diff --git a/README.md b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..bef6885bcbfd5a3356c6b3d97ee210adaaded97b --- /dev/null +++ b/README.md @@ -0,0 +1,276 @@ +# AIC CheatCode Dataset + +LeRobot-compatible dataset of expert-teacher cable-insertion trajectories, +collected inside the AI for Industry Challenge (AIC) Gazebo simulation with +`ground_truth:=true` so every port/plug/TCP pose is logged exactly. The +teacher is the reference **CheatCode** policy (`aic_example_policies.ros.CheatCode`). + +## What is in it + +- **N episodes** — one per trial. Each episode is a full approach + insertion + attempt (truncated just after the closest approach, so the steady-state + post-insertion hold is mostly absent). +- Two trial types, interleaved by episode index: + - `sfp` — SFP module → SFP port on a NIC card + - `sc` — SC plug → SC optical port +- Three wrist-mounted cameras at 1152×1024 RGB, 20 Hz, H.264 CRF 23 (mp4). +- Full per-frame ground-truth labels for the target port's 6D pose and 9 + cuboid keypoints, plus the plug, the TCP and the task board. + +Successes and partial / failed trials are saved the same way; the distinction +lives in `meta/episodes.jsonl` (`success_tier3`). + +## Layout + +``` +/ +├── README.md # this file +├── meta/ +│ ├── info.json # dataset schema + fps +│ ├── episodes.jsonl # one row per episode +│ ├── tasks.jsonl # task type dictionary +│ └── validator_report.json # (optional) sanity audit +├── data/chunk-000/ +│ └── episode_XXXXXX.parquet # 20 Hz time series +├── videos/chunk-000/ +│ ├── observation.images.left/episode_XXXXXX.mp4 +│ ├── observation.images.center/episode_XXXXXX.mp4 +│ └── observation.images.right/episode_XXXXXX.mp4 +└── assets_snapshot/ + ├── camera_info.json # K, D, size, cam←tcp static + ├── keypoints_sfp.json # port frame 9-keypoint spec + └── keypoints_sc.json +``` + +## Parquet schema (per frame) + +### Indexing + +| column | type | meaning | +|---|---|---| +| `timestamp` | float | seconds since the first frame of this episode (wall clock) | +| `frame_index` | int | 0-based within the episode | +| `episode_index` | int | 0-based, unique within the dataset | +| `task_index` | int | 0 = SFP trial, 1 = SC trial | + +### Observations + +| column | shape | units | notes | +|---|---|---|---| +| `observation.images.{left, center, right}` | `(H, W, 3)` uint8 RGB | pixels | stored in mp4; read with imageio / cv2 / lerobot loader | +| `observation.state.joints` | `(7,)` | rad (joint 1-6) + m (gripper width, index 7) | current joint positions | +| `observation.state.gripper` | `(1,)` or None | m | Gazebo's `/gripper_state`; may be null when the stock eval container doesn't publish it | +| `observation.wrench` | `(6,)` | N, N·m | `[fx, fy, fz, tx, ty, tz]` at the F/T sensor | +| `observation.tcp_pose_actual` | `(7,)` | m + unit quat (xyzw) | current gripper TCP in base_link: `[x, y, z, qx, qy, qz, qw]` | +| `observation.tcp_pose_target` | `(7,)` | m + quat | controller reference TCP | +| `observation.tcp_velocity` | `(6,)` | m/s + rad/s | `[vx, vy, vz, ωx, ωy, ωz]` | + +### Actions (teacher commands) + +| column | shape | notes | +|---|---|---| +| `action.pose_command` | `(7,)` or None | last `MotionUpdate.pose` published by CheatCode (xyz + xyzw quat in base_link) | +| `action.joint_command` | `(7,)` or None | Joint-mode command; always `None` with CheatCode (Cartesian-only) | + +### Labels (ground truth, always populated) + +All 6D poses are `[x, y, z, qx, qy, qz, qw]` in the robot's **base_link** frame. + +| column | shape | meaning | +|---|---|---| +| `labels.port_pose_base` | `(7,)` | target port's link pose | +| `labels.plug_pose_base` | `(7,)` | plug tip link pose | +| `labels.gripper_tcp_pose_base` | `(7,)` | `gripper/tcp` | +| `labels.task_board_pose_base` | `(7,)` | task board base link | +| `labels.port_keypoints_3d_base` | `(9, 3)` | 9 keypoints defining the port cavity as a 3D cuboid, transformed into base_link | +| `labels.port_keypoints_2d` | `dict[cam→(9, 2)]` | per-camera pixel projection of the 9 keypoints (already distortion-rectified) | +| `labels.port_keypoints_visible` | `dict[cam→(9,)]` uint8 | 1 = keypoint is in front of the camera AND inside the image bounds | +| `labels.port_bbox_2d` | `dict[cam→(4,)]` or None | axis-aligned 2D bbox of the visible keypoints: `[x0, y0, x1, y1]` | +| `labels.all_ports` | `list[dict]` | Per-port labels for every port physically present on the active module. See below. | + +The `labels.port_*` columns above only cover the **target** port for the trial. +`labels.all_ports` contains labels for **every** port visible in the scene so +perception models can learn to detect all ports + select the target using the +challenge's `Task.port_name` (which says "insert into `sfp_port_0` or +`sfp_port_1`" for SFP trials). SFP trials: 2 entries +(`sfp_port_0`, `sfp_port_1`); SC trials: 1 entry (`sc_port_base`). + +Each element is a dict: +| key | shape | notes | +|---|---|---| +| `port_name` | str | `sfp_port_0`, `sfp_port_1`, or `sc_port_base` | +| `is_target` | bool | True for the entry matching `Task.port_name` | +| `pose_base` | `(7,)` | 6D pose in `base_link` | +| `keypoints_3d_base` | `(9, 3)` | 9 keypoints in `base_link` | +| `keypoints_2d` | `dict[cam→(9, 2)]` | per-camera pixel projection | +| `keypoints_visible` | `dict[cam→(9,)]` uint8 | per-camera visibility | +| `bbox_2d` | `dict[cam→(4,)]` or None | per-camera axis-aligned bbox | + +Keypoint order is identical to the `names` list in `assets_snapshot/keypoints_{sfp,sc}.json`: +`[center, mouth_tl, mouth_tr, mouth_bl, mouth_br, base_tl, base_tr, base_bl, base_br]`. +The 4 `mouth_*` points lie on the port entrance plane; the 4 `base_*` points +are the same rectangle translated into the port along the local +Z axis. + +## episodes.jsonl (per episode) + +```json +{ + "episode_index": 0, + "task_index": 0, + "length": 312, + "trial_type": "sfp", + "trial_id": "trial_1", + "seed": 100000, + "randomization": { + "board_pose": {"x": ..., "y": ..., "yaw": ...}, + "rails": { "nic_rail_0": {"entity_present": true, "entity_pose": {...}}, ... }, + "grasp": { "gripper_offset": {...}, "roll": ..., "pitch": ..., "yaw": ... }, + "cable_type": "sfp_sc_cable" + }, + "target": { + "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": { /* full aic_engine scoring.yaml subsection */ }, + "success_tier3": 75.0 +} +``` + +- `success_tier3` — scalar: 75 = full insertion, 38–50 = partial insertion, + 0–25 = proximity only, negative = wrong port (rare). +- `randomization` — full sampled scene description (reproduces the scene + given the seed). + +## Coordinate frames + +- `base_link` is the UR5e base; all `*_pose_base` labels are expressed in it. +- `gripper/tcp` is the tool frame at the fingertip midpoint. +- Camera `{left, center, right}` optical frames are rigidly mounted on the + wrist. Their extrinsic wrt `gripper/tcp` is constant and stored in + `assets_snapshot/camera_info.json` as `cam_T_tcp` (4×4, camera-from-tcp). + Per-frame camera-from-base is `cam_T_tcp @ inv(tcp_pose_actual_matrix)`. +- Port frame origin is **inside the cavity**, not at the entrance. The + entrance plane is at local `z = z_mouth` (see + `assets_snapshot/keypoints_{sfp,sc}.json`), and CheatCode uses `z_offset` + relative to this convention. + +## Minimal loading recipe + +```python +import json, pathlib, pandas as pd, imageio, numpy as np + +DS = pathlib.Path("") + +# --- episodes metadata --- +eps = [json.loads(l) for l in open(DS/"meta"/"episodes.jsonl")] +print(len(eps), "episodes") + +# --- one episode: parquet + mp4 aligned by frame_index --- +ep = eps[0] +chunk = ep["episode_index"] // 1000 +df = pd.read_parquet(DS/f"data/chunk-{chunk:03d}/episode_{ep['episode_index']:06d}.parquet") +video = imageio.get_reader( + str(DS/f"videos/chunk-{chunk:03d}/observation.images.center/" + f"episode_{ep['episode_index']:06d}.mp4")) + +for i, frame in enumerate(video): # frame is (H, W, 3) uint8 RGB + row = df.iloc[i] + port_pose = np.asarray(row["labels.port_pose_base"]) # (7,) + kp2d_center = np.stack(row["labels.port_keypoints_2d"]["center"]) # (9, 2) + visible = np.asarray(row["labels.port_keypoints_visible"]["center"]) # (9,) + # ... build sample + if i >= 5: + break + +# --- camera intrinsics --- +cam = json.load(open(DS/"assets_snapshot/camera_info.json"))["center"] +K = np.asarray(cam["K"]) # (3, 3) +cam_T_tcp = np.asarray(cam["cam_T_tcp"]) # (4, 4) static +``` + +### Quality filtering + +For imitation learning on clean demonstrations: +```python +clean = [e for e in eps if (e.get("success_tier3") or 0) >= 70] +``` + +For perception (the label is always correct even on partial trials): +```python +usable = eps # keep everything +``` + +For occlusion-robust training you can drop frames where no camera sees the +port: +```python +vis = np.stack([np.asarray(row["labels.port_keypoints_visible"][c]) + for c in ("left", "center", "right")]) # (3, 9) +ok = (vis.sum(axis=1) >= 5).any() # at least one cam has ≥5/9 visible +``` + +### 2D keypoints → 3D port pose (optional PnP) + +```python +import cv2 +kp_local = np.asarray( + json.load(open(DS/"assets_snapshot/keypoints_sfp.json"))["points_local"]) # (9, 3) +kp2d = np.stack(row["labels.port_keypoints_2d"]["center"]) # (9, 2) +vis = np.asarray(row["labels.port_keypoints_visible"]["center"]).astype(bool) +ok, rvec, tvec = cv2.solvePnP( + kp_local[vis], kp2d[vis], K, distCoeffs=np.zeros(5), + flags=cv2.SOLVEPNP_ITERATIVE) +``` + +## Use cases + +- **Port 6D pose regression** — input: one or three camera images, target: + `labels.port_pose_base` or `labels.port_keypoints_2d`. The 9-keypoint + supervision is compatible with heatmap-style keypoint models and direct + regression. +- **Imitation learning** — use `observation.*` as input history and + `action.pose_command` as the target; use `observation.tcp_pose_actual` if + you prefer delta actions. Task-condition with `task_index`. +- **Hybrid policy** — run a learned port-pose estimator on the images, then + reuse CheatCode's controller logic with the estimate instead of the GT TF. + +## Randomization space (per trial) + +Sampled independently from `seed = start_seed + episode_index`. + +- **Board pose** — xy jitter ±5 cm around (0.15, −0.2), yaw ±0.5 rad around π. +- **NIC card (SFP trial)** — exactly one card, target rail uniform on {0..4}; + translation in [−0.0215, 0.0234] m and yaw in [−10°, +10°]; target port + `sfp_port_{0|1}`. +- **SC port (SC trial)** — exactly one port, target rail 0 or 1, translation in + [−0.06, 0.055] m. +- **Grasp offset** — Gaussian noise around the nominal grasp: σ = 2 mm (xyz) + and σ = 0.04 rad (rpy), matching the qualification-spec uncertainty exactly. + +## Known quirks + +- **Gripper fingers appear slightly open around the plug.** The challenge + config sets `attach_cable_to_gripper=True`, which installs a logical fixed + joint between the plug and `gripper/tcp` rather than relying on physical + grasping, so the finger width doesn't change to match the plug dimensions. + This is cosmetic — simulation physics and all labels remain correct. +- **Frame 0 of every episode is a post-reset settled state**, not the + instant the trial started. The collector defers recording until + `/joint_states` shows sample-to-sample Δposition under ~0.02 rad for 3 + consecutive ticks, which skips the one-frame teleport the engine + produces when returning the arm to home between trials. +- **Episode lengths vary** (typically 200–700 frames). Truncation cuts at + `argmin(plug→port) + 20` frames so a short stabilisation tail is kept + without the full 5 s CheatCode hold or the engine-driven reset motion. +- **`observation.state.gripper` may be null** for the entire episode if the + eval container doesn't publish `/gripper_state`. The gripper width is + included in `observation.state.joints` (last element) regardless. +- **Partial insertions are kept** (`success_tier3 < 70`); filter at train + time if your objective needs only clean demonstrations. + +## Reproducing a scene + +Every `episodes.jsonl` row carries a `seed` and a full `randomization` dict. +Re-running the sampler with that seed reproduces the exact scene +configuration (subject to the ROS 2 / Gazebo message-scheduling +non-determinism noted in the collection README). diff --git a/assets_snapshot/camera_info.json b/assets_snapshot/camera_info.json new file mode 100644 index 0000000000000000000000000000000000000000..e42e02ccee939d488b0a07d9338019b76aefcd53 --- /dev/null +++ b/assets_snapshot/camera_info.json @@ -0,0 +1,170 @@ +{ + "left": { + "K": [ + [ + 1236.6316680908203, + 0.0, + 576.0 + ], + [ + 0.0, + 1236.6314697265625, + 512.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "D": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "width": 1152, + "height": 1024, + "distortion_model": "plumb_bob", + "frame_id": "left_camera/optical", + "cam_T_tcp": [ + [ + 0.49999939438862684, + -0.8660257534267778, + -3.548043067069795e-06, + -2.1798253317522446e-07 + ], + [ + 0.836515215752322, + 0.4829625654132389, + -0.25882321036628375, + 0.058939645138193233 + ], + [ + 0.2241492793337801, + 0.12940848044485037, + 0.9659247101938648, + 0.2284762330551336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "center": { + "K": [ + [ + 1236.6316680908203, + 0.0, + 576.0 + ], + [ + 0.0, + 1236.6314697265625, + 512.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "D": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "width": 1152, + "height": 1024, + "distortion_model": "plumb_bob", + "frame_id": "center_camera/optical", + "cam_T_tcp": [ + [ + 0.999999999993157, + -1.0474926010598876e-06, + -3.5480430671033133e-06, + -8.496835079235735e-07 + ], + [ + 9.34830899709348e-08, + 0.9659247102003766, + -0.2588232103662838, + 0.05895165634974644 + ], + [ + 3.6982578692114726e-06, + 0.25882321036418104, + 0.9659247101938648, + 0.22848152205751593 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + }, + "right": { + "K": [ + [ + 1236.6316680908203, + 0.0, + 576.0 + ], + [ + 0.0, + 1236.6314697265625, + 512.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "D": [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ], + "width": 1152, + "height": 1024, + "distortion_model": "plumb_bob", + "frame_id": "right_camera/optical", + "cam_T_tcp": [ + [ + 0.5000012112967422, + 0.8660247044335408, + -3.5480430669726504e-06, + -1.481666177906965e-06 + ], + [ + -0.8365151208202869, + 0.4829627298402136, + -0.2588232103662832, + 0.05893964513807363 + ], + [ + -0.22414558068543544, + 0.12941488668652792, + 0.9659247101938649, + 0.2284762330504595 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ] + } +} \ No newline at end of file diff --git a/assets_snapshot/keypoints_sc.json b/assets_snapshot/keypoints_sc.json new file mode 100644 index 0000000000000000000000000000000000000000..f584f713cbcb6f9ed66963f56d53f18163b03da9 --- /dev/null +++ b/assets_snapshot/keypoints_sc.json @@ -0,0 +1,61 @@ +{ + "port_type": "sc", + "names": [ + "center", + "mouth_tl", + "mouth_tr", + "mouth_bl", + "mouth_br", + "base_tl", + "base_tr", + "base_bl", + "base_br" + ], + "points_local": [ + [ + 0.0, + 0.0, + 0.0 + ], + [ + -0.011, + 0.0043, + -0.014 + ], + [ + 0.011, + 0.0043, + -0.014 + ], + [ + -0.011, + -0.0043, + -0.014 + ], + [ + 0.011, + -0.0043, + -0.014 + ], + [ + -0.011, + 0.0043, + 0.016 + ], + [ + 0.011, + 0.0043, + 0.016 + ], + [ + -0.011, + -0.0043, + 0.016 + ], + [ + 0.011, + -0.0043, + 0.016 + ] + ] +} \ No newline at end of file diff --git a/assets_snapshot/keypoints_sfp.json b/assets_snapshot/keypoints_sfp.json new file mode 100644 index 0000000000000000000000000000000000000000..f9f23e2651e07fccb631589576ca9c8cbedeee4f --- /dev/null +++ b/assets_snapshot/keypoints_sfp.json @@ -0,0 +1,61 @@ +{ + "port_type": "sfp", + "names": 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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 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"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 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"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}}, 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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": 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