 0.0, "pitch": 0.0, "yaw": 0.10653179984165782}}, "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": 0.00034519073459326035, "y": 0.018957273224019796, "z": 0.04265742484885606}, "roll": 0.45449705246888017, "pitch": -0.4720246438826344, "yaw": 1.3709194522229813}, "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": 17.180935979246172, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.843781818181818, "message": "Task duration: 33.22 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 6, "message": "Total end-effector path length: 0.14 m, initial plug-port distance: 0.14 m"}, "trajectory smoothness": {"score": 5.337154161064355, "message": "Average linear jerk magnitude of the end effector: 5.52 m/s^3"}}}, "tier_3": {"score": 38.27166234748954, "message": "Partial insertion detected with distance of 0.04m."}}, "success_tier3": 38.27166234748954} |
| {"episode_index": 120, "task_index": 1, "length": 406, "trial_type": "sc", "trial_id": "trial_21", "seed": 200020, "randomization": {"board_pose": {"x": 0.11346771433161636, "y": -0.18812256218033277, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.278588637748082}, "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": true, "entity_name": "sc_port_0", "entity_pose": {"translation": 0.00408592792116802, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "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": -0.0011380874997100167, "y": 0.016713643774048898, "z": 0.040908319423192216}, "roll": 0.46555095760499154, "pitch": -0.43786155882574673, "yaw": 1.3067574095405847}, "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_0", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.67409313171646, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.636509090909092, "message": "Task duration: 34.17 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.67714702552026, "message": "Total end-effector path length: 0.41 m, initial plug-port distance: 0.35 m"}, "trajectory smoothness": {"score": 5.3604370152871095, "message": "Average linear jerk magnitude of the end effector: 5.33 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 24, "task_index": 0, "length": 265, "trial_type": "sfp", "trial_id": "trial_25", "seed": 100024, "randomization": {"board_pose": {"x": 0.15266592732747003, "y": -0.2011215823940921, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.3387279474119977}, "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": 0.010615820470447658, "roll": 0.0, "pitch": 0.0, "yaw": -0.033514952451282935}}, "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": 0.002063817022252914, "y": 0.011431477512871182, "z": 0.04451824709735476}, "roll": 0.47495658759034765, "pitch": -0.5012245705273981, "yaw": 1.2731235226435458}, "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": 16.849631256746182, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.62690909090909, "message": "Task duration: 34.21 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.763906834787381, "message": "Total end-effector path length: 0.19 m, initial plug-port distance: 0.15 m"}, "trajectory smoothness": {"score": 5.45881533104971, "message": "Average linear jerk magnitude of the end effector: 4.51 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 121, "task_index": 1, "length": 443, "trial_type": "sc", "trial_id": "trial_22", "seed": 200021, "randomization": {"board_pose": {"x": 0.1370990582698413, "y": -0.2201800161132994, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.3779142361532144}, "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": true, "entity_name": "sc_port_0", "entity_pose": {"translation": -0.02035400038205428, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "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": -0.0007160902246021017, "y": 0.012348600570261915, "z": 0.038505616506488156}, "roll": 0.49229974313714364, "pitch": -0.47594129772333466, "yaw": 1.3479504836674123}, "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_0", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.48199831267, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.424436363636364, "message": "Task duration: 35.14 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.641383017236695, "message": "Total end-effector path length: 0.43 m, initial plug-port distance: 0.37 m"}, "trajectory smoothness": {"score": 5.416178931796941, "message": "Average linear jerk magnitude of the end effector: 4.87 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 25, "task_index": 0, "length": 260, "trial_type": "sfp", "trial_id": "trial_26", "seed": 100025, "randomization": {"board_pose": {"x": 0.1352890398777559, "y": -0.19939385034810123, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.0291732451958873}, "rails": {"nic_rail_0": {"entity_present": true, "entity_name": "nic_card_mount_0", "entity_pose": {"translation": 0.0017875969007759944, "roll": 0.0, "pitch": 0.0, "yaw": 0.05179134101504216}}, "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": -0.0002842790175157456, "y": 0.015914516091071862, "z": 0.04237445917016411}, "roll": 0.456597981596283, "pitch": -0.3753234340647914, "yaw": 1.271615414050433}, "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": 16.845462644190476, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.637818181818182, "message": "Task duration: 34.16 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.882726567514136, "message": "Total end-effector path length: 0.17 m, initial plug-port distance: 0.15 m"}, "trajectory smoothness": {"score": 5.32491789485816, "message": "Average linear jerk magnitude of the end effector: 5.63 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 122, "task_index": 1, "length": 852, "trial_type": "sc", "trial_id": "trial_23", "seed": 200022, "randomization": {"board_pose": {"x": 0.15750406179818544, "y": -0.16457997607160618, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 2.7710315360437328}, "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": 0.01497219341160215, "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": 0.0005845905462298227, "y": 0.014978939339283475, "z": 0.04324962632160636}, "roll": 0.41425322198825226, "pitch": -0.5113911537956665, "yaw": 1.3656459184494636}, "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": 16.413024436229488, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.400872727272727, "message": "Task duration: 35.25 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.630642425608263, "message": "Total end-effector path length: 0.44 m, initial plug-port distance: 0.38 m"}, "trajectory smoothness": {"score": 5.381509283348497, "message": "Average linear jerk magnitude of the end effector: 5.15 m/s^3"}}}, "tier_3": {"score": 46.05050012494447, "message": "Partial insertion detected with distance of 0.01m."}}, "success_tier3": 46.05050012494447} |
| {"episode_index": 26, "task_index": 0, "length": 397, "trial_type": "sfp", "trial_id": "trial_27", "seed": 100026, "randomization": {"board_pose": {"x": 0.16237661688796623, "y": -0.21480885124267685, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 2.907953438446983}, "rails": {"nic_rail_0": {"entity_present": true, "entity_name": "nic_card_mount_0", "entity_pose": {"translation": 0.020096542198815043, "roll": 0.0, "pitch": 0.0, "yaw": -0.040068729723143424}}, "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": -0.0014432818354377344, "y": 0.019355646784356598, "z": 0.04456055052487996}, "roll": 0.4780848349845137, "pitch": -0.5527653890876589, "yaw": 1.3291487444858183}, "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": 16.178348904944567, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.627781818181817, "message": "Task duration: 34.21 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 4.9816372106050455, "message": "Total end-effector path length: 0.21 m, initial plug-port distance: 0.04 m"}, "trajectory smoothness": {"score": 5.568929876157703, "message": "Average linear jerk magnitude of the end effector: 3.59 m/s^3"}}}, "tier_3": {"score": 23.77131033635027, "message": "No insertion detected. Final plug port distance: 0.05m."}}, "success_tier3": 23.77131033635027} |
| {"episode_index": 123, "task_index": 1, "length": 427, "trial_type": "sc", "trial_id": "trial_24", "seed": 200023, "randomization": {"board_pose": {"x": 0.13269096540567368, "y": -0.2192911735008866, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.597587351981211}, "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": 0.031478200330071496, "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": 0.0013977273550848561, "y": 0.015333860887427601, "z": 0.03898441219035584}, "roll": 0.48504892296868984, "pitch": -0.4866969097417234, "yaw": 1.3923036728585299}, "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": 16.661301570368014, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.628218181818182, "message": "Task duration: 34.20 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.606683218719424, "message": "Total end-effector path length: 0.45 m, initial plug-port distance: 0.39 m"}, "trajectory smoothness": {"score": 5.426400169830409, "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": 27, "task_index": 0, "length": 883, "trial_type": "sfp", "trial_id": "trial_28", "seed": 100027, "randomization": {"board_pose": {"x": 0.15229387046310539, "y": -0.18572224600701148, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 2.8135281708639734}, "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": true, "entity_name": "nic_card_mount_4", "entity_pose": {"translation": -0.00996192349623227, "roll": 0.0, "pitch": 0.0, "yaw": -0.15445327700004338}}, "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": -0.0010684026368803455, "y": 0.015817200689742898, "z": 0.04648166532918}, "roll": 0.43576184457697553, "pitch": -0.5153178268787819, "yaw": 1.323605154900402}, "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_4", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.92804379944589, "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": 5.828314168673412, "message": "Total end-effector path length: 0.26 m, initial plug-port distance: 0.23 m"}, "trajectory smoothness": {"score": 5.463656903499751, "message": "Average linear jerk magnitude of the end effector: 4.47 m/s^3"}}}, "tier_3": {"score": 38.61623191867207, "message": "Partial insertion detected with distance of 0.04m."}}, "success_tier3": 38.61623191867207} |
| {"episode_index": 124, "task_index": 1, "length": 398, "trial_type": "sc", "trial_id": "trial_25", "seed": 200024, "randomization": {"board_pose": {"x": 0.10019205321279442, "y": -0.16296061992709032, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 2.743340007480298}, "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": 0.04855440574526798, "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": -0.00031742091110341635, "y": 0.016692669384072073, "z": 0.04094832719228402}, "roll": 0.3557996686658821, "pitch": -0.4546787683574306, "yaw": 1.3013409899594022}, "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": 16.630048601905813, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.630836363636363, "message": "Task duration: 34.19 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.620027440229451, "message": "Total end-effector path length: 0.44 m, initial plug-port distance: 0.38 m"}, "trajectory smoothness": {"score": 5.379184798039997, "message": "Average linear jerk magnitude of the end effector: 5.17 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 28, "task_index": 0, "length": 684, "trial_type": "sfp", "trial_id": "trial_29", "seed": 100028, "randomization": {"board_pose": {"x": 0.1474845957287953, "y": -0.19685995398261563, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.1069959758716736}, "rails": {"nic_rail_0": {"entity_present": false}, "nic_rail_1": {"entity_present": false}, "nic_rail_2": {"entity_present": false}, "nic_rail_3": {"entity_present": true, "entity_name": "nic_card_mount_3", "entity_pose": {"translation": 0.003115349116469081, "roll": 0.0, "pitch": 0.0, "yaw": -0.019753642287783358}}, "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": -0.0036389669944442656, "y": 0.016069128021014213, "z": 0.04304213712841227}, "roll": 0.41953839200813886, "pitch": -0.5460558926926442, "yaw": 1.3811983644744463}, "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_3", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.0762088437425, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.639127272727272, "message": "Task duration: 34.15 seconds."}, "insertion force": {"score": 0, "message": "Insertion force above 20.00 N, detected for a time of 0.02 seconds. Max detected force: 57.42N. This is below the threshold of 1.00 seconds. Penalty not applied."}, "trajectory efficiency": {"score": 5.6332686562101015, "message": "Total end-effector path length: 0.25 m, initial plug-port distance: 0.19 m"}, "trajectory smoothness": {"score": 4.803812914805123, "message": "Average linear jerk magnitude of the end effector: 9.97 m/s^3"}}}, "tier_3": {"score": 50, "message": "Partial insertion detected with distance of -0.00m."}}, "success_tier3": 50.0} |
| {"episode_index": 125, "task_index": 1, "length": 396, "trial_type": "sc", "trial_id": "trial_26", "seed": 200025, "randomization": {"board_pose": {"x": 0.12550027642390066, "y": -0.22142220180971747, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 2.804554454621434}, "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": true, "entity_name": "sc_port_0", "entity_pose": {"translation": -0.01110989361723784, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "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": -0.0008671945560968118, "y": 0.011483542722195303, "z": 0.03997210773016133}, "roll": 0.4751706933342623, "pitch": -0.4615598899693048, "yaw": 1.344172937591961}, "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_0", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.363142076429952, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.3973818181818185, "message": "Task duration: 35.26 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.577470245340978, "message": "Total end-effector path length: 0.46 m, initial plug-port distance: 0.39 m"}, "trajectory smoothness": {"score": 5.388290012907154, "message": "Average linear jerk magnitude of the end effector: 5.10 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 29, "task_index": 0, "length": 212, "trial_type": "sfp", "trial_id": "trial_30", "seed": 100029, "randomization": {"board_pose": {"x": 0.11294347389971365, "y": -0.2057757286116841, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 2.78863058014306}, "rails": {"nic_rail_0": {"entity_present": false}, "nic_rail_1": {"entity_present": true, "entity_name": "nic_card_mount_1", "entity_pose": {"translation": -0.0005381935256548349, "roll": 0.0, "pitch": 0.0, "yaw": 0.08243118317660157}}, "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": -0.0034529120867013716, "y": 0.01567195028206683, "z": 0.04379751485704262}, "roll": 0.4798649464393037, "pitch": -0.4986572776429532, "yaw": 1.2848912324193758}, "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": 16.8822631941311, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.6539636363636365, "message": "Task duration: 34.09 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.710794682158645, "message": "Total end-effector path length: 0.22 m, initial plug-port distance: 0.17 m"}, "trajectory smoothness": {"score": 5.51750487560882, "message": "Average linear jerk magnitude of the end effector: 4.02 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 126, "task_index": 1, "length": 582, "trial_type": "sc", "trial_id": "trial_27", "seed": 200026, "randomization": {"board_pose": {"x": 0.1691608257689022, "y": -0.23217527221277776, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.1637494851971817}, "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": 0.029654862431591045, "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": 0.00016694316496065756, "y": 0.013486664777678296, "z": 0.0390839361506645}, "roll": 0.44636671986043674, "pitch": -0.46179847661709994, "yaw": 1.3222865005455744}, "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": 16.602648960715026, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.6413090909090915, "message": "Task duration: 34.14 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.543260222454356, "message": "Total end-effector path length: 0.49 m, initial plug-port distance: 0.41 m"}, "trajectory smoothness": {"score": 5.418079647351579, "message": "Average linear jerk magnitude of the end effector: 4.85 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 127, "task_index": 1, "length": 371, "trial_type": "sc", "trial_id": "trial_28", "seed": 200027, "randomization": {"board_pose": {"x": 0.13162370887282443, "y": -0.18398818169461947, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 2.9053510737042005}, "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": true, "entity_name": "sc_port_0", "entity_pose": {"translation": 0.0011454649848687617, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "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": 0.0039933900087470355, "y": 0.01577810347088348, "z": 0.039965053942435276}, "roll": 0.44783208643163663, "pitch": -0.5060146575472547, "yaw": 1.4533535125078285}, "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_0", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.68004467368212, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.592436363636363, "message": "Task duration: 34.37 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.64289737227393, "message": "Total end-effector path length: 0.43 m, initial plug-port distance: 0.37 m"}, "trajectory smoothness": {"score": 5.444710937771824, "message": "Average linear jerk magnitude of the end effector: 4.63 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 30, "task_index": 0, "length": 288, "trial_type": "sfp", "trial_id": "trial_31", "seed": 100030, "randomization": {"board_pose": {"x": 0.11413786357171782, "y": -0.16912028165090776, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.167983848939853}, "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": true, "entity_name": "nic_card_mount_4", "entity_pose": {"translation": 0.017858497215000803, "roll": 0.0, "pitch": 0.0, "yaw": 0.10199129787042636}}, "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": 0.001751850148146913, "y": 0.013063217955388976, "z": 0.04355696841022133}, "roll": 0.43897942269097945, "pitch": -0.4832698111713106, "yaw": 1.3002898245402292}, "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_1", "target_module_name": "nic_card_mount_4", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.88296558928205, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.8848, "message": "Task duration: 33.03 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.651019252995436, "message": "Total end-effector path length: 0.24 m, initial plug-port distance: 0.18 m"}, "trajectory smoothness": {"score": 5.347146336286614, "message": "Average linear jerk magnitude of the end effector: 5.44 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 128, "task_index": 1, "length": 378, "trial_type": "sc", "trial_id": "trial_29", "seed": 200028, "randomization": {"board_pose": {"x": 0.13170711690623402, "y": -0.22689598550401233, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.6407271536536454}, "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": true, "entity_name": "sc_port_0", "entity_pose": {"translation": -0.041379568980169715, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "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": -0.0003386990244144009, "y": 0.019389932206602643, "z": 0.03539933964841087}, "roll": 0.4493341489926744, "pitch": -0.5382004210931202, "yaw": 1.361730043953318}, "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_0", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.58966782378735, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.400872727272727, "message": "Task duration: 35.25 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.7557018816875765, "message": "Total end-effector path length: 0.39 m, initial plug-port distance: 0.35 m"}, "trajectory smoothness": {"score": 5.433093214827046, "message": "Average linear jerk magnitude of the end effector: 4.72 m/s^3"}}}, "tier_3": {"score": 39.66778722999359, "message": "Partial insertion detected with distance of 0.01m."}}, "success_tier3": 39.66778722999359} |
| {"episode_index": 31, "task_index": 0, "length": 260, "trial_type": "sfp", "trial_id": "trial_32", "seed": 100031, "randomization": {"board_pose": {"x": 0.13397432167174167, "y": -0.237700620287983, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.411105096582456}, "rails": {"nic_rail_0": {"entity_present": false}, "nic_rail_1": {"entity_present": true, "entity_name": "nic_card_mount_1", "entity_pose": {"translation": 0.015729079534912684, "roll": 0.0, "pitch": 0.0, "yaw": 0.1499533683962619}}, "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": 0.0011719504389357302, "y": 0.014469604883548906, "z": 0.04299633319873599}, "roll": 0.4583386876197766, "pitch": -0.47226435980322884, "yaw": 1.3426219146278888}, "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_1", "target_module_name": "nic_card_mount_1", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.722117333749093, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.629527272727273, "message": "Task duration: 34.20 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.794158929194308, "message": "Total end-effector path length: 0.18 m, initial plug-port distance: 0.15 m"}, "trajectory smoothness": {"score": 5.298431131827512, "message": "Average linear jerk magnitude of the end effector: 5.85 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 129, "task_index": 1, "length": 756, "trial_type": "sc", "trial_id": "trial_30", "seed": 200029, "randomization": {"board_pose": {"x": 0.14923578309500213, "y": -0.20363505653388086, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.229245043698861}, "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": -0.018988051387896943, "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": 0.0017894628148840423, "y": 0.014262275473921072, "z": 0.0397996594168034}, "roll": 0.454674180304477, "pitch": -0.49327456665265096, "yaw": 1.4023243137617643}, "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": 16.48572626682171, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.423563636363635, "message": "Task duration: 35.14 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.5709283110439, "message": "Total end-effector path length: 0.47 m, initial plug-port distance: 0.39 m"}, "trajectory smoothness": {"score": 5.491234319414176, "message": "Average linear jerk magnitude of the end effector: 4.24 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 32, "task_index": 0, "length": 244, "trial_type": "sfp", "trial_id": "trial_33", "seed": 100032, "randomization": {"board_pose": {"x": 0.12457317407038328, "y": -0.21297262227372538, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.1405077099393495}, "rails": {"nic_rail_0": {"entity_present": true, "entity_name": "nic_card_mount_0", "entity_pose": {"translation": -0.02013614063568288, "roll": 0.0, "pitch": 0.0, "yaw": -0.06601747103266196}}, "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": -0.00011312395257758164, "y": 0.018002187412490864, "z": 0.037597905887776104}, "roll": 0.4636504798625444, "pitch": -0.4734214035068621, "yaw": 1.3803773584708932}, "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": 16.83631997463225, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.622109090909091, "message": "Task duration: 34.23 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.8388249594864, "message": "Total end-effector path length: 0.16 m, initial plug-port distance: 0.14 m"}, "trajectory smoothness": {"score": 5.375385924236759, "message": "Average linear jerk magnitude of the end effector: 5.21 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 130, "task_index": 1, "length": 649, "trial_type": "sc", "trial_id": "trial_31", "seed": 200030, "randomization": {"board_pose": {"x": 0.13310497297578716, "y": -0.18683842327153055, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.5795713482844516}, "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": true, "entity_name": "sc_port_0", "entity_pose": {"translation": -0.043585687033375606, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "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": 0.0018192832915564212, "y": 0.01292195536305861, "z": 0.041203934143690925}, "roll": 0.38727312149001797, "pitch": -0.46337809288941445, "yaw": 1.3365892662329857}, "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_0", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.67711266019301, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.626472727272727, "message": "Task duration: 34.21 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.7433002783898575, "message": "Total end-effector path length: 0.38 m, initial plug-port distance: 0.34 m"}, "trajectory smoothness": {"score": 5.307339654530429, "message": "Average linear jerk magnitude of the end effector: 5.77 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 33, "task_index": 0, "length": 946, "trial_type": "sfp", "trial_id": "trial_34", "seed": 100033, "randomization": {"board_pose": {"x": 0.17195788177254445, "y": -0.22275319098036178, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.590111709591799}, "rails": {"nic_rail_0": {"entity_present": false}, "nic_rail_1": {"entity_present": false}, "nic_rail_2": {"entity_present": false}, "nic_rail_3": {"entity_present": true, "entity_name": "nic_card_mount_3", "entity_pose": {"translation": -0.015990249374630186, "roll": 0.0, "pitch": 0.0, "yaw": 0.1602506372425482}}, "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": 0.0011716931366486417, "y": 0.015618317280491335, "z": 0.04201763022308454}, "roll": 0.4253755380413174, "pitch": -0.47565270632263695, "yaw": 1.2336670570811605}, "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_1", "target_module_name": "nic_card_mount_3", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.95692790049969, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.638254545454545, "message": "Task duration: 34.16 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.921025795092085, "message": "Total end-effector path length: 0.19 m, initial plug-port distance: 0.18 m"}, "trajectory smoothness": {"score": 5.397647559953059, "message": "Average linear jerk magnitude of the end effector: 5.02 m/s^3"}}}, "tier_3": {"score": 38.6177258946515, "message": "Partial insertion detected with distance of 0.04m."}}, "success_tier3": 38.6177258946515} |
| {"episode_index": 131, "task_index": 1, "length": 550, "trial_type": "sc", "trial_id": "trial_32", "seed": 200031, "randomization": {"board_pose": {"x": 0.16125204307312774, "y": -0.16604586913630326, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 2.9300392625885348}, "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": true, "entity_name": "sc_port_0", "entity_pose": {"translation": -0.05659427601582321, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "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": -0.0011264619036921207, "y": 0.014581920313286397, "z": 0.03912394470168288}, "roll": 0.4890930494064021, "pitch": -0.4204071703268554, "yaw": 1.354194959895188}, "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_0", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.644649689022977, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.640436363636363, "message": "Task duration: 34.15 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.6272357758391545, "message": "Total end-effector path length: 0.44 m, initial plug-port distance: 0.38 m"}, "trajectory smoothness": {"score": 5.37697754954746, "message": "Average linear jerk magnitude of the end effector: 5.19 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 34, "task_index": 0, "length": 188, "trial_type": "sfp", "trial_id": "trial_35", "seed": 100034, "randomization": {"board_pose": {"x": 0.1929676155670248, "y": -0.21320311119269444, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 2.9514203600730164}, "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": 0.019521336037856017, "roll": 0.0, "pitch": 0.0, "yaw": -0.05462566831079612}}, "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": 0.0012535287220436537, "y": 0.015656636354623617, "z": 0.043619810253303665}, "roll": 0.4706815704108001, "pitch": -0.42191508384664717, "yaw": 1.377750889451558}, "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_1", "target_module_name": "nic_card_mount_2", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.947971410003184, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.856436363636363, "message": "Task duration: 33.16 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.629185217519492, "message": "Total end-effector path length: 0.27 m, initial plug-port distance: 0.21 m"}, "trajectory smoothness": {"score": 5.46234982884733, "message": "Average linear jerk magnitude of the end effector: 4.48 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 132, "task_index": 1, "length": 612, "trial_type": "sc", "trial_id": "trial_33", "seed": 200032, "randomization": {"board_pose": {"x": 0.11155595105478902, "y": -0.17087624298693393, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 2.987644722232949}, "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": 0.04356674588463007, "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": -0.0021000407891762552, "y": 0.017751996230113105, "z": 0.04115402010578925}, "roll": 0.398415948068228, "pitch": -0.5473031854583376, "yaw": 1.3760570982913691}, "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": 16.471622960930933, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.413527272727272, "message": "Task duration: 35.19 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.601893855853876, "message": "Total end-effector path length: 0.45 m, initial plug-port distance: 0.38 m"}, "trajectory smoothness": {"score": 5.456201832349783, "message": "Average linear jerk magnitude of the end effector: 4.53 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 35, "task_index": 0, "length": 203, "trial_type": "sfp", "trial_id": "trial_36", "seed": 100035, "randomization": {"board_pose": {"x": 0.16697255478733986, "y": -0.20392396465390358, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 2.666314769923285}, "rails": {"nic_rail_0": {"entity_present": true, "entity_name": "nic_card_mount_0", "entity_pose": {"translation": -0.02109044799809906, "roll": 0.0, "pitch": 0.0, "yaw": 0.020926927722161887}}, "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": 0.0015664711397289353, "y": 0.014791609305347207, "z": 0.04180076535553605}, "roll": 0.3265546131403831, "pitch": -0.5884249222238535, "yaw": 1.392325029975144}, "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_1", "target_module_name": "nic_card_mount_0", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 4.134251243404188, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.622545454545455, "message": "Task duration: 34.23 seconds."}, "insertion force": {"score": -12, "message": "Insertion force above 20.00 N, detected for a time of 5.35 seconds. Max detected force: 26.85N. This is above the threshold of 1.00 seconds. Penalty applied."}, "trajectory efficiency": {"score": 5.307086999046684, "message": "Total end-effector path length: 0.18 m, initial plug-port distance: 0.06 m"}, "trajectory smoothness": {"score": 5.2046187898120495, "message": "Average linear jerk magnitude of the end effector: 6.63 m/s^3"}}}, "tier_3": {"score": 23.27612983783027, "message": "No insertion detected. Final plug port distance: 0.05m."}}, "success_tier3": 23.27612983783027} |
| {"episode_index": 133, "task_index": 1, "length": 566, "trial_type": "sc", "trial_id": "trial_34", "seed": 200033, "randomization": {"board_pose": {"x": 0.11668666584903915, "y": -0.19859820998905622, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.4930947862923123}, "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": -0.010214333225017767, "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": 0.0010836121872139118, "y": 0.01705826676759434, "z": 0.035701583821867854}, "roll": 0.47964970976291854, "pitch": -0.5525158981283635, "yaw": 1.3559790697335636}, "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": 16.523021246323054, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.421818181818182, "message": "Task duration: 35.15 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.638157891764763, "message": "Total end-effector path length: 0.43 m, initial plug-port distance: 0.37 m"}, "trajectory smoothness": {"score": 5.463045172740111, "message": "Average linear jerk magnitude of the end effector: 4.47 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 36, "task_index": 0, "length": 277, "trial_type": "sfp", "trial_id": "trial_37", "seed": 100036, "randomization": {"board_pose": {"x": 0.12939458910022306, "y": -0.2206088060983139, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 2.7705876184527094}, "rails": {"nic_rail_0": {"entity_present": false}, "nic_rail_1": {"entity_present": true, "entity_name": "nic_card_mount_1", "entity_pose": {"translation": 0.00331592644520538, "roll": 0.0, "pitch": 0.0, "yaw": -0.02622564296781321}}, "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": 0.000819093418078058, "y": 0.015385703498542307, "z": 0.04308410412403402}, "roll": 0.4360042511371096, "pitch": -0.48565083256251224, "yaw": 1.349879360030932}, "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": 16.787120542564953, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.633454545454546, "message": "Task duration: 34.18 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.674244466379346, "message": "Total end-effector path length: 0.23 m, initial plug-port distance: 0.18 m"}, "trajectory smoothness": {"score": 5.479421530731062, "message": "Average linear jerk magnitude of the end effector: 4.34 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
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| {"episode_index": 37, "task_index": 0, "length": 236, "trial_type": "sfp", "trial_id": "trial_38", "seed": 100037, "randomization": {"board_pose": {"x": 0.17584550033738983, "y": -0.1502773299575827, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.070263311428981}, "rails": {"nic_rail_0": {"entity_present": false}, "nic_rail_1": {"entity_present": true, "entity_name": "nic_card_mount_1", "entity_pose": {"translation": 0.008598670841621452, "roll": 0.0, "pitch": 0.0, "yaw": -0.07341149653695207}}, "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": 0.0036977025408704615, "y": 0.01650357012264128, "z": 0.0423053656670683}, "roll": 0.44497776092726665, "pitch": -0.45984080372499225, "yaw": 1.3440752423559563}, "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": 16.728504050913184, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.636509090909092, "message": "Task duration: 34.17 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.819969689262057, "message": "Total end-effector path length: 0.18 m, initial plug-port distance: 0.15 m"}, "trajectory smoothness": {"score": 5.272025270742033, "message": "Average linear jerk magnitude of the end effector: 6.07 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 135, "task_index": 1, "length": 399, "trial_type": "sc", "trial_id": "trial_36", "seed": 200035, "randomization": {"board_pose": {"x": 0.14489594373863565, "y": -0.22488338856304246, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.0470242335844415}, "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": true, "entity_name": "sc_port_0", "entity_pose": {"translation": -0.014471010665058674, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "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": 0.0016513981111931709, "y": 0.013875241583357484, "z": 0.03997243137047135}, "roll": 0.5137730762040844, "pitch": -0.4467983167841176, "yaw": 1.3069101536965957}, "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_0", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.416639238566994, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.417454545454545, "message": "Task duration: 35.17 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.588613017068843, "message": "Total end-effector path length: 0.46 m, initial plug-port distance: 0.39 m"}, "trajectory smoothness": {"score": 5.410571676043604, "message": "Average linear jerk magnitude of the end effector: 4.91 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 38, "task_index": 0, "length": 253, "trial_type": "sfp", "trial_id": "trial_39", "seed": 100038, "randomization": {"board_pose": {"x": 0.1871514665303236, "y": -0.1786815213983545, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 2.651485782213301}, "rails": {"nic_rail_0": {"entity_present": false}, "nic_rail_1": {"entity_present": false}, "nic_rail_2": {"entity_present": false}, "nic_rail_3": {"entity_present": true, "entity_name": "nic_card_mount_3", "entity_pose": {"translation": 0.010755049065896666, "roll": 0.0, "pitch": 0.0, "yaw": 0.024526947212751594}}, "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": 0.0015235455832066105, "y": 0.014163861383473576, "z": 0.04067170226155954}, "roll": 0.47467409699464796, "pitch": -0.4525186730537405, "yaw": 1.3229881865208173}, "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_1", "target_module_name": "nic_card_mount_3", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.96629339951256, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.878254545454546, "message": "Task duration: 33.06 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.6188077269839525, "message": "Total end-effector path length: 0.29 m, initial plug-port distance: 0.23 m"}, "trajectory smoothness": {"score": 5.469231127074062, "message": "Average linear jerk magnitude of the end effector: 4.42 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 136, "task_index": 1, "length": 994, "trial_type": "sc", "trial_id": "trial_37", "seed": 200036, "randomization": {"board_pose": {"x": 0.16593897763276066, "y": -0.19645611591553225, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.1892955163050836}, "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": -0.021091930861720315, "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": 0.002259240333547941, "y": 0.01762070928068235, "z": 0.03864508149800136}, "roll": 0.418943922091986, "pitch": -0.5371652515852481, "yaw": 1.3284746846345699}, "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": 16.582604516387324, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.409599999999999, "message": "Task duration: 35.21 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.683641437216045, "message": "Total end-effector path length: 0.45 m, initial plug-port distance: 0.40 m"}, "trajectory smoothness": {"score": 5.48936307917128, "message": "Average linear jerk magnitude of the end effector: 4.26 m/s^3"}}}, "tier_3": {"score": 39.668782039100705, "message": "Partial insertion detected with distance of 0.01m."}}, "success_tier3": 39.668782039100705} |
| {"episode_index": 39, "task_index": 0, "length": 239, "trial_type": "sfp", "trial_id": "trial_40", "seed": 100039, "randomization": {"board_pose": {"x": 0.14290332505829845, "y": -0.19273106893771808, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.2179415071235358}, "rails": {"nic_rail_0": {"entity_present": false}, "nic_rail_1": {"entity_present": true, "entity_name": "nic_card_mount_1", "entity_pose": {"translation": 0.018645482515081815, "roll": 0.0, "pitch": 0.0, "yaw": -0.01927610578663319}}, "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": 0.0014389071540344453, "y": 0.01412278835527582, "z": 0.04209735344367286}, "roll": 0.4615488543423549, "pitch": -0.46368068944374097, "yaw": 1.2929032084662835}, "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": 16.880599018960606, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.6448, "message": "Task duration: 34.13 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.870106744846737, "message": "Total end-effector path length: 0.16 m, initial plug-port distance: 0.14 m"}, "trajectory smoothness": {"score": 5.3656922741138695, "message": "Average linear jerk magnitude of the end effector: 5.29 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 137, "task_index": 1, "length": 483, "trial_type": "sc", "trial_id": "trial_38", "seed": 200037, "randomization": {"board_pose": {"x": 0.1451428106571338, "y": -0.2208670366656833, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.18845460939593}, "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": 0.028083166777275792, "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": -0.0013727707282598668, "y": 0.015323278637378021, "z": 0.042489924364156516}, "roll": 0.4675721531381875, "pitch": -0.5106481094713856, "yaw": 1.3385096116450295}, "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": 16.65850251808268, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.629527272727273, "message": "Task duration: 34.20 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.549096455960054, "message": "Total end-effector path length: 0.48 m, initial plug-port distance: 0.41 m"}, "trajectory smoothness": {"score": 5.479878789395355, "message": "Average linear jerk magnitude of the end effector: 4.33 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 40, "task_index": 0, "length": 269, "trial_type": "sfp", "trial_id": "trial_41", "seed": 100040, "randomization": {"board_pose": {"x": 0.15477258059074916, "y": -0.248739598438224, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.449161516222479}, "rails": {"nic_rail_0": {"entity_present": false}, "nic_rail_1": {"entity_present": false}, "nic_rail_2": {"entity_present": false}, "nic_rail_3": {"entity_present": true, "entity_name": "nic_card_mount_3", "entity_pose": {"translation": 2.8003998396308738e-05, "roll": 0.0, "pitch": 0.0, "yaw": -0.1381138909465082}}, "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": -0.0010419130968575621, "y": 0.014408636364272177, "z": 0.045933915907132104}, "roll": 0.4263431400010948, "pitch": -0.44639079659121766, "yaw": 1.410540972546618}, "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_3", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.67835932643217, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.652654545454546, "message": "Task duration: 34.09 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.61091437782536, "message": "Total end-effector path length: 0.27 m, initial plug-port distance: 0.20 m"}, "trajectory smoothness": {"score": 5.414790403152264, "message": "Average linear jerk magnitude of the end effector: 4.88 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
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| {"episode_index": 41, "task_index": 0, "length": 256, "trial_type": "sfp", "trial_id": "trial_42", "seed": 100041, "randomization": {"board_pose": {"x": 0.12275171381844102, "y": -0.24982618212408209, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 2.9381085459846563}, "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": true, "entity_name": "nic_card_mount_4", "entity_pose": {"translation": 0.004644429779285714, "roll": 0.0, "pitch": 0.0, "yaw": -0.053945243914883326}}, "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": 0.002084441016057013, "y": 0.013769032398340137, "z": 0.04468361655111268}, "roll": 0.45986755777665933, "pitch": -0.5354354135028077, "yaw": 1.3026167438490024}, "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_4", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.768285777058342, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.6413090909090915, "message": "Task duration: 34.14 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.564786834829775, "message": "Total end-effector path length: 0.34 m, initial plug-port distance: 0.26 m"}, "trajectory smoothness": {"score": 5.562189851319476, "message": "Average linear jerk magnitude of the end effector: 3.65 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 139, "task_index": 1, "length": 396, "trial_type": "sc", "trial_id": "trial_40", "seed": 200039, "randomization": {"board_pose": {"x": 0.18801020367108245, "y": -0.19611512559174105, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.123616871234711}, "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": -0.002342057021517345, "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": -0.0008277089960235007, "y": 0.013900261174107623, "z": 0.03847186685326619}, "roll": 0.4270805007357022, "pitch": -0.43186954888699963, "yaw": 1.3038146655542642}, "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": 16.627103324569607, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.637818181818182, "message": "Task duration: 34.16 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.584534659965298, "message": "Total end-effector path length: 0.47 m, initial plug-port distance: 0.40 m"}, "trajectory smoothness": {"score": 5.404750482786127, "message": "Average linear jerk magnitude of the end effector: 4.96 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 42, "task_index": 0, "length": 262, "trial_type": "sfp", "trial_id": "trial_43", "seed": 100042, "randomization": {"board_pose": {"x": 0.17729106627792124, "y": -0.23588850460078462, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 2.8039275741553364}, "rails": {"nic_rail_0": {"entity_present": false}, "nic_rail_1": {"entity_present": true, "entity_name": "nic_card_mount_1", "entity_pose": {"translation": -0.014715181539038856, "roll": 0.0, "pitch": 0.0, "yaw": 0.05260151014543127}}, "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": 0.00014778275375549463, "y": 0.015706301791229695, "z": 0.04385941522093878}, "roll": 0.37194390613756434, "pitch": -0.4943816328709771, "yaw": 1.3548709158708676}, "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_1", "target_module_name": "nic_card_mount_1", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.681583871694603, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.636509090909092, "message": "Task duration: 34.17 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.604979662341831, "message": "Total end-effector path length: 0.30 m, initial plug-port distance: 0.23 m"}, "trajectory smoothness": {"score": 5.440095118443678, "message": "Average linear jerk magnitude of the end effector: 4.67 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 140, "task_index": 1, "length": 407, "trial_type": "sc", "trial_id": "trial_41", "seed": 200040, "randomization": {"board_pose": {"x": 0.1612978625105182, "y": -0.19953255034513506, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 2.968892031777521}, "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": true, "entity_name": "sc_port_0", "entity_pose": {"translation": 0.023886782798672027, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "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": 0.003857294787666428, "y": 0.015424961353004212, "z": 0.04208761169018375}, "roll": 0.3772697370860438, "pitch": -0.44191340966212245, "yaw": 1.3231131896557438}, "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_0", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.575172039756502, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.634327272727273, "message": "Task duration: 34.18 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.636561232924068, "message": "Total end-effector path length: 0.43 m, initial plug-port distance: 0.37 m"}, "trajectory smoothness": {"score": 5.304283534105162, "message": "Average linear jerk magnitude of the end effector: 5.80 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 43, "task_index": 0, "length": 316, "trial_type": "sfp", "trial_id": "trial_44", "seed": 100043, "randomization": {"board_pose": {"x": 0.15757771833762735, "y": -0.19977481845171197, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.0958842963704867}, "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": 0.0010306173666529347, "roll": 0.0, "pitch": 0.0, "yaw": 0.14946373928306927}}, "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": 0.0010117536746578836, "y": 0.016818365295439588, "z": 0.0428876292899208}, "roll": 0.40537841895295845, "pitch": -0.5261136913647373, "yaw": 1.370712125430543}, "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": 16.696636834976495, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.656145454545454, "message": "Task duration: 34.08 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.700833744762029, "message": "Total end-effector path length: 0.22 m, initial plug-port distance: 0.17 m"}, "trajectory smoothness": {"score": 5.339657635669012, "message": "Average linear jerk magnitude of the end effector: 5.50 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 141, "task_index": 1, "length": 388, "trial_type": "sc", "trial_id": "trial_42", "seed": 200041, "randomization": {"board_pose": {"x": 0.1237821998233103, "y": -0.24494739824556308, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.635319681943265}, "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": true, "entity_name": "sc_port_0", "entity_pose": {"translation": -0.010138641248665092, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "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": 0.001022274787068805, "y": 0.01560726263102458, "z": 0.04021198446332543}, "roll": 0.4858810683351161, "pitch": -0.44313406198720506, "yaw": 1.3695302939322964}, "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_0", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.632343910008515, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.6369454545454545, "message": "Task duration: 34.16 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.64132982349575, "message": "Total end-effector path length: 0.43 m, initial plug-port distance: 0.37 m"}, "trajectory smoothness": {"score": 5.354068631967312, "message": "Average linear jerk magnitude of the end effector: 5.38 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 44, "task_index": 0, "length": 280, "trial_type": "sfp", "trial_id": "trial_45", "seed": 100044, "randomization": {"board_pose": {"x": 0.18447644450809803, "y": -0.24767232169346398, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.444142215374068}, "rails": {"nic_rail_0": {"entity_present": false}, "nic_rail_1": {"entity_present": false}, "nic_rail_2": {"entity_present": false}, "nic_rail_3": {"entity_present": true, "entity_name": "nic_card_mount_3", "entity_pose": {"translation": -0.020272975585388608, "roll": 0.0, "pitch": 0.0, "yaw": -0.15321759315717595}}, "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": -0.0029713727467638794, "y": 0.015498063244318572, "z": 0.041622642928702686}, "roll": 0.4970864115971426, "pitch": -0.5362639016556954, "yaw": 1.3798457566505888}, "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_1", "target_module_name": "nic_card_mount_3", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 15.947469061772232, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.629527272727273, "message": "Task duration: 34.20 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 4.751039146534132, "message": "Total end-effector path length: 0.28 m, initial plug-port distance: 0.07 m"}, "trajectory smoothness": {"score": 5.566902642510826, "message": "Average linear jerk magnitude of the end effector: 3.61 m/s^3"}}}, "tier_3": {"score": 25, "message": "No insertion detected. Final plug port distance: 0.02m."}}, "success_tier3": 25.0} |
| {"episode_index": 142, "task_index": 1, "length": 398, "trial_type": "sc", "trial_id": "trial_43", "seed": 200042, "randomization": {"board_pose": {"x": 0.1540189861693961, "y": -0.22618602893340434, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.0792608862508475}, "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": true, "entity_name": "sc_port_0", "entity_pose": {"translation": 0.04360470014486299, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "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": -0.0016888671301408867, "y": 0.012016147183083917, "z": 0.03921037363727886}, "roll": 0.4886170548423895, "pitch": -0.5020410573465341, "yaw": 1.3078981348696697}, "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_0", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.473372095773062, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.423127272727273, "message": "Task duration: 35.14 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.5997498257944445, "message": "Total end-effector path length: 0.45 m, initial plug-port distance: 0.38 m"}, "trajectory smoothness": {"score": 5.450494997251345, "message": "Average linear jerk magnitude of the end effector: 4.58 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 45, "task_index": 0, "length": 1029, "trial_type": "sfp", "trial_id": "trial_46", "seed": 100045, "randomization": {"board_pose": {"x": 0.1284084587264961, "y": -0.21968309157518168, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.2637089528378453}, "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": 0.022495308462463143, "roll": 0.0, "pitch": 0.0, "yaw": 0.04788722634997711}}, "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": -0.00021296126234818336, "y": 0.015696848215892536, "z": 0.04181159143490676}, "roll": 0.4764070310882921, "pitch": -0.46551007988782256, "yaw": 1.3858316429596609}, "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_1", "target_module_name": "nic_card_mount_2", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 17.012876901016938, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.646545454545455, "message": "Task duration: 34.12 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.961526569387709, "message": "Total end-effector path length: 0.17 m, initial plug-port distance: 0.16 m"}, "trajectory smoothness": {"score": 5.404804877083775, "message": "Average linear jerk magnitude of the end effector: 4.96 m/s^3"}}}, "tier_3": {"score": 38.61351252563133, "message": "Partial insertion detected with distance of 0.04m."}}, "success_tier3": 38.61351252563133} |
| {"episode_index": 143, "task_index": 1, "length": 1007, "trial_type": "sc", "trial_id": "trial_44", "seed": 200043, "randomization": {"board_pose": {"x": 0.19299523344131309, "y": -0.16419166418358289, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.339816446355629}, "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": 0.024422282423601616, "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": -0.0010359535292941255, "y": 0.01521229832927642, "z": 0.03855825089194879}, "roll": 0.4521077655805034, "pitch": -0.46117418780831226, "yaw": 1.4017030583977972}, "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": 16.412157874690166, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.4048, "message": "Task duration: 35.23 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.635122114091041, "message": "Total end-effector path length: 0.43 m, initial plug-port distance: 0.37 m"}, "trajectory smoothness": {"score": 5.372235760599124, "message": "Average linear jerk magnitude of the end effector: 5.23 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 46, "task_index": 0, "length": 169, "trial_type": "sfp", "trial_id": "trial_47", "seed": 100046, "randomization": {"board_pose": {"x": 0.13628368542189917, "y": -0.15664549240017328, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.4763004589114352}, "rails": {"nic_rail_0": {"entity_present": false}, "nic_rail_1": {"entity_present": false}, "nic_rail_2": {"entity_present": false}, "nic_rail_3": {"entity_present": true, "entity_name": "nic_card_mount_3", "entity_pose": {"translation": 0.020611639974048503, "roll": 0.0, "pitch": 0.0, "yaw": 0.14682018148589074}}, "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": 0.0015389720604027841, "y": 0.015648720959707967, "z": 0.044601708860886526}, "roll": 0.4632841771023635, "pitch": -0.5130844687914794, "yaw": 1.3354691799978664}, "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_1", "target_module_name": "nic_card_mount_3", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 17.08291500645989, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.873018181818182, "message": "Task duration: 33.08 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.786518076853978, "message": "Total end-effector path length: 0.18 m, initial plug-port distance: 0.15 m"}, "trajectory smoothness": {"score": 5.423378747787728, "message": "Average linear jerk magnitude of the end effector: 4.81 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 144, "task_index": 1, "length": 326, "trial_type": "sc", "trial_id": "trial_45", "seed": 200044, "randomization": {"board_pose": {"x": 0.14034118761748188, "y": -0.1737735927601723, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.173119093542615}, "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": -0.043759241054731654, "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": -0.0029014713429728195, "y": 0.01768171333327212, "z": 0.038307034167436194}, "roll": 0.453031870518868, "pitch": -0.4857968845390352, "yaw": 1.3861650566814014}, "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": 16.713238578198162, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.645236363636364, "message": "Task duration: 34.13 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.61706713352337, "message": "Total end-effector path length: 0.45 m, initial plug-port distance: 0.38 m"}, "trajectory smoothness": {"score": 5.450935081038426, "message": "Average linear jerk magnitude of the end effector: 4.58 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 47, "task_index": 0, "length": 1377, "trial_type": "sfp", "trial_id": "trial_48", "seed": 100047, "randomization": {"board_pose": {"x": 0.16092249734043368, "y": -0.20090690396504485, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.5311543099220892}, "rails": {"nic_rail_0": {"entity_present": false}, "nic_rail_1": {"entity_present": false}, "nic_rail_2": {"entity_present": false}, "nic_rail_3": {"entity_present": true, "entity_name": "nic_card_mount_3", "entity_pose": {"translation": 0.018085968590019652, "roll": 0.0, "pitch": 0.0, "yaw": -0.13249200031918515}}, "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": 0.002897164356875472, "y": 0.015450471767150493, "z": 0.0389283148710265}, "roll": 0.47286043462628063, "pitch": -0.5148430762895637, "yaw": 1.3145081675582322}, "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_1", "target_module_name": "nic_card_mount_3", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 17.054010476481064, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.630836363636363, "message": "Task duration: 34.19 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.967592663216962, "message": "Total end-effector path length: 0.17 m, initial plug-port distance: 0.17 m"}, "trajectory smoothness": {"score": 5.45558144962774, "message": "Average linear jerk magnitude of the end effector: 4.54 m/s^3"}}}, "tier_3": {"score": 38.012559543461165, "message": "Partial insertion detected with distance of 0.05m."}}, "success_tier3": 38.012559543461165} |
| {"episode_index": 145, "task_index": 1, "length": 438, "trial_type": "sc", "trial_id": "trial_46", "seed": 200045, "randomization": {"board_pose": {"x": 0.10538825345346382, "y": -0.175055745635224, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.5796263952855707}, "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": true, "entity_name": "sc_port_0", "entity_pose": {"translation": 0.0522684120663601, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "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": -6.085096022198204e-06, "y": 0.01574651976943597, "z": 0.03881411517079094}, "roll": 0.4840120853082962, "pitch": -0.484205341950534, "yaw": 1.34828434424725}, "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_0", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 15.269843235729107, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.63170909090909, "message": "Task duration: 34.19 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 4.175213206113541, "message": "Total end-effector path length: 0.44 m, initial plug-port distance: 0.14 m"}, "trajectory smoothness": {"score": 5.4629209387064765, "message": "Average linear jerk magnitude of the end effector: 4.48 m/s^3"}}}, "tier_3": {"score": 24.07788633264287, "message": "No insertion detected. Final plug port distance: 0.02m."}}, "success_tier3": 24.07788633264287} |
| {"episode_index": 48, "task_index": 0, "length": 146, "trial_type": "sfp", "trial_id": "trial_49", "seed": 100048, "randomization": {"board_pose": {"x": 0.1490949493137277, "y": -0.17126949373634437, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.261285411605912}, "rails": {"nic_rail_0": {"entity_present": false}, "nic_rail_1": {"entity_present": false}, "nic_rail_2": {"entity_present": false}, "nic_rail_3": {"entity_present": true, "entity_name": "nic_card_mount_3", "entity_pose": {"translation": 0.0060967920460372055, "roll": 0.0, "pitch": 0.0, "yaw": 0.1564693888845412}}, "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": -0.00031831440283546474, "y": 0.015222389879341321, "z": 0.0405642550153784}, "roll": 0.4774417548423234, "pitch": -0.5366371907935293, "yaw": 1.2692981652367072}, "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_3", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 17.04673998563863, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.879127272727272, "message": "Task duration: 33.05 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.720115864278611, "message": "Total end-effector path length: 0.21 m, initial plug-port distance: 0.16 m"}, "trajectory smoothness": {"score": 5.4474968486327455, "message": "Average linear jerk magnitude of the end effector: 4.60 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 146, "task_index": 1, "length": 1007, "trial_type": "sc", "trial_id": "trial_47", "seed": 200046, "randomization": {"board_pose": {"x": 0.18962095988284233, "y": -0.2053782362969664, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.3890224005387473}, "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": -0.05817683419079254, "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": 0.002508110866816889, "y": 0.01720848741259633, "z": 0.04240850937653304}, "roll": 0.4118474320760083, "pitch": -0.433903175041868, "yaw": 1.3906518019054457}, "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": 16.62974803317662, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.637818181818182, "message": "Task duration: 34.16 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.607470586729453, "message": "Total end-effector path length: 0.47 m, initial plug-port distance: 0.41 m"}, "trajectory smoothness": {"score": 5.384459264628986, "message": "Average linear jerk magnitude of the end effector: 5.13 m/s^3"}}}, "tier_3": {"score": 46.047407527236416, "message": "Partial insertion detected with distance of 0.01m."}}, "success_tier3": 46.047407527236416} |
| {"episode_index": 49, "task_index": 0, "length": 265, "trial_type": "sfp", "trial_id": "trial_50", "seed": 100049, "randomization": {"board_pose": {"x": 0.15260702854531027, "y": -0.1929308161348411, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.422314378214213}, "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": 0.01167836139727324, "roll": 0.0, "pitch": 0.0, "yaw": -0.1254551867139541}}, "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": -0.000944557805638053, "y": 0.01756044943079203, "z": 0.04111783694773698}, "roll": 0.3719763724507436, "pitch": -0.488712051735127, "yaw": 1.2664410231862275}, "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": 16.81379052425784, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.638254545454545, "message": "Task duration: 34.16 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.767140657895443, "message": "Total end-effector path length: 0.18 m, initial plug-port distance: 0.15 m"}, "trajectory smoothness": {"score": 5.408395320907852, "message": "Average linear jerk magnitude of the end effector: 4.93 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 147, "task_index": 1, "length": 320, "trial_type": "sc", "trial_id": "trial_48", "seed": 200047, "randomization": {"board_pose": {"x": 0.14312772503225824, "y": -0.16543185722841453, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 2.6765474938289318}, "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": -0.03010423849553265, "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": 0.0015309245691381842, "y": 0.01690883528725944, "z": 0.03962182978902088}, "roll": 0.4303831275410234, "pitch": -0.5018999042523722, "yaw": 1.3632966475432}, "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": 16.663748403271036, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.630836363636363, "message": "Task duration: 34.19 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.581543919642671, "message": "Total end-effector path length: 0.47 m, initial plug-port distance: 0.40 m"}, "trajectory smoothness": {"score": 5.451368119992001, "message": "Average linear jerk magnitude of the end effector: 4.57 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 50, "task_index": 0, "length": 21, "trial_type": "sfp", "trial_id": "trial_51", "seed": 100050, "randomization": {"board_pose": {"x": 0.19601713942889065, "y": -0.20605739603588827, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.1094409196855386}, "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": true, "entity_name": "nic_card_mount_4", "entity_pose": {"translation": -0.0049611830284934065, "roll": 0.0, "pitch": 0.0, "yaw": 0.028843394205031635}}, "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": -0.0014048309889166087, "y": 0.014525363285429811, "z": 0.043103740601472845}, "roll": 0.4504234650783662, "pitch": -0.42116446706568805, "yaw": 1.3709091161477795}, "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_1", "target_module_name": "nic_card_mount_4", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 0, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 0, "message": "Plug is not within max bounding radius from target port, not assigning time bonus"}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 0, "message": "Plug is not within max bounding radius from target port, not assigning efficiency bonus"}, "trajectory smoothness": {"score": 0, "message": "Plug is not within max bounding radius from target port, not assigning jerk bonus"}}}, "tier_3": {"score": 0, "message": "No insertion detected. Final plug port distance: 0.13m."}}, "success_tier3": 0.0} |
| {"episode_index": 148, "task_index": 1, "length": 558, "trial_type": "sc", "trial_id": "trial_49", "seed": 200048, "randomization": {"board_pose": {"x": 0.18219551508203957, "y": -0.184252720672521, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.2987494326928273}, "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": 0.011922312092009155, "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": 0.0003917197042402019, "y": 0.02194347120961853, "z": 0.036460654480860874}, "roll": 0.4754495657466803, "pitch": -0.5321866747486008, "yaw": 1.2912940635423662}, "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": 14.842536381619405, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.641745454545454, "message": "Task duration: 34.14 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 3.725861079866908, "message": "Total end-effector path length: 0.44 m, initial plug-port distance: 0.06 m"}, "trajectory smoothness": {"score": 5.474929847207044, "message": "Average linear jerk magnitude of the end effector: 4.38 m/s^3"}}}, "tier_3": {"score": 17.96023465546131, "message": "No insertion detected. Final plug port distance: 0.02m."}}, "success_tier3": 17.96023465546131} |
| {"episode_index": 51, "task_index": 0, "length": 185, "trial_type": "sfp", "trial_id": "trial_52", "seed": 100051, "randomization": {"board_pose": {"x": 0.16012822665431253, "y": -0.18670818169063336, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 2.754205762197171}, "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": true, "entity_name": "nic_card_mount_4", "entity_pose": {"translation": -0.017972135179955315, "roll": 0.0, "pitch": 0.0, "yaw": -0.12288096726594375}}, "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": -0.0016887968624481502, "y": 0.012739414098880545, "z": 0.04185432491557639}, "roll": 0.3529877231665315, "pitch": -0.4429062328578459, "yaw": 1.2622355569452726}, "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_1", "target_module_name": "nic_card_mount_4", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.840188724479766, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.632581818181819, "message": "Task duration: 34.18 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.822291805111035, "message": "Total end-effector path length: 0.28 m, initial plug-port distance: 0.25 m"}, "trajectory smoothness": {"score": 5.385315101186911, "message": "Average linear jerk magnitude of the end effector: 5.12 m/s^3"}}}, "tier_3": {"score": 38.01083820229095, "message": "Partial insertion detected with distance of 0.05m."}}, "success_tier3": 38.01083820229095} |
| {"episode_index": 149, "task_index": 1, "length": 551, "trial_type": "sc", "trial_id": "trial_50", "seed": 200049, "randomization": {"board_pose": {"x": 0.193636131011179, "y": -0.2114411530684743, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.502294002000121}, "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": true, "entity_name": "sc_port_0", "entity_pose": {"translation": -0.02624687040751624, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "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": 0.0019074984643722539, "y": 0.015094263675501785, "z": 0.03988580706256362}, "roll": 0.39819563474312025, "pitch": -0.4495265921179297, "yaw": 1.3890863293727935}, "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_0", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.612906565982296, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.6286545454545465, "message": "Task duration: 34.20 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.6485609306294755, "message": "Total end-effector path length: 0.43 m, initial plug-port distance: 0.37 m"}, "trajectory smoothness": {"score": 5.335691089898274, "message": "Average linear jerk magnitude of the end effector: 5.54 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 52, "task_index": 0, "length": 255, "trial_type": "sfp", "trial_id": "trial_53", "seed": 100052, "randomization": {"board_pose": {"x": 0.1830317520221472, "y": -0.17471864660627956, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 2.795473869997128}, "rails": {"nic_rail_0": {"entity_present": false}, "nic_rail_1": {"entity_present": true, "entity_name": "nic_card_mount_1", "entity_pose": {"translation": 0.02200602701433129, "roll": 0.0, "pitch": 0.0, "yaw": -0.1460747083784381}}, "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": -0.0018875928460760723, "y": 0.017176965522455442, "z": 0.04156785268428214}, "roll": 0.4563728119310149, "pitch": -0.41582679644258724, "yaw": 1.306792671351518}, "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_1", "target_module_name": "nic_card_mount_1", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.735497929803422, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.645236363636364, "message": "Task duration: 34.13 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.698072816301957, "message": "Total end-effector path length: 0.25 m, initial plug-port distance: 0.20 m"}, "trajectory smoothness": {"score": 5.3921887498651, "message": "Average linear jerk magnitude of the end effector: 5.07 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 150, "task_index": 1, "length": 377, "trial_type": "sc", "trial_id": "trial_51", "seed": 200050, "randomization": {"board_pose": {"x": 0.18387303418363785, "y": -0.15455958553816881, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.021803902454872}, "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": 0.02604125568994367, "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": 0.0015624382213842137, "y": 0.0166566116802584, "z": 0.043754647943704025}, "roll": 0.4848674763737638, "pitch": -0.4641617178846578, "yaw": 1.3166826893975372}, "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": 16.689357690744174, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.646109090909091, "message": "Task duration: 34.12 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.610989819194577, "message": "Total end-effector path length: 0.44 m, initial plug-port distance: 0.37 m"}, "trajectory smoothness": {"score": 5.432258780640506, "message": "Average linear jerk magnitude of the end effector: 4.73 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 53, "task_index": 0, "length": 1161, "trial_type": "sfp", "trial_id": "trial_54", "seed": 100053, "randomization": {"board_pose": {"x": 0.1899740434398805, "y": -0.22135378196818317, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 2.7895283570570504}, "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": true, "entity_name": "nic_card_mount_4", "entity_pose": {"translation": -0.015276483240021354, "roll": 0.0, "pitch": 0.0, "yaw": -0.03756107308173578}}, "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": -0.00039407783113067156, "y": 0.016759012231968854, "z": 0.03937233314393646}, "roll": 0.43257591649164323, "pitch": -0.4868568029995923, "yaw": 1.3117118345799272}, "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_4", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.92174194223952, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.634763636363636, "message": "Task duration: 34.17 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.8475642670151675, "message": "Total end-effector path length: 0.30 m, initial plug-port distance: 0.27 m"}, "trajectory smoothness": {"score": 5.439414038860718, "message": "Average linear jerk magnitude of the end effector: 4.67 m/s^3"}}}, "tier_3": {"score": 24.968985456916336, "message": "No insertion detected. Final plug port distance: 0.05m."}}, "success_tier3": 24.968985456916336} |
| {"episode_index": 151, "task_index": 1, "length": 533, "trial_type": "sc", "trial_id": "trial_52", "seed": 200051, "randomization": {"board_pose": {"x": 0.11726262777639895, "y": -0.22764234014783236, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 2.973226509977276}, "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": 0.018720458930229403, "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": -0.0013223535294797657, "y": 0.014819772236044894, "z": 0.03921101193247607}, "roll": 0.430580390934096, "pitch": -0.5437345045220754, "yaw": 1.3307372692922017}, "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": 16.69262967918432, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.637818181818182, "message": "Task duration: 34.16 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.550855209754555, "message": "Total end-effector path length: 0.49 m, initial plug-port distance: 0.42 m"}, "trajectory smoothness": {"score": 5.503956287611585, "message": "Average linear jerk magnitude of the end effector: 4.13 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 54, "task_index": 0, "length": 171, "trial_type": "sfp", "trial_id": "trial_55", "seed": 100054, "randomization": {"board_pose": {"x": 0.16530495135848572, "y": -0.21855717601180216, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.5233627654105715}, "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": -0.018828745205905398, "roll": 0.0, "pitch": 0.0, "yaw": -0.09089178723104073}}, "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": 0.0013817090112280667, "y": 0.012983412333583466, "z": 0.04462662781157707}, "roll": 0.4687743772093683, "pitch": -0.43854900656018925, "yaw": 1.3185762086767014}, "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_1", "target_module_name": "nic_card_mount_2", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 17.06693372957587, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.867345454545456, "message": "Task duration: 33.11 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.768845110946454, "message": "Total end-effector path length: 0.20 m, initial plug-port distance: 0.16 m"}, "trajectory smoothness": {"score": 5.43074316408396, "message": "Average linear jerk magnitude of the end effector: 4.74 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 152, "task_index": 1, "length": 390, "trial_type": "sc", "trial_id": "trial_53", "seed": 200052, "randomization": {"board_pose": {"x": 0.14758882369316667, "y": -0.22842055261959882, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.119869440265697}, "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": true, "entity_name": "sc_port_0", "entity_pose": {"translation": 0.03818017384860685, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "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": -0.0023909064734616713, "y": 0.01398930556383351, "z": 0.040408348177818174}, "roll": 0.43843605904634775, "pitch": -0.48062018447665095, "yaw": 1.2883276717842893}, "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_0", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.436078621924022, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.388218181818181, "message": "Task duration: 35.30 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.59467977378217, "message": "Total end-effector path length: 0.45 m, initial plug-port distance: 0.38 m"}, "trajectory smoothness": {"score": 5.4531806663236715, "message": "Average linear jerk magnitude of the end effector: 4.56 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 55, "task_index": 0, "length": 287, "trial_type": "sfp", "trial_id": "trial_56", "seed": 100055, "randomization": {"board_pose": {"x": 0.15316234140992518, "y": -0.181133525183565, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.2610609301515616}, "rails": {"nic_rail_0": {"entity_present": false}, "nic_rail_1": {"entity_present": true, "entity_name": "nic_card_mount_1", "entity_pose": {"translation": -0.019056522373774365, "roll": 0.0, "pitch": 0.0, "yaw": 0.01110457895758499}}, "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": 0.003121251967380962, "y": 0.018921900764706186, "z": 0.043472266159556516}, "roll": 0.40623053876954784, "pitch": -0.5055814581560307, "yaw": 1.2663309348550524}, "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": 16.79259174320797, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.645236363636364, "message": "Task duration: 34.13 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.84491701552245, "message": "Total end-effector path length: 0.17 m, initial plug-port distance: 0.14 m"}, "trajectory smoothness": {"score": 5.302438364049157, "message": "Average linear jerk magnitude of the end effector: 5.81 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
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| {"episode_index": 56, "task_index": 0, "length": 247, "trial_type": "sfp", "trial_id": "trial_57", "seed": 100056, "randomization": {"board_pose": {"x": 0.19443982336906745, "y": -0.19082962653527324, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.361005333804965}, "rails": {"nic_rail_0": {"entity_present": false}, "nic_rail_1": {"entity_present": true, "entity_name": "nic_card_mount_1", "entity_pose": {"translation": -0.0018360789321140818, "roll": 0.0, "pitch": 0.0, "yaw": -0.08195125417592772}}, "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": 0.0011349710761778219, "y": 0.014549867071431657, "z": 0.04179170101987399}, "roll": 0.46023626842116183, "pitch": -0.5422205518693667, "yaw": 1.2737476351114676}, "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": 16.978322211252028, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.6448, "message": "Task duration: 34.13 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.825955433812101, "message": "Total end-effector path length: 0.18 m, initial plug-port distance: 0.15 m"}, "trajectory smoothness": {"score": 5.507566777439925, "message": "Average linear jerk magnitude of the end effector: 4.10 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 154, "task_index": 1, "length": 819, "trial_type": "sc", "trial_id": "trial_55", "seed": 200054, "randomization": {"board_pose": {"x": 0.18980861636105395, "y": -0.17578560824719283, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.1963644132664606}, "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": true, "entity_name": "sc_port_0", "entity_pose": {"translation": -0.05989651788973955, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "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": -0.00014385912223571984, "y": 0.013265876345497606, "z": 0.03983217032033346}, "roll": 0.45404314106267174, "pitch": -0.37973216262626575, "yaw": 1.273596394337427}, "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_0", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.614010696579506, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.633454545454546, "message": "Task duration: 34.18 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.667657728404258, "message": "Total end-effector path length: 0.43 m, initial plug-port distance: 0.38 m"}, "trajectory smoothness": {"score": 5.3128984227207035, "message": "Average linear jerk magnitude of the end effector: 5.73 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 57, "task_index": 0, "length": 873, "trial_type": "sfp", "trial_id": "trial_58", "seed": 100057, "randomization": {"board_pose": {"x": 0.1802363715012535, "y": -0.19348328495752493, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.0557337036167014}, "rails": {"nic_rail_0": {"entity_present": false}, "nic_rail_1": {"entity_present": false}, "nic_rail_2": {"entity_present": false}, "nic_rail_3": {"entity_present": true, "entity_name": "nic_card_mount_3", "entity_pose": {"translation": 0.008387893741957229, "roll": 0.0, "pitch": 0.0, "yaw": -0.13887766286634598}}, "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": 0.002459855543660548, "y": 0.017759774726598978, "z": 0.0404814407484113}, "roll": 0.44700924174081674, "pitch": -0.47783215366207604, "yaw": 1.3262793491636684}, "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_1", "target_module_name": "nic_card_mount_3", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.95826115041159, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.658327272727272, "message": "Task duration: 34.07 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.909737163277524, "message": "Total end-effector path length: 0.22 m, initial plug-port distance: 0.21 m"}, "trajectory smoothness": {"score": 5.390196714406794, "message": "Average linear jerk magnitude of the end effector: 5.08 m/s^3"}}}, "tier_3": {"score": 38.01471551827058, "message": "Partial insertion detected with distance of 0.05m."}}, "success_tier3": 38.01471551827058} |
| {"episode_index": 155, "task_index": 1, "length": 392, "trial_type": "sc", "trial_id": "trial_56", "seed": 200055, "randomization": {"board_pose": {"x": 0.16393786812505112, "y": -0.182253798731145, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.276354215714075}, "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": 0.05203880065544203, "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": 0.0007843260758558039, "y": 0.017882495940308052, "z": 0.04296801512743968}, "roll": 0.441705298361766, "pitch": -0.513875149407762, "yaw": 1.3715264518114665}, "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": 15.314008973172804, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.6299636363636365, "message": "Task duration: 34.20 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 4.111355819652131, "message": "Total end-effector path length: 0.45 m, initial plug-port distance: 0.14 m"}, "trajectory smoothness": {"score": 5.572689517157038, "message": "Average linear jerk magnitude of the end effector: 3.56 m/s^3"}}}, "tier_3": {"score": 23.365976617229677, "message": "No insertion detected. Final plug port distance: 0.02m."}}, "success_tier3": 23.365976617229677} |
| {"episode_index": 58, "task_index": 0, "length": 1013, "trial_type": "sfp", "trial_id": "trial_59", "seed": 100058, "randomization": {"board_pose": {"x": 0.17860605253309508, "y": -0.1569956004257463, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.4206988317813054}, "rails": {"nic_rail_0": {"entity_present": false}, "nic_rail_1": {"entity_present": false}, "nic_rail_2": {"entity_present": false}, "nic_rail_3": {"entity_present": true, "entity_name": "nic_card_mount_3", "entity_pose": {"translation": 0.019552103349524015, "roll": 0.0, "pitch": 0.0, "yaw": -0.1091687831068289}}, "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": -0.0014756367050217962, "y": 0.015081419944097918, "z": 0.043373382563686454}, "roll": 0.36644458522325307, "pitch": -0.5115522385034935, "yaw": 1.3265704767068853}, "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_1", "target_module_name": "nic_card_mount_3", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 17.228832089408378, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.8704, "message": "Task duration: 33.09 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.9875842608252725, "message": "Total end-effector path length: 0.16 m, initial plug-port distance: 0.16 m"}, "trajectory smoothness": {"score": 5.370847828583105, "message": "Average linear jerk magnitude of the end effector: 5.24 m/s^3"}}}, "tier_3": {"score": 38.613702942816374, "message": "Partial insertion detected with distance of 0.04m."}}, "success_tier3": 38.613702942816374} |
| {"episode_index": 156, "task_index": 1, "length": 1044, "trial_type": "sc", "trial_id": "trial_57", "seed": 200056, "randomization": {"board_pose": {"x": 0.1803009995937224, "y": -0.1748264060097363, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 2.7649285762598215}, "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": true, "entity_name": "sc_port_0", "entity_pose": {"translation": -0.042047936836731636, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "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": -0.0038148131318013856, "y": 0.013808786015113407, "z": 0.037734094281218135}, "roll": 0.4678910728679446, "pitch": -0.43163994695276686, "yaw": 1.3193955267419266}, "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_0", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.7281756312157, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.6539636363636365, "message": "Task duration: 34.09 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.686634819016663, "message": "Total end-effector path length: 0.44 m, initial plug-port distance: 0.39 m"}, "trajectory smoothness": {"score": 5.387577175835398, "message": "Average linear jerk magnitude of the end effector: 5.10 m/s^3"}}}, "tier_3": {"score": 39.66844251849545, "message": "Partial insertion detected with distance of 0.01m."}}, "success_tier3": 39.66844251849545} |
| {"episode_index": 59, "task_index": 0, "length": 191, "trial_type": "sfp", "trial_id": "trial_60", "seed": 100059, "randomization": {"board_pose": {"x": 0.10905857279801265, "y": -0.1545065446909994, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 2.772275687276367}, "rails": {"nic_rail_0": {"entity_present": false}, "nic_rail_1": {"entity_present": false}, "nic_rail_2": {"entity_present": false}, "nic_rail_3": {"entity_present": true, "entity_name": "nic_card_mount_3", "entity_pose": {"translation": 0.014475395813863395, "roll": 0.0, "pitch": 0.0, "yaw": 0.04813995844975923}}, "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": -2.5847495225176163e-05, "y": 0.012932462969305385, "z": 0.044060652718323844}, "roll": 0.4643461659879904, "pitch": -0.5505203247712436, "yaw": 1.339503801702359}, "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_1", "target_module_name": "nic_card_mount_3", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 17.060170580111418, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.867781818181817, "message": "Task duration: 33.11 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.679258742208656, "message": "Total end-effector path length: 0.23 m, initial plug-port distance: 0.18 m"}, "trajectory smoothness": {"score": 5.513130019720945, "message": "Average linear jerk magnitude of the end effector: 4.06 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 157, "task_index": 1, "length": 440, "trial_type": "sc", "trial_id": "trial_58", "seed": 200057, "randomization": {"board_pose": {"x": 0.13626362992312954, "y": -0.1664735426052412, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.2214471753825467}, "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": -0.023479730115020567, "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": -0.000871752818979588, "y": 0.01407532339085882, "z": 0.04084117671489389}, "roll": 0.48009407049699365, "pitch": -0.45020890215650483, "yaw": 1.3084611375655226}, "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": -12, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 0, "message": "Plug is not within max bounding radius from target port, not assigning time bonus"}, "insertion force": {"score": -12, "message": "Insertion force above 20.00 N, detected for a time of 27.08 seconds. Max detected force: 79.70N. This is above the threshold of 1.00 seconds. Penalty applied."}, "trajectory efficiency": {"score": 0, "message": "Plug is not within max bounding radius from target port, not assigning efficiency bonus"}, "trajectory smoothness": {"score": 0, "message": "Plug is not within max bounding radius from target port, not assigning jerk bonus"}}}, "tier_3": {"score": 0, "message": "No insertion detected. Final plug port distance: 0.35m."}}, "success_tier3": 0.0} |
| {"episode_index": 60, "task_index": 0, "length": 260, "trial_type": "sfp", "trial_id": "trial_61", "seed": 100060, "randomization": {"board_pose": {"x": 0.136975208165648, "y": -0.21146445889257717, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.402458646633237}, "rails": {"nic_rail_0": {"entity_present": false}, "nic_rail_1": {"entity_present": false}, "nic_rail_2": {"entity_present": false}, "nic_rail_3": {"entity_present": true, "entity_name": "nic_card_mount_3", "entity_pose": {"translation": 0.01018112056700772, "roll": 0.0, "pitch": 0.0, "yaw": -0.1429277459771908}}, "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": -0.00023114776134636748, "y": 0.013614029753950997, "z": 0.0404801601904245}, "roll": 0.480205518727744, "pitch": -0.4738155103727297, "yaw": 1.3391793644589103}, "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_3", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.980721612679503, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.8704, "message": "Task duration: 33.09 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.681712196546519, "message": "Total end-effector path length: 0.23 m, initial plug-port distance: 0.17 m"}, "trajectory smoothness": {"score": 5.428609416132983, "message": "Average linear jerk magnitude of the end effector: 4.76 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 158, "task_index": 1, "length": 1148, "trial_type": "sc", "trial_id": "trial_59", "seed": 200058, "randomization": {"board_pose": {"x": 0.16835806651340024, "y": -0.16271546647339308, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.0082546606273164}, "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": true, "entity_name": "sc_port_0", "entity_pose": {"translation": -0.031577665611513796, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "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": 0.0018263078908069153, "y": 0.011686317805309033, "z": 0.039672860812937916}, "roll": 0.4101499210760558, "pitch": -0.47313171615572835, "yaw": 1.3371608505079597}, "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_0", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.720426659486414, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.622981818181818, "message": "Task duration: 34.23 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.703909923601376, "message": "Total end-effector path length: 0.41 m, initial plug-port distance: 0.36 m"}, "trajectory smoothness": {"score": 5.393534917703223, "message": "Average linear jerk magnitude of the end effector: 5.05 m/s^3"}}}, "tier_3": {"score": 46.048432266208465, "message": "Partial insertion detected with distance of 0.01m."}}, "success_tier3": 46.048432266208465} |
| {"episode_index": 61, "task_index": 0, "length": 243, "trial_type": "sfp", "trial_id": "trial_62", "seed": 100061, "randomization": {"board_pose": {"x": 0.16964974547498696, "y": -0.23391112997414532, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 2.8076885401803136}, "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": -0.004330323560923562, "roll": 0.0, "pitch": 0.0, "yaw": 0.033939690756743905}}, "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": 0.00251512506487216, "y": 0.01814728207105506, "z": 0.04092957522768239}, "roll": 0.4468262231986371, "pitch": -0.47990161111390084, "yaw": 1.3811399291770672}, "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": 16.951279881394655, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.865163636363636, "message": "Task duration: 33.12 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.608774710659841, "message": "Total end-effector path length: 0.29 m, initial plug-port distance: 0.22 m"}, "trajectory smoothness": {"score": 5.477341534371179, "message": "Average linear jerk magnitude of the end effector: 4.36 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 159, "task_index": 1, "length": 347, "trial_type": "sc", "trial_id": "trial_60", "seed": 200059, "randomization": {"board_pose": {"x": 0.16543454908534005, "y": -0.1569564616008572, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 2.7934945178660247}, "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": 0.05186189925826949, "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": 0.0008873895946467619, "y": 0.015189653137651268, "z": 0.03969330521747896}, "roll": 0.3987755321200661, "pitch": -0.47416394274593027, "yaw": 1.3537137572359186}, "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": 16.691561319621496, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.6369454545454545, "message": "Task duration: 34.16 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.641154282112511, "message": "Total end-effector path length: 0.42 m, initial plug-port distance: 0.37 m"}, "trajectory smoothness": {"score": 5.41346158296353, "message": "Average linear jerk magnitude of the end effector: 4.89 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 62, "task_index": 0, "length": 250, "trial_type": "sfp", "trial_id": "trial_63", "seed": 100062, "randomization": {"board_pose": {"x": 0.1535703044995349, "y": -0.17509036890356494, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.206144803447674}, "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": true, "entity_name": "nic_card_mount_4", "entity_pose": {"translation": 0.022989213987089467, "roll": 0.0, "pitch": 0.0, "yaw": 0.16482803239519028}}, "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": -0.0028609412976799, "y": 0.012262066532181079, "z": 0.04272986374599712}, "roll": 0.44664412784867435, "pitch": -0.4422785274105264, "yaw": 1.3518236116767415}, "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_4", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.955082864287874, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.873018181818182, "message": "Task duration: 33.08 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.645969024267378, "message": "Total end-effector path length: 0.25 m, initial plug-port distance: 0.19 m"}, "trajectory smoothness": {"score": 5.436095658202314, "message": "Average linear jerk magnitude of the end effector: 4.70 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 160, "task_index": 1, "length": 451, "trial_type": "sc", "trial_id": "trial_61", "seed": 200060, "randomization": {"board_pose": {"x": 0.16058742711680501, "y": -0.21886626102263007, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.3988457982754188}, "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": true, "entity_name": "sc_port_0", "entity_pose": {"translation": 0.048202082230836996, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "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": 0.0009214921170210668, "y": 0.018142266562670224, "z": 0.03974509862681085}, "roll": 0.4795535530654767, "pitch": -0.47328358446481744, "yaw": 1.2839280697427629}, "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_0", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.637172317998417, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.603781818181817, "message": "Task duration: 34.32 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.62109239530014, "message": "Total end-effector path length: 0.44 m, initial plug-port distance: 0.37 m"}, "trajectory smoothness": {"score": 5.41229810451646, "message": "Average linear jerk magnitude of the end effector: 4.90 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 63, "task_index": 0, "length": 270, "trial_type": "sfp", "trial_id": "trial_64", "seed": 100063, "randomization": {"board_pose": {"x": 0.18000284309411194, "y": -0.20727686071637239, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.5644993993551695}, "rails": {"nic_rail_0": {"entity_present": false}, "nic_rail_1": {"entity_present": true, "entity_name": "nic_card_mount_1", "entity_pose": {"translation": 0.010056075086558397, "roll": 0.0, "pitch": 0.0, "yaw": -0.08576702314975326}}, "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": -0.0001968200928929305, "y": 0.01650148825326078, "z": 0.04424531550059357}, "roll": 0.49326975104613535, "pitch": -0.470493770349648, "yaw": 1.40061664926121}, "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": 16.854985983560187, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.646981818181818, "message": "Task duration: 34.12 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.854196355589163, "message": "Total end-effector path length: 0.16 m, initial plug-port distance: 0.14 m"}, "trajectory smoothness": {"score": 5.353807809789206, "message": "Average linear jerk magnitude of the end effector: 5.38 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 161, "task_index": 1, "length": 1449, "trial_type": "sc", "trial_id": "trial_62", "seed": 200061, "randomization": {"board_pose": {"x": 0.1989138591720842, "y": -0.1852833756051911, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 2.8592413641224512}, "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": true, "entity_name": "sc_port_0", "entity_pose": {"translation": -0.02817339096237511, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "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": 0.0004216703901779411, "y": 0.012700633942137069, "z": 0.03738213898639797}, "roll": 0.439354916652084, "pitch": -0.4124877948043226, "yaw": 1.2986040609245564}, "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_0", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 15.230763383464865, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.627781818181817, "message": "Task duration: 34.21 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 4.227846473195941, "message": "Total end-effector path length: 0.38 m, initial plug-port distance: 0.09 m"}, "trajectory smoothness": {"score": 5.375135092087105, "message": "Average linear jerk magnitude of the end effector: 5.21 m/s^3"}}}, "tier_3": {"score": 24.51991530887903, "message": "No insertion detected. Final plug port distance: 0.02m."}}, "success_tier3": 24.51991530887903} |
| {"episode_index": 64, "task_index": 0, "length": 1146, "trial_type": "sfp", "trial_id": "trial_65", "seed": 100064, "randomization": {"board_pose": {"x": 0.18810812921553677, "y": -0.23093071329303347, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.0955839760401327}, "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": -0.01267030536942825, "roll": 0.0, "pitch": 0.0, "yaw": -0.0014982120027175782}}, "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": 0.001797514889469321, "y": 0.017864558532232275, "z": 0.042266879799428135}, "roll": 0.4872833802849592, "pitch": -0.4839464480184186, "yaw": 1.3092878349467403}, "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": 17.228578388295773, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.869090909090909, "message": "Task duration: 33.10 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.927161887529453, "message": "Total end-effector path length: 0.22 m, initial plug-port distance: 0.21 m"}, "trajectory smoothness": {"score": 5.4323255916754105, "message": "Average linear jerk magnitude of the end effector: 4.73 m/s^3"}}}, "tier_3": {"score": 38.01424707554067, "message": "Partial insertion detected with distance of 0.05m."}}, "success_tier3": 38.01424707554067} |
| {"episode_index": 162, "task_index": 1, "length": 290, "trial_type": "sc", "trial_id": "trial_63", "seed": 200062, "randomization": {"board_pose": {"x": 0.16260387160614975, "y": -0.18050556911211865, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.5750758271204397}, "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": true, "entity_name": "sc_port_0", "entity_pose": {"translation": 0.014875571479741376, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "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": 0.0020567386401292623, "y": 0.016759175493674127, "z": 0.03938620705843782}, "roll": 0.3956732204354063, "pitch": -0.4489696248580625, "yaw": 1.3127602292825584}, "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_0", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.68682323647861, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.6369454545454545, "message": "Task duration: 34.16 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.709376873828754, "message": "Total end-effector path length: 0.39 m, initial plug-port distance: 0.34 m"}, "trajectory smoothness": {"score": 5.340500908104399, "message": "Average linear jerk magnitude of the end effector: 5.50 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 65, "task_index": 0, "length": 161, "trial_type": "sfp", "trial_id": "trial_66", "seed": 100065, "randomization": {"board_pose": {"x": 0.18232241716828373, "y": -0.16886696270268114, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 2.8524182796212014}, "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": true, "entity_name": "nic_card_mount_4", "entity_pose": {"translation": -0.006663063045315356, "roll": 0.0, "pitch": 0.0, "yaw": -0.08402031060771542}}, "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": 0.0019015174015827292, "y": 0.014780871449225276, "z": 0.04139153908962044}, "roll": 0.42448187115558983, "pitch": -0.4901159755897092, "yaw": 1.3400026361540909}, "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_4", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.94068964399156, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.869090909090909, "message": "Task duration: 33.10 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.611401330248546, "message": "Total end-effector path length: 0.28 m, initial plug-port distance: 0.22 m"}, "trajectory smoothness": {"score": 5.4601974046521065, "message": "Average linear jerk magnitude of the end effector: 4.50 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 163, "task_index": 1, "length": 984, "trial_type": "sc", "trial_id": "trial_64", "seed": 200063, "randomization": {"board_pose": {"x": 0.18753264879691814, "y": -0.21579664468410684, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.2260986708824486}, "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": true, "entity_name": "sc_port_0", "entity_pose": {"translation": -0.040193883787393817, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "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": -0.0016722095388317405, "y": 0.014692499118293838, "z": 0.03780347944460861}, "roll": 0.45686703643194193, "pitch": -0.5135673190235379, "yaw": 1.356902939709879}, "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_0", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.701886048499652, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.632581818181819, "message": "Task duration: 34.18 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.615249972270966, "message": "Total end-effector path length: 0.45 m, initial plug-port distance: 0.39 m"}, "trajectory smoothness": {"score": 5.454054258046868, "message": "Average linear jerk magnitude of the end effector: 4.55 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 66, "task_index": 0, "length": 272, "trial_type": "sfp", "trial_id": "trial_67", "seed": 100066, "randomization": {"board_pose": {"x": 0.11241430020953275, "y": -0.19548994178068835, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.108083327958469}, "rails": {"nic_rail_0": {"entity_present": false}, "nic_rail_1": {"entity_present": false}, "nic_rail_2": {"entity_present": false}, "nic_rail_3": {"entity_present": true, "entity_name": "nic_card_mount_3", "entity_pose": {"translation": 0.007430300272487846, "roll": 0.0, "pitch": 0.0, "yaw": 0.1501210806198667}}, "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": -0.0009159012661182685, "y": 0.013751111681991075, "z": 0.042458366562687574}, "roll": 0.44496911777552073, "pitch": -0.4085458724519052, "yaw": 1.2913448327698696}, "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_3", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.969215612413667, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.870836363636363, "message": "Task duration: 33.09 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.662677620919558, "message": "Total end-effector path length: 0.23 m, initial plug-port distance: 0.17 m"}, "trajectory smoothness": {"score": 5.435701627857745, "message": "Average linear jerk magnitude of the end effector: 4.70 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 164, "task_index": 1, "length": 292, "trial_type": "sc", "trial_id": "trial_65", "seed": 200064, "randomization": {"board_pose": {"x": 0.17860040272079794, "y": -0.2208872363038699, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 2.903624956580434}, "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": true, "entity_name": "sc_port_0", "entity_pose": {"translation": -0.007766929510415861, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "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": 0.000596071034577522, "y": 0.014978458175570752, "z": 0.04095329096345524}, "roll": 0.5025800370456897, "pitch": -0.5449815544232163, "yaw": 1.3711906481341103}, "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_0", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.715777013159133, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.633018181818182, "message": "Task duration: 34.18 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.577483141884647, "message": "Total end-effector path length: 0.47 m, initial plug-port distance: 0.40 m"}, "trajectory smoothness": {"score": 5.5052756894563055, "message": "Average linear jerk magnitude of the end effector: 4.12 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 67, "task_index": 0, "length": 244, "trial_type": "sfp", "trial_id": "trial_68", "seed": 100067, "randomization": {"board_pose": {"x": 0.12811864589781544, "y": -0.15741324009435337, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 2.7574427005938014}, "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": -0.0013964467162236281, "roll": 0.0, "pitch": 0.0, "yaw": 0.1089002223094353}}, "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": 0.0011921166144990523, "y": 0.014895903132745612, "z": 0.04229075871607172}, "roll": 0.45951562827393083, "pitch": -0.5107510663690781, "yaw": 1.3250522512084506}, "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_1", "target_module_name": "nic_card_mount_2", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 17.068418208761543, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.869090909090909, "message": "Task duration: 33.10 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.703069612137653, "message": "Total end-effector path length: 0.23 m, initial plug-port distance: 0.18 m"}, "trajectory smoothness": {"score": 5.496257687532981, "message": "Average linear jerk magnitude of the end effector: 4.20 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 68, "task_index": 0, "length": 257, "trial_type": "sfp", "trial_id": "trial_69", "seed": 100068, "randomization": {"board_pose": {"x": 0.10665631216454877, "y": -0.178228604312104, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 2.9557956329683712}, "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": true, "entity_name": "nic_card_mount_4", "entity_pose": {"translation": -0.014900787878004413, "roll": 0.0, "pitch": 0.0, "yaw": -0.028002465058060026}}, "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": -0.0019226327334005402, "y": 0.015920394930578327, "z": 0.04211201484272241}, "roll": 0.4248393004967633, "pitch": -0.5348858887828631, "yaw": 1.3003412967614412}, "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_4", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.820812097513098, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.646981818181818, "message": "Task duration: 34.12 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.625968605470212, "message": "Total end-effector path length: 0.27 m, initial plug-port distance: 0.21 m"}, "trajectory smoothness": {"score": 5.5478616738610675, "message": "Average linear jerk magnitude of the end effector: 3.77 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 165, "task_index": 1, "length": 1565, "trial_type": "sc", "trial_id": "trial_66", "seed": 200065, "randomization": {"board_pose": {"x": 0.1485272360848898, "y": -0.19580275168118866, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.052718695873316}, "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": 0.007850357443867834, "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": -0.00037209528336056176, "y": 0.01602339030478179, "z": 0.03985662578598659}, "roll": 0.510151187105152, "pitch": -0.4254582001730309, "yaw": 1.312470117678516}, "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": 14.916130989229623, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.6356363636363636, "message": "Task duration: 34.17 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 3.7805814500408172, "message": "Total end-effector path length: 0.40 m, initial plug-port distance: 0.04 m"}, "trajectory smoothness": {"score": 5.499913175552443, "message": "Average linear jerk magnitude of the end effector: 4.17 m/s^3"}}}, "tier_3": {"score": 21.14768104127667, "message": "No insertion detected. Final plug port distance: 0.02m."}}, "success_tier3": 21.14768104127667} |
| {"episode_index": 69, "task_index": 0, "length": 253, "trial_type": "sfp", "trial_id": "trial_70", "seed": 100069, "randomization": {"board_pose": {"x": 0.18043611712095564, "y": -0.2082604713565715, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.086762841516224}, "rails": {"nic_rail_0": {"entity_present": true, "entity_name": "nic_card_mount_0", "entity_pose": {"translation": -0.012829064154735845, "roll": 0.0, "pitch": 0.0, "yaw": 0.016008552288533515}}, "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": 0.0007261649408675065, "y": 0.01680720830767535, "z": 0.044544953889959285}, "roll": 0.4042984456836685, "pitch": -0.5223552353962816, "yaw": 1.327980806073917}, "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": 17.07312557826263, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.8848, "message": "Task duration: 33.03 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.749338959230945, "message": "Total end-effector path length: 0.21 m, initial plug-port distance: 0.17 m"}, "trajectory smoothness": {"score": 5.438986619031685, "message": "Average linear jerk magnitude of the end effector: 4.68 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 166, "task_index": 1, "length": 976, "trial_type": "sc", "trial_id": "trial_67", "seed": 200066, "randomization": {"board_pose": {"x": 0.14421297496191876, "y": -0.17600542415312587, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 2.732517432366787}, "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": true, "entity_name": "sc_port_0", "entity_pose": {"translation": 0.02511615729162743, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "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": 0.0021306721424812674, "y": 0.016240983192628726, "z": 0.038444768073267646}, "roll": 0.48016328359565125, "pitch": -0.4650574359202474, "yaw": 1.2631414767395333}, "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_0", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.74302055576986, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.643927272727273, "message": "Task duration: 34.13 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.646244675899938, "message": "Total end-effector path length: 0.42 m, initial plug-port distance: 0.36 m"}, "trajectory smoothness": {"score": 5.452848607142647, "message": "Average linear jerk magnitude of the end effector: 4.56 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 70, "task_index": 0, "length": 253, "trial_type": "sfp", "trial_id": "trial_71", "seed": 100070, "randomization": {"board_pose": {"x": 0.10193805600754365, "y": -0.22697970700114803, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.309161215140909}, "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": true, "entity_name": "nic_card_mount_4", "entity_pose": {"translation": -0.014131813286749444, "roll": 0.0, "pitch": 0.0, "yaw": 0.05338078360316218}}, "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": 0.0012772284864639798, "y": 0.014719167523968457, "z": 0.044149976452200215}, "roll": 0.4779272620097257, "pitch": -0.44280473459831055, "yaw": 1.2671747731766365}, "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_1", "target_module_name": "nic_card_mount_4", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.888268638263476, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.853381818181819, "message": "Task duration: 33.17 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.607353734125193, "message": "Total end-effector path length: 0.28 m, initial plug-port distance: 0.22 m"}, "trajectory smoothness": {"score": 5.427533085956464, "message": "Average linear jerk magnitude of the end effector: 4.77 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 167, "task_index": 1, "length": 922, "trial_type": "sc", "trial_id": "trial_68", "seed": 200067, "randomization": {"board_pose": {"x": 0.1445485926242494, "y": -0.1508377831724208, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.3325170228858054}, "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": true, "entity_name": "sc_port_0", "entity_pose": {"translation": 0.049119810495280414, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "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": 0.0004665619549087592, "y": 0.01513299170540258, "z": 0.03853515363848685}, "roll": 0.37832410671743927, "pitch": -0.5388412015845138, "yaw": 1.2715776065900353}, "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_0", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.75979555004521, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.644363636363636, "message": "Task duration: 34.13 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.726071175611306, "message": "Total end-effector path length: 0.38 m, initial plug-port distance: 0.33 m"}, "trajectory smoothness": {"score": 5.38936073807027, "message": "Average linear jerk magnitude of the end effector: 5.09 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 71, "task_index": 0, "length": 236, "trial_type": "sfp", "trial_id": "trial_72", "seed": 100071, "randomization": {"board_pose": {"x": 0.19374910739605755, "y": -0.16064398182535056, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.4572831322348088}, "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": -0.008093602139529144, "roll": 0.0, "pitch": 0.0, "yaw": 0.14300788966167693}}, "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": -0.00015960978613218865, "y": 0.013832153207925364, "z": 0.04013099203190624}, "roll": 0.48308961348388607, "pitch": -0.46624373871535024, "yaw": 1.2958901219053254}, "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_1", "target_module_name": "nic_card_mount_2", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 17.12542422617084, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.872581818181818, "message": "Task duration: 33.08 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.82896004254941, "message": "Total end-effector path length: 0.19 m, initial plug-port distance: 0.16 m"}, "trajectory smoothness": {"score": 5.423882365439611, "message": "Average linear jerk magnitude of the end effector: 4.80 m/s^3"}}}, "tier_3": {"score": 50, "message": "Partial insertion detected with distance of -0.00m."}}, "success_tier3": 50.0} |
| {"episode_index": 168, "task_index": 1, "length": 322, "trial_type": "sc", "trial_id": "trial_69", "seed": 200068, "randomization": {"board_pose": {"x": 0.11968102672611841, "y": -0.1868277923474598, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.6073352007948873}, "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": true, "entity_name": "sc_port_0", "entity_pose": {"translation": -0.029112596840563762, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "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": 0.0029399202818062324, "y": 0.016163516535285735, "z": 0.04167694656931273}, "roll": 0.47277138760390336, "pitch": -0.4444742161036666, "yaw": 1.2499786700124944}, "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_0", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.73053381178909, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.639563636363636, "message": "Task duration: 34.15 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.729206983165506, "message": "Total end-effector path length: 0.38 m, initial plug-port distance: 0.34 m"}, "trajectory smoothness": {"score": 5.361763192259947, "message": "Average linear jerk magnitude of the end effector: 5.32 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 72, "task_index": 0, "length": 235, "trial_type": "sfp", "trial_id": "trial_73", "seed": 100072, "randomization": {"board_pose": {"x": 0.16191316495645003, "y": -0.17036268440944702, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.584826516971546}, "rails": {"nic_rail_0": {"entity_present": true, "entity_name": "nic_card_mount_0", "entity_pose": {"translation": -0.01043140077092828, "roll": 0.0, "pitch": 0.0, "yaw": -0.15264674297319913}}, "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": -0.0018600624103298135, "y": 0.013116627490206263, "z": 0.04188720401018545}, "roll": 0.42270560993444856, "pitch": -0.47813600385704624, "yaw": 1.3226867889575329}, "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": 17.223841249969333, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.882618181818183, "message": "Task duration: 33.04 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.9778268856354035, "message": "Total end-effector path length: 0.15 m, initial plug-port distance: 0.14 m"}, "trajectory smoothness": {"score": 5.363396182515745, "message": "Average linear jerk magnitude of the end effector: 5.31 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 169, "task_index": 1, "length": 1224, "trial_type": "sc", "trial_id": "trial_70", "seed": 200069, "randomization": {"board_pose": {"x": 0.14119500382139635, "y": -0.18609463394981768, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.5433902564961137}, "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": true, "entity_name": "sc_port_0", "entity_pose": {"translation": -0.05725114848148456, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "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": -1.7391205611897344e-05, "y": 0.012965592768407107, "z": 0.040134480935823585}, "roll": 0.4206355292550583, "pitch": -0.46041431887946327, "yaw": 1.2953102332675221}, "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_0", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.758956614881434, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.65090909090909, "message": "Task duration: 34.10 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.712853053013222, "message": "Total end-effector path length: 0.39 m, initial plug-port distance: 0.34 m"}, "trajectory smoothness": {"score": 5.3951944709591215, "message": "Average linear jerk magnitude of the end effector: 5.04 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 73, "task_index": 0, "length": 242, "trial_type": "sfp", "trial_id": "trial_74", "seed": 100073, "randomization": {"board_pose": {"x": 0.1012267368600843, "y": -0.2251556809433351, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.207128294403611}, "rails": {"nic_rail_0": {"entity_present": false}, "nic_rail_1": {"entity_present": true, "entity_name": "nic_card_mount_1", "entity_pose": {"translation": 0.01281792578218477, "roll": 0.0, "pitch": 0.0, "yaw": 0.10383101651558585}}, "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": -0.004120789138861406, "y": 0.01210826352802893, "z": 0.04241743446961969}, "roll": 0.46062217401393285, "pitch": -0.40267267068100465, "yaw": 1.3392689083033298}, "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": 16.741689338363905, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.6369454545454545, "message": "Task duration: 34.16 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.779373056003713, "message": "Total end-effector path length: 0.18 m, initial plug-port distance: 0.15 m"}, "trajectory smoothness": {"score": 5.325370827814738, "message": "Average linear jerk magnitude of the end effector: 5.62 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 170, "task_index": 1, "length": 238, "trial_type": "sc", "trial_id": "trial_71", "seed": 200070, "randomization": {"board_pose": {"x": 0.12946635074868798, "y": -0.17422191951402466, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.3730198762964747}, "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": -0.029123787713581074, "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": -0.00350359481397844, "y": 0.011950245733057634, "z": 0.03611805931812726}, "roll": 0.43857929366864373, "pitch": -0.4951584264968487, "yaw": 1.3368185117632905}, "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": 16.7537186506359, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.646545454545455, "message": "Task duration: 34.12 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.660827422067136, "message": "Total end-effector path length: 0.42 m, initial plug-port distance: 0.36 m"}, "trajectory smoothness": {"score": 5.446345774023308, "message": "Average linear jerk magnitude of the end effector: 4.61 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 74, "task_index": 0, "length": 329, "trial_type": "sfp", "trial_id": "trial_75", "seed": 100074, "randomization": {"board_pose": {"x": 0.19502059624499318, "y": -0.23889825899442702, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 2.7677433984734074}, "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": true, "entity_name": "nic_card_mount_4", "entity_pose": {"translation": -0.008883926343074389, "roll": 0.0, "pitch": 0.0, "yaw": 0.13070131745929395}}, "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": -0.0006969314866802763, "y": 0.012475147394205133, "z": 0.04112357678016639}, "roll": 0.4109396082044262, "pitch": -0.47979013936663856, "yaw": 1.2844547321629582}, "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_4", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 17.14352045630727, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.8511999999999995, "message": "Task duration: 33.18 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.8405327085956324, "message": "Total end-effector path length: 0.31 m, initial plug-port distance: 0.28 m"}, "trajectory smoothness": {"score": 5.451787747711641, "message": "Average linear jerk magnitude of the end effector: 4.57 m/s^3"}}}, "tier_3": {"score": 38.00734164291239, "message": "Partial insertion detected with distance of 0.05m."}}, "success_tier3": 38.00734164291239} |
| {"episode_index": 171, "task_index": 1, "length": 398, "trial_type": "sc", "trial_id": "trial_72", "seed": 200071, "randomization": {"board_pose": {"x": 0.18749092964258718, "y": -0.209699604119318, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.218016592569314}, "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": true, "entity_name": "sc_port_0", "entity_pose": {"translation": -0.049775266781647426, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "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": 0.0005640623302499456, "y": 0.014203904174093469, "z": 0.037053226404782695}, "roll": 0.4901304906104509, "pitch": -0.48628414694814, "yaw": 1.3373406498622296}, "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_0", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.68852652758155, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.637818181818182, "message": "Task duration: 34.16 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.624023609847856, "message": "Total end-effector path length: 0.45 m, initial plug-port distance: 0.39 m"}, "trajectory smoothness": {"score": 5.426684735915513, "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": 75, "task_index": 0, "length": 1162, "trial_type": "sfp", "trial_id": "trial_76", "seed": 100075, "randomization": {"board_pose": {"x": 0.11555946927780969, "y": -0.19538504591363667, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.4525586943220725}, "rails": {"nic_rail_0": {"entity_present": false}, "nic_rail_1": {"entity_present": false}, "nic_rail_2": {"entity_present": false}, "nic_rail_3": {"entity_present": true, "entity_name": "nic_card_mount_3", "entity_pose": {"translation": 0.007982769636937476, "roll": 0.0, "pitch": 0.0, "yaw": 0.029623517983992854}}, "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": 0.005677794473991285, "y": 0.016507876512063487, "z": 0.044352785490813916}, "roll": 0.471877315081973, "pitch": -0.43302753989043796, "yaw": 1.3385260425709464}, "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_3", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 17.173905176506473, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.862981818181818, "message": "Task duration: 33.13 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.928014912052122, "message": "Total end-effector path length: 0.18 m, initial plug-port distance: 0.17 m"}, "trajectory smoothness": {"score": 5.382908446272532, "message": "Average linear jerk magnitude of the end effector: 5.14 m/s^3"}}}, "tier_3": {"score": 38.61557951538095, "message": "Partial insertion detected with distance of 0.04m."}}, "success_tier3": 38.61557951538095} |
| {"episode_index": 172, "task_index": 1, "length": 374, "trial_type": "sc", "trial_id": "trial_73", "seed": 200072, "randomization": {"board_pose": {"x": 0.15114117249509107, "y": -0.1707734064837236, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.574364454947366}, "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": true, "entity_name": "sc_port_0", "entity_pose": {"translation": -0.027926185919903763, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "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": 0.0002400885278393795, "y": 0.013808667879157827, "z": 0.04066580257391971}, "roll": 0.37404975637585314, "pitch": -0.3703449514608935, "yaw": 1.2947271299480416}, "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_0", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.638584384526432, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.643490909090909, "message": "Task duration: 34.13 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.780086279520569, "message": "Total end-effector path length: 0.37 m, initial plug-port distance: 0.34 m"}, "trajectory smoothness": {"score": 5.215007195914952, "message": "Average linear jerk magnitude of the end effector: 6.54 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 76, "task_index": 0, "length": 188, "trial_type": "sfp", "trial_id": "trial_77", "seed": 100076, "randomization": {"board_pose": {"x": 0.11282136130091741, "y": -0.24695488502573235, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.0646739494899107}, "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": 0.015353435559382664, "roll": 0.0, "pitch": 0.0, "yaw": 0.045721172821026924}}, "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": 9.851748097410736e-05, "y": 0.01772791732374665, "z": 0.04248991498523269}, "roll": 0.4220138099112233, "pitch": -0.43020125142939597, "yaw": 1.304042214815661}, "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_1", "target_module_name": "nic_card_mount_2", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.785638269109214, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.662690909090909, "message": "Task duration: 34.05 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.636873762077161, "message": "Total end-effector path length: 0.25 m, initial plug-port distance: 0.19 m"}, "trajectory smoothness": {"score": 5.486073597941141, "message": "Average linear jerk magnitude of the end effector: 4.28 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 173, "task_index": 1, "length": 382, "trial_type": "sc", "trial_id": "trial_74", "seed": 200073, "randomization": {"board_pose": {"x": 0.15174387137696937, "y": -0.1703330799595773, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.530058826948858}, "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": -0.008139072686820112, "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": 0.0032891360741270255, "y": 0.015055433324061167, "z": 0.04175215368533512}, "roll": 0.4429567388414213, "pitch": -0.5389133494837884, "yaw": 1.4342082455629843}, "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": 16.98900762236824, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.864727272727274, "message": "Task duration: 33.12 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.657303164384023, "message": "Total end-effector path length: 0.42 m, initial plug-port distance: 0.36 m"}, "trajectory smoothness": {"score": 5.466977185256942, "message": "Average linear jerk magnitude of the end effector: 4.44 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 77, "task_index": 0, "length": 1248, "trial_type": "sfp", "trial_id": "trial_78", "seed": 100077, "randomization": {"board_pose": {"x": 0.15156314542445348, "y": -0.19337809134648765, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 2.727454995440225}, "rails": {"nic_rail_0": {"entity_present": false}, "nic_rail_1": {"entity_present": true, "entity_name": "nic_card_mount_1", "entity_pose": {"translation": -0.007825216485516625, "roll": 0.0, "pitch": 0.0, "yaw": 0.14855950501037044}}, "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": 0.001133201337300313, "y": 0.012678937159157418, "z": 0.042438744832732724}, "roll": 0.49933372965858525, "pitch": -0.5192024606142325, "yaw": 1.3275228766181988}, "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": 17.174547035744514, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.871709090909091, "message": "Task duration: 33.09 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.950858016470066, "message": "Total end-effector path length: 0.20 m, initial plug-port distance: 0.19 m"}, "trajectory smoothness": {"score": 5.351979928365356, "message": "Average linear jerk magnitude of the end effector: 5.40 m/s^3"}}}, "tier_3": {"score": 38.61551282832317, "message": "Partial insertion detected with distance of 0.04m."}}, "success_tier3": 38.61551282832317} |
| {"episode_index": 174, "task_index": 1, "length": 394, "trial_type": "sc", "trial_id": "trial_75", "seed": 200074, "randomization": {"board_pose": {"x": 0.11639525617725222, "y": -0.1892733500414417, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 2.694150550124711}, "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": true, "entity_name": "sc_port_0", "entity_pose": {"translation": -0.028737555902566075, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "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": -0.0017309510515552612, "y": 0.014986575286916411, "z": 0.03939378677478122}, "roll": 0.38512325564868577, "pitch": -0.508243378292407, "yaw": 1.263727439432525}, "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_0", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.72165375029124, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.636509090909092, "message": "Task duration: 34.17 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.586373721074656, "message": "Total end-effector path length: 0.45 m, initial plug-port distance: 0.38 m"}, "trajectory smoothness": {"score": 5.4987709383074925, "message": "Average linear jerk magnitude of the end effector: 4.18 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 78, "task_index": 0, "length": 1122, "trial_type": "sfp", "trial_id": "trial_79", "seed": 100078, "randomization": {"board_pose": {"x": 0.1523012835351043, "y": -0.15666896248142143, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.4268520027130003}, "rails": {"nic_rail_0": {"entity_present": false}, "nic_rail_1": {"entity_present": false}, "nic_rail_2": {"entity_present": false}, "nic_rail_3": {"entity_present": true, "entity_name": "nic_card_mount_3", "entity_pose": {"translation": 0.012329556799236294, "roll": 0.0, "pitch": 0.0, "yaw": 0.0997406403328836}}, "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": 0.0012455742718567142, "y": 0.015394968379291973, "z": 0.04274954368081067}, "roll": 0.44505816848005086, "pitch": -0.40156876688382603, "yaw": 1.3230877432367383}, "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_3", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 17.11009477531706, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.873454545454546, "message": "Task duration: 33.08 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 6, "message": "Total end-effector path length: 0.14 m, initial plug-port distance: 0.15 m"}, "trajectory smoothness": {"score": 5.236640229862514, "message": "Average linear jerk magnitude of the end effector: 6.36 m/s^3"}}}, "tier_3": {"score": 38.61666637755486, "message": "Partial insertion detected with distance of 0.04m."}}, "success_tier3": 38.61666637755486} |
| {"episode_index": 175, "task_index": 1, "length": 389, "trial_type": "sc", "trial_id": "trial_76", "seed": 200075, "randomization": {"board_pose": {"x": 0.11037100184713125, "y": -0.21294957669919493, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.116140501606676}, "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": 0.04559849586204118, "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": 0.0013309688271254008, "y": 0.014863764205710318, "z": 0.040063673671664524}, "roll": 0.41246615872057873, "pitch": -0.4840178737716584, "yaw": 1.3038131823196188}, "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": 16.63872342545164, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.640872727272727, "message": "Task duration: 34.15 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.567178125507481, "message": "Total end-effector path length: 0.47 m, initial plug-port distance: 0.40 m"}, "trajectory smoothness": {"score": 5.430672572671433, "message": "Average linear jerk magnitude of the end effector: 4.74 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 79, "task_index": 0, "length": 175, "trial_type": "sfp", "trial_id": "trial_80", "seed": 100079, "randomization": {"board_pose": {"x": 0.1790977638120665, "y": -0.22289938974920517, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 2.6840794115887876}, "rails": {"nic_rail_0": {"entity_present": false}, "nic_rail_1": {"entity_present": false}, "nic_rail_2": {"entity_present": false}, "nic_rail_3": {"entity_present": true, "entity_name": "nic_card_mount_3", "entity_pose": {"translation": 0.009231129340149621, "roll": 0.0, "pitch": 0.0, "yaw": -0.023567021089475382}}, "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": 0.0011813235948610402, "y": 0.011940562301087695, "z": 0.042913284589051845}, "roll": 0.4731394466040726, "pitch": -0.5066411866789851, "yaw": 1.368720794337995}, "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_3", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.971411763722955, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.869527272727273, "message": "Task duration: 33.10 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.590638563088234, "message": "Total end-effector path length: 0.31 m, initial plug-port distance: 0.24 m"}, "trajectory smoothness": {"score": 5.511245927907449, "message": "Average linear jerk magnitude of the end effector: 4.07 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 80, "task_index": 0, "length": 1353, "trial_type": "sfp", "trial_id": "trial_81", "seed": 100080, "randomization": {"board_pose": {"x": 0.18983483068657167, "y": -0.2348246878030738, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.334321109574067}, "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": true, "entity_name": "nic_card_mount_4", "entity_pose": {"translation": -0.017405194543171215, "roll": 0.0, "pitch": 0.0, "yaw": -0.10914907011376443}}, "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": -9.644725444914735e-05, "y": 0.016110429209474572, "z": 0.03647604721454009}, "roll": 0.46019225905495836, "pitch": -0.4881767752177025, "yaw": 1.3429043402323995}, "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_4", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.997071908793316, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.633890909090909, "message": "Task duration: 34.18 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.919998348322958, "message": "Total end-effector path length: 0.25 m, initial plug-port distance: 0.24 m"}, "trajectory smoothness": {"score": 5.443182651379449, "message": "Average linear jerk magnitude of the end effector: 4.64 m/s^3"}}}, "tier_3": {"score": 38.01240261132937, "message": "Partial insertion detected with distance of 0.05m."}}, "success_tier3": 38.01240261132937} |
| {"episode_index": 176, "task_index": 1, "length": 384, "trial_type": "sc", "trial_id": "trial_77", "seed": 200076, "randomization": {"board_pose": {"x": 0.1307487594225416, "y": -0.2093206615696648, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.514133408837545}, "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": true, "entity_name": "sc_port_0", "entity_pose": {"translation": -0.012143637975085053, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "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": 0.001312274425846229, "y": 0.015786155652251863, "z": 0.03778567252286031}, "roll": 0.4700115067752788, "pitch": -0.44257430692893823, "yaw": 1.3074638644085632}, "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_0", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 15.315022172982168, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.626036363636364, "message": "Task duration: 34.21 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 4.189309736567198, "message": "Total end-effector path length: 0.42 m, initial plug-port distance: 0.12 m"}, "trajectory smoothness": {"score": 5.499676072778605, "message": "Average linear jerk magnitude of the end effector: 4.17 m/s^3"}}}, "tier_3": {"score": 23.347204145200546, "message": "No insertion detected. Final plug port distance: 0.02m."}}, "success_tier3": 23.347204145200546} |
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| {"episode_index": 81, "task_index": 0, "length": 151, "trial_type": "sfp", "trial_id": "trial_82", "seed": 100081, "randomization": {"board_pose": {"x": 0.13577317121844723, "y": -0.19537870095690263, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.546436061717831}, "rails": {"nic_rail_0": {"entity_present": false}, "nic_rail_1": {"entity_present": false}, "nic_rail_2": {"entity_present": false}, "nic_rail_3": {"entity_present": true, "entity_name": "nic_card_mount_3", "entity_pose": {"translation": -0.008614064905502252, "roll": 0.0, "pitch": 0.0, "yaw": 0.035696420466750346}}, "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": 0.003530205373752233, "y": 0.012082122194028492, "z": 0.04607673913104946}, "roll": 0.5124858411930368, "pitch": -0.4748097084694371, "yaw": 1.3675842511041056}, "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_3", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.809523717767505, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.6552727272727275, "message": "Task duration: 34.08 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.726205327118464, "message": "Total end-effector path length: 0.21 m, initial plug-port distance: 0.16 m"}, "trajectory smoothness": {"score": 5.428045663376315, "message": "Average linear jerk magnitude of the end effector: 4.77 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 178, "task_index": 1, "length": 1174, "trial_type": "sc", "trial_id": "trial_79", "seed": 200078, "randomization": {"board_pose": {"x": 0.10709094628825727, "y": -0.2152471915099745, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.1159221754929294}, "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": 0.0017245907575227787, "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": -0.005035174120345905, "y": 0.0159704529612343, "z": 0.041029886101342956}, "roll": 0.5148558849112802, "pitch": -0.5210450085280476, "yaw": 1.3374116912354788}, "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": 16.758877888890144, "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": 5.646799154723509, "message": "Total end-effector path length: 0.46 m, initial plug-port distance: 0.40 m"}, "trajectory smoothness": {"score": 5.466406006893908, "message": "Average linear jerk magnitude of the end effector: 4.45 m/s^3"}}}, "tier_3": {"score": 39.67234798314375, "message": "Partial insertion detected with distance of 0.01m."}}, "success_tier3": 39.67234798314375} |
| {"episode_index": 82, "task_index": 0, "length": 1261, "trial_type": "sfp", "trial_id": "trial_83", "seed": 100082, "randomization": {"board_pose": {"x": 0.16672798121806132, "y": -0.18122058699187493, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.4306499016383474}, "rails": {"nic_rail_0": {"entity_present": true, "entity_name": "nic_card_mount_0", "entity_pose": {"translation": -0.006454006741977469, "roll": 0.0, "pitch": 0.0, "yaw": 0.07299207212994153}}, "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": -0.0027226836534357765, "y": 0.017045923374935837, "z": 0.04473403666671612}, "roll": 0.43898986684308955, "pitch": -0.4961100882827362, "yaw": 1.2894077792129386}, "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": 17.170802950676578, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.874763636363637, "message": "Task duration: 33.07 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 6, "message": "Total end-effector path length: 0.11 m, initial plug-port distance: 0.14 m"}, "trajectory smoothness": {"score": 5.296039314312941, "message": "Average linear jerk magnitude of the end effector: 5.87 m/s^3"}}}, "tier_3": {"score": 38.61576527489346, "message": "Partial insertion detected with distance of 0.04m."}}, "success_tier3": 38.61576527489346} |
| {"episode_index": 179, "task_index": 1, "length": 287, "trial_type": "sc", "trial_id": "trial_80", "seed": 200079, "randomization": {"board_pose": {"x": 0.14435264311800475, "y": -0.21404457677602548, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 2.6673560950538597}, "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": 0.011017213924485028, "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": -0.0006952409297301997, "y": 0.013686641386755098, "z": 0.04366616192231093}, "roll": 0.43002043462480777, "pitch": -0.47695608095971975, "yaw": 1.3334648048784754}, "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": 16.60314777561061, "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": 5.526883783050975, "message": "Total end-effector path length: 0.50 m, initial plug-port distance: 0.42 m"}, "trajectory smoothness": {"score": 5.440191265286904, "message": "Average linear jerk magnitude of the end effector: 4.67 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 83, "task_index": 0, "length": 363, "trial_type": "sfp", "trial_id": "trial_84", "seed": 100083, "randomization": {"board_pose": {"x": 0.1590289365800776, "y": -0.15970003024441942, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.387588735279085}, "rails": {"nic_rail_0": {"entity_present": false}, "nic_rail_1": {"entity_present": false}, "nic_rail_2": {"entity_present": false}, "nic_rail_3": {"entity_present": true, "entity_name": "nic_card_mount_3", "entity_pose": {"translation": -0.011832232556702871, "roll": 0.0, "pitch": 0.0, "yaw": 0.0645217221633216}}, "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": 0.0028999107598024778, "y": 0.015811210316048742, "z": 0.0395028669763524}, "roll": 0.4641729650001088, "pitch": -0.5275371487511029, "yaw": 1.2753409899736787}, "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_1", "target_module_name": "nic_card_mount_3", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.473283015317893, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.880000000000001, "message": "Task duration: 33.05 seconds."}, "insertion force": {"score": 0, "message": "Insertion force above 20.00 N, detected for a time of 0.02 seconds. Max detected force: 98.10N. This is below the threshold of 1.00 seconds. Penalty not applied."}, "trajectory efficiency": {"score": 5.730455594396281, "message": "Total end-effector path length: 0.20 m, initial plug-port distance: 0.16 m"}, "trajectory smoothness": {"score": 4.862827420921612, "message": "Average linear jerk magnitude of the end effector: 9.48 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 180, "task_index": 1, "length": 498, "trial_type": "sc", "trial_id": "trial_81", "seed": 200080, "randomization": {"board_pose": {"x": 0.1842217730339021, "y": -0.20131827884508602, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.312487500859536}, "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": true, "entity_name": "sc_port_0", "entity_pose": {"translation": 0.006293813092434208, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "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": -0.001249270778049052, "y": 0.015530167872036078, "z": 0.03855222553286418}, "roll": 0.41781770485718445, "pitch": -0.5412333096643487, "yaw": 1.3207031292057212}, "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_0", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 15.233667571107329, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.646109090909091, "message": "Task duration: 34.12 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 4.175330747353808, "message": "Total end-effector path length: 0.42 m, initial plug-port distance: 0.11 m"}, "trajectory smoothness": {"score": 5.412227732844431, "message": "Average linear jerk magnitude of the end effector: 4.90 m/s^3"}}}, "tier_3": {"score": 21.40379871852936, "message": "No insertion detected. Final plug port distance: 0.02m."}}, "success_tier3": 21.40379871852936} |
| {"episode_index": 84, "task_index": 0, "length": 656, "trial_type": "sfp", "trial_id": "trial_85", "seed": 100084, "randomization": {"board_pose": {"x": 0.15082800072781766, "y": -0.2295381000427446, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.134737535520818}, "rails": {"nic_rail_0": {"entity_present": false}, "nic_rail_1": {"entity_present": false}, "nic_rail_2": {"entity_present": false}, "nic_rail_3": {"entity_present": true, "entity_name": "nic_card_mount_3", "entity_pose": {"translation": 0.005127950056866486, "roll": 0.0, "pitch": 0.0, "yaw": -0.060739906184067396}}, "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": -0.0017302408926904047, "y": 0.012079056481608934, "z": 0.043175239268229755}, "roll": 0.5370707075197736, "pitch": -0.5082134393347614, "yaw": 1.341764519714348}, "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_1", "target_module_name": "nic_card_mount_3", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.993631045027026, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.872581818181818, "message": "Task duration: 33.08 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.650887548938005, "message": "Total end-effector path length: 0.27 m, initial plug-port distance: 0.21 m"}, "trajectory smoothness": {"score": 5.470161677907202, "message": "Average linear jerk magnitude of the end effector: 4.42 m/s^3"}}}, "tier_3": {"score": 49.91700577819979, "message": "Partial insertion detected with distance of 0.00m."}}, "success_tier3": 49.91700577819979} |
| {"episode_index": 181, "task_index": 1, "length": 364, "trial_type": "sc", "trial_id": "trial_82", "seed": 200081, "randomization": {"board_pose": {"x": 0.14003545312537627, "y": -0.15383335213941166, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.276494189601857}, "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": true, "entity_name": "sc_port_0", "entity_pose": {"translation": 0.022644095808928982, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "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": -0.004120089091288351, "y": 0.01714440730620827, "z": 0.03819470938757362}, "roll": 0.45884804335838947, "pitch": -0.5224128287584024, "yaw": 1.389716683982085}, "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_0", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.791832829566765, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.6304, "message": "Task duration: 34.19 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.708454626658836, "message": "Total end-effector path length: 0.38 m, initial plug-port distance: 0.34 m"}, "trajectory smoothness": {"score": 5.452978202907928, "message": "Average linear jerk magnitude of the end effector: 4.56 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 85, "task_index": 0, "length": 235, "trial_type": "sfp", "trial_id": "trial_86", "seed": 100085, "randomization": {"board_pose": {"x": 0.15526996812020127, "y": -0.1791571933404666, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.523769308021701}, "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": 0.0042358027442390075, "roll": 0.0, "pitch": 0.0, "yaw": -0.13588831145168462}}, "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": 0.0012002519904252972, "y": 0.0158737306532673, "z": 0.0455177581987432}, "roll": 0.44250032396266764, "pitch": -0.4436835505293285, "yaw": 1.2856102308700168}, "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": 16.852348472486263, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.642618181818182, "message": "Task duration: 34.14 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.833956644456849, "message": "Total end-effector path length: 0.17 m, initial plug-port distance: 0.14 m"}, "trajectory smoothness": {"score": 5.375773646211233, "message": "Average linear jerk magnitude of the end effector: 5.20 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 182, "task_index": 1, "length": 404, "trial_type": "sc", "trial_id": "trial_83", "seed": 200082, "randomization": {"board_pose": {"x": 0.14909634907069597, "y": -0.22773495848601416, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 2.803608039352511}, "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": 0.0006654793251560168, "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": -0.0009042712108924568, "y": 0.015800263183752227, "z": 0.042545231494801064}, "roll": 0.42841770615622726, "pitch": -0.4937199732177982, "yaw": 1.2645403083305988}, "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": 16.617769857428115, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.6256, "message": "Task duration: 34.22 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.522673609315188, "message": "Total end-effector path length: 0.51 m, initial plug-port distance: 0.43 m"}, "trajectory smoothness": {"score": 5.469496248112927, "message": "Average linear jerk magnitude of the end effector: 4.42 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 86, "task_index": 0, "length": 244, "trial_type": "sfp", "trial_id": "trial_87", "seed": 100086, "randomization": {"board_pose": {"x": 0.12736415247754876, "y": -0.16237173765089424, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.136835968106179}, "rails": {"nic_rail_0": {"entity_present": false}, "nic_rail_1": {"entity_present": false}, "nic_rail_2": {"entity_present": false}, "nic_rail_3": {"entity_present": true, "entity_name": "nic_card_mount_3", "entity_pose": {"translation": -0.020335279477041793, "roll": 0.0, "pitch": 0.0, "yaw": 0.04086582465548425}}, "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": 0.0012943732479974472, "y": 0.014680105701297935, "z": 0.043294840996926376}, "roll": 0.42601560059283233, "pitch": -0.4634591525192023, "yaw": 1.2984541853406792}, "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_1", "target_module_name": "nic_card_mount_3", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 17.021467949612564, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.851636363636364, "message": "Task duration: 33.18 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.707269468056996, "message": "Total end-effector path length: 0.22 m, initial plug-port distance: 0.17 m"}, "trajectory smoothness": {"score": 5.462562117919207, "message": "Average linear jerk magnitude of the end effector: 4.48 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 183, "task_index": 1, "length": 361, "trial_type": "sc", "trial_id": "trial_84", "seed": 200083, "randomization": {"board_pose": {"x": 0.12376739907684833, "y": -0.2110554831318487, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 2.7070107979006686}, "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": -0.029209391633432637, "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": -0.0004131894952743688, "y": 0.01516298236115682, "z": 0.03752858170022353}, "roll": 0.43549251571946274, "pitch": -0.4639040210633327, "yaw": 1.324082102990495}, "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": 16.610960398033857, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.639563636363636, "message": "Task duration: 34.15 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.531168486484733, "message": "Total end-effector path length: 0.50 m, initial plug-port distance: 0.42 m"}, "trajectory smoothness": {"score": 5.440228275185488, "message": "Average linear jerk magnitude of the end effector: 4.66 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 87, "task_index": 0, "length": 241, "trial_type": "sfp", "trial_id": "trial_88", "seed": 100087, "randomization": {"board_pose": {"x": 0.18613798359258804, "y": -0.15474457898386967, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.359823558690827}, "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": true, "entity_name": "nic_card_mount_4", "entity_pose": {"translation": -0.014778811393358134, "roll": 0.0, "pitch": 0.0, "yaw": 0.16895218488077388}}, "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": -0.0007833277811358328, "y": 0.014198858114415881, "z": 0.04234698803032664}, "roll": 0.38072677930807985, "pitch": -0.46618630189993693, "yaw": 1.323365030501724}, "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_4", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.716750907503435, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.649163636363637, "message": "Task duration: 34.11 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.675941980918634, "message": "Total end-effector path length: 0.24 m, initial plug-port distance: 0.19 m"}, "trajectory smoothness": {"score": 5.391645290221163, "message": "Average linear jerk magnitude of the end effector: 5.07 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
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| {"episode_index": 185, "task_index": 1, "length": 1760, "trial_type": "sc", "trial_id": "trial_86", "seed": 200085, "randomization": {"board_pose": {"x": 0.146884420066052, "y": -0.19505119364178797, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.3754728859411145}, "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": 0.05483885219603475, "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": -0.0001865535059443057, "y": 0.013075623718059856, "z": 0.04382915923594324}, "roll": 0.415458103438014, "pitch": -0.4365362770702744, "yaw": 1.3241317422042658}, "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": 16.5657144872634, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.6356363636363636, "message": "Task duration: 34.17 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.61346489782601, "message": "Total end-effector path length: 0.45 m, initial plug-port distance: 0.38 m"}, "trajectory smoothness": {"score": 5.316613225801023, "message": "Average linear jerk magnitude of the end effector: 5.69 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 89, "task_index": 0, "length": 253, "trial_type": "sfp", "trial_id": "trial_90", "seed": 100089, "randomization": {"board_pose": {"x": 0.10182979328451489, "y": -0.15649148699254906, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.074036231377505}, "rails": {"nic_rail_0": {"entity_present": false}, "nic_rail_1": {"entity_present": false}, "nic_rail_2": {"entity_present": false}, "nic_rail_3": {"entity_present": true, "entity_name": "nic_card_mount_3", "entity_pose": {"translation": -0.013892963123808522, "roll": 0.0, "pitch": 0.0, "yaw": -0.0234458048013942}}, "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": 0.003919765319118893, "y": 0.015420522100558155, "z": 0.043546113870913325}, "roll": 0.46064325509277737, "pitch": -0.5066793459962706, "yaw": 1.3138647557289693}, "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_1", "target_module_name": "nic_card_mount_3", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.76935151001971, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.643490909090909, "message": "Task duration: 34.13 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.708095205079603, "message": "Total end-effector path length: 0.21 m, initial plug-port distance: 0.16 m"}, "trajectory smoothness": {"score": 5.417765395849196, "message": "Average linear jerk magnitude of the end effector: 4.85 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
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| {"episode_index": 90, "task_index": 0, "length": 239, "trial_type": "sfp", "trial_id": "trial_91", "seed": 100090, "randomization": {"board_pose": {"x": 0.1718803678323203, "y": -0.1909240170741342, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.5688448892802715}, "rails": {"nic_rail_0": {"entity_present": true, "entity_name": "nic_card_mount_0", "entity_pose": {"translation": -0.006044066162534584, "roll": 0.0, "pitch": 0.0, "yaw": 0.14487365491534643}}, "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": -0.00029604986115647485, "y": 0.012797261470153448, "z": 0.04177685393114181}, "roll": 0.4868419826143366, "pitch": -0.44289661836043703, "yaw": 1.2890349502165626}, "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": 16.988682950375225, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.645236363636364, "message": "Task duration: 34.13 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 6, "message": "Total end-effector path length: 0.14 m, initial plug-port distance: 0.14 m"}, "trajectory smoothness": {"score": 5.343446586738859, "message": "Average linear jerk magnitude of the end effector: 5.47 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
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| {"episode_index": 91, "task_index": 0, "length": 260, "trial_type": "sfp", "trial_id": "trial_92", "seed": 100091, "randomization": {"board_pose": {"x": 0.1482308691988063, "y": -0.17709503693358639, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 2.7440974907563933}, "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": true, "entity_name": "nic_card_mount_4", "entity_pose": {"translation": -0.014679155523989764, "roll": 0.0, "pitch": 0.0, "yaw": 0.05900386896122535}}, "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": 0.002732916298302053, "y": 0.016183673535073335, "z": 0.044100329154533754}, "roll": 0.42261782941957715, "pitch": -0.48170542425606283, "yaw": 1.386714282020753}, "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_4", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.937608812348184, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.874327272727273, "message": "Task duration: 33.08 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.595021317213307, "message": "Total end-effector path length: 0.29 m, initial plug-port distance: 0.23 m"}, "trajectory smoothness": {"score": 5.468260222407603, "message": "Average linear jerk magnitude of the end effector: 4.43 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
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| {"episode_index": 92, "task_index": 0, "length": 1371, "trial_type": "sfp", "trial_id": "trial_93", "seed": 100092, "randomization": {"board_pose": {"x": 0.16112700101550137, "y": -0.1939282673592188, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.616920834668227}, "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": 0.02198101059611876, "roll": 0.0, "pitch": 0.0, "yaw": 0.11755165286950854}}, "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": 0.0012292130215723835, "y": 0.01675219221642314, "z": 0.04096575765668784}, "roll": 0.4002177563686821, "pitch": -0.5245820503333316, "yaw": 1.379914713567349}, "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": 16.939871114517068, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.618181818181818, "message": "Task duration: 34.25 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 6, "message": "Total end-effector path length: 0.15 m, initial plug-port distance: 0.15 m"}, "trajectory smoothness": {"score": 5.3216892963352525, "message": "Average linear jerk magnitude of the end effector: 5.65 m/s^3"}}}, "tier_3": {"score": 38.01555939733928, "message": "Partial insertion detected with distance of 0.05m."}}, "success_tier3": 38.01555939733928} |
| {"episode_index": 189, "task_index": 1, "length": 403, "trial_type": "sc", "trial_id": "trial_90", "seed": 200089, "randomization": {"board_pose": {"x": 0.18140204266787155, "y": -0.15432330219178364, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.041056240920363}, "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": true, "entity_name": "sc_port_0", "entity_pose": {"translation": 0.049522169525678394, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "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": 0.00039352571292198873, "y": 0.017264616673010793, "z": 0.04122679433946575}, "roll": 0.4858589203031845, "pitch": -0.5010588115400565, "yaw": 1.275713248166766}, "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_0", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.738964210224445, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.631272727272728, "message": "Task duration: 34.19 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.697868777011301, "message": "Total end-effector path length: 0.39 m, initial plug-port distance: 0.34 m"}, "trajectory smoothness": {"score": 5.409822705940417, "message": "Average linear jerk magnitude of the end effector: 4.92 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 93, "task_index": 0, "length": 133, "trial_type": "sfp", "trial_id": "trial_94", "seed": 100093, "randomization": {"board_pose": {"x": 0.11595706039748542, "y": -0.17222075896478123, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.2923435008418833}, "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": true, "entity_name": "nic_card_mount_4", "entity_pose": {"translation": -0.017861826352958125, "roll": 0.0, "pitch": 0.0, "yaw": 0.03338020568827978}}, "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": -0.00019171513952049137, "y": 0.01627341214260305, "z": 0.04372058152998896}, "roll": 0.4427281916821957, "pitch": -0.4769205487290367, "yaw": 1.3304327119384836}, "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_1", "target_module_name": "nic_card_mount_4", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 17.02890877893604, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.8765090909090905, "message": "Task duration: 33.07 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.662664472325224, "message": "Total end-effector path length: 0.24 m, initial plug-port distance: 0.18 m"}, "trajectory smoothness": {"score": 5.4897352157017245, "message": "Average linear jerk magnitude of the end effector: 4.25 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 190, "task_index": 1, "length": 1078, "trial_type": "sc", "trial_id": "trial_91", "seed": 200090, "randomization": {"board_pose": {"x": 0.17402120963531836, "y": -0.21057746654742818, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.459741452946784}, "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": -0.03999515440267212, "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": 0.0004661151918668588, "y": 0.011799541690076042, "z": 0.04242649267959479}, "roll": 0.4150761353587612, "pitch": -0.4296704067698379, "yaw": 1.2985925408976098}, "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": 16.672091184884795, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.652654545454546, "message": "Task duration: 34.09 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.595293932359719, "message": "Total end-effector path length: 0.46 m, initial plug-port distance: 0.39 m"}, "trajectory smoothness": {"score": 5.424142707070529, "message": "Average linear jerk magnitude of the end effector: 4.80 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 94, "task_index": 0, "length": 299, "trial_type": "sfp", "trial_id": "trial_95", "seed": 100094, "randomization": {"board_pose": {"x": 0.13837891897871293, "y": -0.21971111576882457, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 2.7747710155583536}, "rails": {"nic_rail_0": {"entity_present": false}, "nic_rail_1": {"entity_present": false}, "nic_rail_2": {"entity_present": false}, "nic_rail_3": {"entity_present": true, "entity_name": "nic_card_mount_3", "entity_pose": {"translation": -0.009638588378850786, "roll": 0.0, "pitch": 0.0, "yaw": 0.018667916566715414}}, "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": -0.0022172616474041926, "y": 0.015314689734158504, "z": 0.044821281422678924}, "roll": 0.3977358705784628, "pitch": -0.47104633467519424, "yaw": 1.3451868231207984}, "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_1", "target_module_name": "nic_card_mount_3", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.867502398396887, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.866909090909091, "message": "Task duration: 33.11 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.568792988304563, "message": "Total end-effector path length: 0.31 m, initial plug-port distance: 0.24 m"}, "trajectory smoothness": {"score": 5.4318003191832345, "message": "Average linear jerk magnitude of the end effector: 4.73 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 191, "task_index": 1, "length": 326, "trial_type": "sc", "trial_id": "trial_92", "seed": 200091, "randomization": {"board_pose": {"x": 0.12162983351659058, "y": -0.2408049834838125, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.397514648709652}, "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": 0.040585720753995844, "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": -0.0017388698500201481, "y": 0.017473071782048946, "z": 0.04072206438051364}, "roll": 0.4885977757938991, "pitch": -0.4880753639715038, "yaw": 1.3787420414350808}, "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": 16.638776107035227, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.631272727272728, "message": "Task duration: 34.19 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.5558451787028105, "message": "Total end-effector path length: 0.49 m, initial plug-port distance: 0.41 m"}, "trajectory smoothness": {"score": 5.451658201059688, "message": "Average linear jerk magnitude of the end effector: 4.57 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 95, "task_index": 0, "length": 283, "trial_type": "sfp", "trial_id": "trial_96", "seed": 100095, "randomization": {"board_pose": {"x": 0.15469312792671897, "y": -0.18304640688745116, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 2.958372257982428}, "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": true, "entity_name": "nic_card_mount_4", "entity_pose": {"translation": -0.0034778620833887004, "roll": 0.0, "pitch": 0.0, "yaw": 0.08020420376536883}}, "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": 0.0012752344071482315, "y": 0.017692314770007548, "z": 0.039144635801091704}, "roll": 0.4387985746100092, "pitch": -0.4562306241407314, "yaw": 1.247290918199929}, "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_1", "target_module_name": "nic_card_mount_4", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.036920983073298, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.629090909090909, "message": "Task duration: 34.20 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 4.818686898184984, "message": "Total end-effector path length: 0.23 m, initial plug-port distance: 0.04 m"}, "trajectory smoothness": {"score": 5.589143175797405, "message": "Average linear jerk magnitude of the end effector: 3.42 m/s^3"}}}, "tier_3": {"score": 25, "message": "No insertion detected. Final plug port distance: 0.02m."}}, "success_tier3": 25.0} |
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| {"episode_index": 197, "task_index": 1, "length": 146, "trial_type": "sc", "trial_id": "trial_98", "seed": 200097, "randomization": {"board_pose": {"x": 0.15553991040122728, "y": -0.20477312907940262, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 2.6614791468101813}, "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": 0.012470838738674495, "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": -0.0020512881262458125, "y": 0.016518167044170563, "z": 0.042247702009385185}, "roll": 0.410005185433366, "pitch": -0.5946626419714548, "yaw": 1.3613321761943789}, "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": 16.681960512875264, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.653090909090908, "message": "Task duration: 34.09 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.547054295419194, "message": "Total end-effector path length: 0.49 m, initial plug-port distance: 0.41 m"}, "trajectory smoothness": {"score": 5.481815308365163, "message": "Average linear jerk magnitude of the end effector: 4.32 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 198, "task_index": 1, "length": 485, "trial_type": "sc", "trial_id": "trial_99", "seed": 200098, "randomization": {"board_pose": {"x": 0.1301586093889537, "y": -0.15419025941924225, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.3594760038043865}, "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": true, "entity_name": "sc_port_0", "entity_pose": {"translation": -0.043216135258331706, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "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": -0.0006317301992234105, "y": 0.016414216842005554, "z": 0.03916492662681638}, "roll": 0.34677601705336064, "pitch": -0.4326734397361369, "yaw": 1.3290055293251164}, "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_0", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.65500045653971, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.631272727272728, "message": "Task duration: 34.19 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.733875920848731, "message": "Total end-effector path length: 0.38 m, initial plug-port distance: 0.33 m"}, "trajectory smoothness": {"score": 5.289851808418251, "message": "Average linear jerk magnitude of the end effector: 5.92 m/s^3"}}}, "tier_3": {"score": 75, "message": "Cable insertion successful."}}, "success_tier3": 75.0} |
| {"episode_index": 199, "task_index": 1, "length": 351, "trial_type": "sc", "trial_id": "trial_100", "seed": 200099, "randomization": {"board_pose": {"x": 0.1800062736490479, "y": -0.20865763342295784, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.4279772531291415}, "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": true, "entity_name": "sc_port_0", "entity_pose": {"translation": 0.008941196955796427, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "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": 0.004406905212658327, "y": 0.014988072237803542, "z": 0.04132010362134424}, "roll": 0.450841895099424, "pitch": -0.48400966766299486, "yaw": 1.2890843368493992}, "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_0", "time_limit": 180}, "scoring": {"tier_1": {"score": 1, "message": "Model validation succeeded."}, "tier_2": {"score": 16.7571347201747, "message": "Scoring succeeded.", "categories": {"contacts": {"score": 0, "message": "No contact detected."}, "duration": {"score": 5.646545454545455, "message": "Task duration: 34.12 seconds."}, "insertion force": {"score": 0, "message": "No excessive force detected"}, "trajectory efficiency": {"score": 5.677353961882847, "message": "Total end-effector path length: 0.42 m, initial plug-port distance: 0.37 m"}, "trajectory smoothness": {"score": 5.433235303746398, "message": "Average linear jerk magnitude of the end effector: 4.72 m/s^3"}}}, "tier_3": {"score": 46.04921715054337, "message": "Partial insertion detected with distance of 0.01m."}}, "success_tier3": 46.04921715054337} |
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