{"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": true, "entity_name": "nic_card_mount_0", "entity_pose": {"translation": 0.010862174679708514, "roll": 0.0, "pitch": 0.0, "yaw": 0.0333833464814635}}, "nic_rail_1": {"entity_present": false}, "nic_rail_2": {"entity_present": true, "entity_name": "nic_card_mount_2", "entity_pose": {"translation": 0.004410543625990165, "roll": 0.0, "pitch": 0.0, "yaw": 0.019192187850817173}}, "nic_rail_3": {"entity_present": false}, "nic_rail_4": {"entity_present": true, "entity_name": "nic_card_mount_4", "entity_pose": {"translation": -0.0018363832918813078, "roll": 0.0, "pitch": 0.0, "yaw": 0.05937457742074384}}, "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": 0.005320536447277496, "y": 0.011324822355091347, "z": 0.04731697998511137}, "roll": 0.4732508976729438, "pitch": -0.43889100603597014, "yaw": 1.3724140851813178}, "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": null, "success_tier3": null}
{"episode_index": 1, "task_index": 1, "length": 396, "trial_type": "sc", "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": 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": 0.036687696771733946, "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": -0.004593157102089145, "y": 0.009088956616098756, "z": 0.041987766132872854}, "roll": 0.345431718712454, "pitch": -0.44127407675853725, "yaw": 1.3305949046033372}, "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": null, "success_tier3": null}
{"episode_index": 2, "task_index": 0, "length": 648, "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": true, "entity_name": "nic_card_mount_0", "entity_pose": {"translation": -0.009713759184475736, "roll": 0.0, "pitch": 0.0, "yaw": 0.0989917934462771}}, "nic_rail_1": {"entity_present": true, "entity_name": "nic_card_mount_1", "entity_pose": {"translation": -0.01910569053487358, "roll": 0.0, "pitch": 0.0, "yaw": -0.04028722753621903}}, "nic_rail_2": {"entity_present": false}, "nic_rail_3": {"entity_present": true, "entity_name": "nic_card_mount_3", "entity_pose": {"translation": 0.01907018440449252, "roll": 0.0, "pitch": 0.0, "yaw": -0.15469062471487033}}, "nic_rail_4": {"entity_present": true, "entity_name": "nic_card_mount_4", "entity_pose": {"translation": 0.015115059273046343, "roll": 0.0, "pitch": 0.0, "yaw": -0.07582076056468638}}, "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": -0.004361698178643802, "y": 0.019344447174230478, "z": 0.041306186200385994}, "roll": 0.41810987160473256, "pitch": -0.48344913985501997, "yaw": 1.4111216873747916}, "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": null, "success_tier3": null}
{"episode_index": 3, "task_index": 1, "length": 421, "trial_type": "sc", "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": 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": 0.050250431639722634, "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": 0.0024091542957025403, "y": 0.01584687667803864, "z": 0.04665009881204253}, "roll": 0.475152551762004, "pitch": -0.47246539409536975, "yaw": 1.5053861301167002}, "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": null, "success_tier3": null}
{"episode_index": 4, "task_index": 0, "length": 232, "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": true, "entity_name": "nic_card_mount_0", "entity_pose": {"translation": 0.014972345331045335, "roll": 0.0, "pitch": 0.0, "yaw": 0.00646561198859012}}, "nic_rail_1": {"entity_present": false}, "nic_rail_2": {"entity_present": true, "entity_name": "nic_card_mount_2", "entity_pose": {"translation": 0.0022900666621244285, "roll": 0.0, "pitch": 0.0, "yaw": 0.02243921188056402}}, "nic_rail_3": {"entity_present": false}, "nic_rail_4": {"entity_present": true, "entity_name": "nic_card_mount_4", "entity_pose": {"translation": -0.002450783167621859, "roll": 0.0, "pitch": 0.0, "yaw": 0.06413929589708671}}, "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": 0.007326402526337234, "y": 0.014276176531124512, "z": 0.04198001606807867}, "roll": 0.5230187509611761, "pitch": -0.2980566410664288, "yaw": 1.4564593086908102}, "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": null, "success_tier3": null}
{"episode_index": 5, "task_index": 1, "length": 722, "trial_type": "sc", "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": 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": -0.029523997257233498, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "sc_rail_1": {"entity_present": true, "entity_name": "sc_port_1", "entity_pose": {"translation": -0.002053225718824596, "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": 0.001358876155191137, "y": 0.019851120918384823, "z": 0.04298197023882923}, "roll": 0.50845617169411, "pitch": -0.47944976772884, "yaw": 1.2488528355383772}, "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": null, "success_tier3": null}
{"episode_index": 6, "task_index": 0, "length": 157, "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": 0.013825265627925597, "roll": 0.0, "pitch": 0.0, "yaw": 0.16332951927591108}}, "nic_rail_1": {"entity_present": true, "entity_name": "nic_card_mount_1", "entity_pose": {"translation": -0.01965514843463003, "roll": 0.0, "pitch": 0.0, "yaw": -0.1259371480800478}}, "nic_rail_2": {"entity_present": true, "entity_name": "nic_card_mount_2", "entity_pose": {"translation": -0.011458413560522598, "roll": 0.0, "pitch": 0.0, "yaw": 0.13749756758715317}}, "nic_rail_3": {"entity_present": true, "entity_name": "nic_card_mount_3", "entity_pose": {"translation": 0.022107650251559627, "roll": 0.0, "pitch": 0.0, "yaw": -0.15646051618138682}}, "nic_rail_4": {"entity_present": true, "entity_name": "nic_card_mount_4", "entity_pose": {"translation": -0.0011652115479645689, "roll": 0.0, "pitch": 0.0, "yaw": -0.06104140854356994}}, "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": 0.00400522696780937, "y": 0.014292512680530767, "z": 0.034615761651222335}, "roll": 0.4897693482060519, "pitch": -0.30245342556728916, "yaw": 1.4481475280989744}, "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": null, "success_tier3": null}
{"episode_index": 7, "task_index": 1, "length": 578, "trial_type": "sc", "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": 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": 0.042558371148803634, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "sc_rail_1": {"entity_present": true, "entity_name": "sc_port_1", "entity_pose": {"translation": -0.05263593316760621, "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": -0.0037108900565319325, "y": 0.01958154350675932, "z": 0.040518547495417175}, "roll": 0.3847882579925596, "pitch": -0.5274578841353358, "yaw": 1.2984674817337807}, "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": null, "success_tier3": null}
{"episode_index": 8, "task_index": 0, "length": 204, "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": true, "entity_name": "nic_card_mount_0", "entity_pose": {"translation": -0.020834514277871894, "roll": 0.0, "pitch": 0.0, "yaw": -0.13969765526264397}}, "nic_rail_1": {"entity_present": true, "entity_name": "nic_card_mount_1", "entity_pose": {"translation": -0.0027862080545812025, "roll": 0.0, "pitch": 0.0, "yaw": 0.022553026222820724}}, "nic_rail_2": {"entity_present": false}, "nic_rail_3": {"entity_present": true, "entity_name": "nic_card_mount_3", "entity_pose": {"translation": -0.01059676311839699, "roll": 0.0, "pitch": 0.0, "yaw": 0.03566215200705571}}, "nic_rail_4": {"entity_present": true, "entity_name": "nic_card_mount_4", "entity_pose": {"translation": -0.01596674278987054, "roll": 0.0, "pitch": 0.0, "yaw": -0.15432460764059194}}, "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": 0.0036610453536725547, "y": 0.0138549370912252, "z": 0.04293908844061233}, "roll": 0.3868906936853864, "pitch": -0.607049392894652, "yaw": 1.3052579696358477}, "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": null, "success_tier3": null}
{"episode_index": 9, "task_index": 1, "length": 432, "trial_type": "sc", "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": 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": -0.024073101016187634, "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": -0.001867611108128591, "y": 0.017531960789602723, "z": 0.03838766886552787}, "roll": 0.39732475740119455, "pitch": -0.5807957178115339, "yaw": 1.3437669603697555}, "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": null, "success_tier3": null}
{"episode_index": 10, "task_index": 0, "length": 735, "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": true, "entity_name": "nic_card_mount_0", "entity_pose": {"translation": -0.013607887897483684, "roll": 0.0, "pitch": 0.0, "yaw": -0.10680970521487862}}, "nic_rail_1": {"entity_present": true, "entity_name": "nic_card_mount_1", "entity_pose": {"translation": -0.0071215180814026575, "roll": 0.0, "pitch": 0.0, "yaw": 0.05981627119293743}}, "nic_rail_2": {"entity_present": true, "entity_name": "nic_card_mount_2", "entity_pose": {"translation": -0.005918833975040826, "roll": 0.0, "pitch": 0.0, "yaw": -0.07937881615027631}}, "nic_rail_3": {"entity_present": true, "entity_name": "nic_card_mount_3", "entity_pose": {"translation": 0.004190422319746662, "roll": 0.0, "pitch": 0.0, "yaw": 0.16794599283547118}}, "nic_rail_4": {"entity_present": true, "entity_name": "nic_card_mount_4", "entity_pose": {"translation": -0.010203620252532769, "roll": 0.0, "pitch": 0.0, "yaw": -0.052463805427869485}}, "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": -0.0028551768163084176, "y": 0.01576459887367002, "z": 0.04078844248632728}, "roll": 0.3112289212591737, "pitch": -0.5187843658246499, "yaw": 1.2732375357349655}, "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": null, "success_tier3": null}
{"episode_index": 11, "task_index": 1, "length": 393, "trial_type": "sc", "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": 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": 0.04131126054500013, "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": -0.00438266330024347, "y": 0.019525970613302877, "z": 0.043463949608773436}, "roll": 0.5387471864614092, "pitch": -0.5304329700050563, "yaw": 1.4784523835283845}, "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": null, "success_tier3": null}
{"episode_index": 12, "task_index": 0, "length": 771, "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": -0.0018326349633048106, "roll": 0.0, "pitch": 0.0, "yaw": -0.1587627226282391}}, "nic_rail_2": {"entity_present": true, "entity_name": "nic_card_mount_2", "entity_pose": {"translation": 0.008727494612033506, "roll": 0.0, "pitch": 0.0, "yaw": -0.017099419142504624}}, "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": -0.000772177306362722, "y": 0.021800560836555988, "z": 0.04284584540122084}, "roll": 0.4723802867534703, "pitch": -0.5557096748525968, "yaw": 1.4689368072216686}, "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": null, "success_tier3": null}
{"episode_index": 13, "task_index": 1, "length": 458, "trial_type": "sc", "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": false}, "nic_rail_4": {"entity_present": false}, "sc_rail_0": {"entity_present": true, "entity_name": "sc_port_0", "entity_pose": {"translation": 0.05097857631867421, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "sc_rail_1": {"entity_present": true, "entity_name": "sc_port_1", "entity_pose": {"translation": -0.04775361932737219, "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": 0.004275420882886886, "y": 0.01495440190360653, "z": 0.041214728261635136}, "roll": 0.3475021917028598, "pitch": -0.5838791046156949, "yaw": 1.2556237815975468}, "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": null, "success_tier3": null}
{"episode_index": 14, "task_index": 0, "length": 145, "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": true, "entity_name": "nic_card_mount_1", "entity_pose": {"translation": -0.001901470394006649, "roll": 0.0, "pitch": 0.0, "yaw": 0.14027337093394604}}, "nic_rail_2": {"entity_present": true, "entity_name": "nic_card_mount_2", "entity_pose": {"translation": -0.013521334174566356, "roll": 0.0, "pitch": 0.0, "yaw": 0.06711371182257307}}, "nic_rail_3": {"entity_present": false}, "nic_rail_4": {"entity_present": true, "entity_name": "nic_card_mount_4", "entity_pose": {"translation": 0.012440936879135542, "roll": 0.0, "pitch": 0.0, "yaw": -0.01618922920292351}}, "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": -0.004598879759864533, "y": 0.004123543177742465, "z": 0.051248765377048235}, "roll": 0.5260982223423435, "pitch": -0.4348580712584106, "yaw": 1.4435640075487144}, "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": null, "success_tier3": null}
{"episode_index": 15, "task_index": 1, "length": 456, "trial_type": "sc", "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": 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": 0.0509825659396424, "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": 0.003085933244997114, "y": 0.014388293703921869, "z": 0.04005404023303271}, "roll": 0.44358473648627533, "pitch": -0.4051360405879247, "yaw": 1.317762134606776}, "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": null, "success_tier3": null}
{"episode_index": 16, "task_index": 0, "length": 132, "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": true, "entity_name": "nic_card_mount_0", "entity_pose": {"translation": -0.0008622720139538388, "roll": 0.0, "pitch": 0.0, "yaw": 0.08949463368813922}}, "nic_rail_1": {"entity_present": true, "entity_name": "nic_card_mount_1", "entity_pose": {"translation": 0.003042279080504095, "roll": 0.0, "pitch": 0.0, "yaw": 0.018863670017761756}}, "nic_rail_2": {"entity_present": true, "entity_name": "nic_card_mount_2", "entity_pose": {"translation": 0.00957789090410302, "roll": 0.0, "pitch": 0.0, "yaw": 0.010747305691375176}}, "nic_rail_3": {"entity_present": true, "entity_name": "nic_card_mount_3", "entity_pose": {"translation": 0.002057635149486304, "roll": 0.0, "pitch": 0.0, "yaw": -0.007136723257526086}}, "nic_rail_4": {"entity_present": true, "entity_name": "nic_card_mount_4", "entity_pose": {"translation": 0.019540590736719217, "roll": 0.0, "pitch": 0.0, "yaw": -0.040323257643030325}}, "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": -0.0017357995707418252, "y": 0.012675435308571755, "z": 0.04704317477879867}, "roll": 0.5822378144994561, "pitch": -0.42326175513432723, "yaw": 1.3548790537043018}, "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": null, "success_tier3": null}
{"episode_index": 17, "task_index": 1, "length": 492, "trial_type": "sc", "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": 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": 0.03244566823076113, "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": -0.0008060585668304158, "y": 0.016593858047812056, "z": 0.041986371383063305}, "roll": 0.46221384367474755, "pitch": -0.5134714191532009, "yaw": 1.4021447562790634}, "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": null, "success_tier3": null}
{"episode_index": 18, "task_index": 0, "length": 466, "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": true, "entity_name": "nic_card_mount_1", "entity_pose": {"translation": -0.018429892066719408, "roll": 0.0, "pitch": 0.0, "yaw": -0.07143696917449967}}, "nic_rail_2": {"entity_present": true, "entity_name": "nic_card_mount_2", "entity_pose": {"translation": 0.018208736561198896, "roll": 0.0, "pitch": 0.0, "yaw": -0.043773176996615454}}, "nic_rail_3": {"entity_present": true, "entity_name": "nic_card_mount_3", "entity_pose": {"translation": 0.020514689657473703, "roll": 0.0, "pitch": 0.0, "yaw": 0.05871417567283232}}, "nic_rail_4": {"entity_present": true, "entity_name": "nic_card_mount_4", "entity_pose": {"translation": 0.021588446857738905, "roll": 0.0, "pitch": 0.0, "yaw": -0.10931032523156255}}, "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": 0.004275425540365446, "y": 0.013827165393044651, "z": 0.049046637119764716}, "roll": 0.3134188070028735, "pitch": -0.508440087526244, "yaw": 1.2505677132522635}, "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": null, "success_tier3": null}
{"episode_index": 19, "task_index": 1, "length": 389, "trial_type": "sc", "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": 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": -0.027437940389509072, "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": 0.001308161844736096, "y": 0.02091155469748464, "z": 0.0448630893495022}, "roll": 0.5738518410323918, "pitch": -0.4739372789794299, "yaw": 1.3038035414452465}, "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": null, "success_tier3": null}
{"episode_index": 20, "task_index": 0, "length": 129, "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": -0.01844727862992505, "roll": 0.0, "pitch": 0.0, "yaw": -0.1544180789698094}}, "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": 0.0012575697825212232, "y": 0.021822934672226242, "z": 0.040938417007236674}, "roll": 0.4448124264720692, "pitch": -0.7998837483496785, "yaw": 1.267506119817106}, "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": null, "success_tier3": null}
{"episode_index": 21, "task_index": 1, "length": 520, "trial_type": "sc", "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": 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": -0.055482157520344653, "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": 0.0019190942498933086, "y": 0.016751550627192763, "z": 0.04789967431822549}, "roll": 0.6349537486005035, "pitch": -0.5112800272078178, "yaw": 1.2783996868860465}, "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": null, "success_tier3": null}
{"episode_index": 22, "task_index": 0, "length": 916, "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": true, "entity_name": "nic_card_mount_0", "entity_pose": {"translation": -0.011443704265921468, "roll": 0.0, "pitch": 0.0, "yaw": 0.044228456559002045}}, "nic_rail_1": {"entity_present": true, "entity_name": "nic_card_mount_1", "entity_pose": {"translation": -0.0014701427749364594, "roll": 0.0, "pitch": 0.0, "yaw": 0.17184933975277752}}, "nic_rail_2": {"entity_present": true, "entity_name": "nic_card_mount_2", "entity_pose": {"translation": 0.004189062230676749, "roll": 0.0, "pitch": 0.0, "yaw": -0.10742860419141385}}, "nic_rail_3": {"entity_present": true, "entity_name": "nic_card_mount_3", "entity_pose": {"translation": 0.014200509441181647, "roll": 0.0, "pitch": 0.0, "yaw": -0.17438030445025424}}, "nic_rail_4": {"entity_present": true, "entity_name": "nic_card_mount_4", "entity_pose": {"translation": -0.008760392005542796, "roll": 0.0, "pitch": 0.0, "yaw": -0.1363873437180907}}, "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": -0.001977201996415658, "y": 0.020960204435986365, "z": 0.03984842873068307}, "roll": 0.4495862309933473, "pitch": -0.462721202273469, "yaw": 1.2933620091227431}, "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": null, "success_tier3": null}
{"episode_index": 23, "task_index": 1, "length": 519, "trial_type": "sc", "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": 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": 0.03259697946044181, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "sc_rail_1": {"entity_present": true, "entity_name": "sc_port_1", "entity_pose": {"translation": -0.050350286871292727, "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": -0.006609779884275511, "y": 0.009352292234341412, "z": 0.03781489028796168}, "roll": 0.3232317243717925, "pitch": -0.42845755268174074, "yaw": 1.2008532086047219}, "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": null, "success_tier3": null}
{"episode_index": 24, "task_index": 0, "length": 735, "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": true, "entity_name": "nic_card_mount_0", "entity_pose": {"translation": 0.010061128464857905, "roll": 0.0, "pitch": 0.0, "yaw": 0.06023922465371897}}, "nic_rail_1": {"entity_present": true, "entity_name": "nic_card_mount_1", "entity_pose": {"translation": -0.01682116079665967, "roll": 0.0, "pitch": 0.0, "yaw": 0.025315486362661656}}, "nic_rail_2": {"entity_present": true, "entity_name": "nic_card_mount_2", "entity_pose": {"translation": 0.015613024243444025, "roll": 0.0, "pitch": 0.0, "yaw": 0.145481995308557}}, "nic_rail_3": {"entity_present": true, "entity_name": "nic_card_mount_3", "entity_pose": {"translation": 0.003014820215040695, "roll": 0.0, "pitch": 0.0, "yaw": 0.06512364480305959}}, "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": 0.0016329031265069293, "y": 0.020383020186995456, "z": 0.041381673724338854}, "roll": 0.46558756067408313, "pitch": -0.4621104809122212, "yaw": 1.2980068267462792}, "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": null, "success_tier3": null}
{"episode_index": 25, "task_index": 1, "length": 868, "trial_type": "sc", "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": 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": 0.014562695219037095, "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": 0.0007432343317071061, "y": 0.011893964480903057, "z": 0.04348799302309735}, "roll": 0.46049942471716193, "pitch": -0.3142603232834943, "yaw": 1.3916094077993844}, "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": null, "success_tier3": null}
{"episode_index": 26, "task_index": 0, "length": 654, "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": -0.0077835999768042265, "roll": 0.0, "pitch": 0.0, "yaw": 0.137041085747975}}, "nic_rail_1": {"entity_present": true, "entity_name": "nic_card_mount_1", "entity_pose": {"translation": 0.0010692797360362973, "roll": 0.0, "pitch": 0.0, "yaw": 0.09560570815288703}}, "nic_rail_2": {"entity_present": true, "entity_name": "nic_card_mount_2", "entity_pose": {"translation": -0.0061255743871351295, "roll": 0.0, "pitch": 0.0, "yaw": 0.012160862037076673}}, "nic_rail_3": {"entity_present": true, "entity_name": "nic_card_mount_3", "entity_pose": {"translation": -0.016564534284909612, "roll": 0.0, "pitch": 0.0, "yaw": 0.03778213253032692}}, "nic_rail_4": {"entity_present": true, "entity_name": "nic_card_mount_4", "entity_pose": {"translation": 0.02066895511365767, "roll": 0.0, "pitch": 0.0, "yaw": 0.011911139878901291}}, "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": 0.0037484813817324743, "y": 0.013193955359957762, "z": 0.037532351881932456}, "roll": 0.4956104557256424, "pitch": -0.6074167826736919, "yaw": 1.276070990938352}, "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": null, "success_tier3": null}
{"episode_index": 27, "task_index": 1, "length": 672, "trial_type": "sc", "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": false}, "sc_rail_0": {"entity_present": false}, "sc_rail_1": {"entity_present": true, "entity_name": "sc_port_1", "entity_pose": {"translation": -0.0003865733272365862, "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": 0.0074791435463767994, "y": 0.01858118157433068, "z": 0.042244567342040115}, "roll": 0.4874492493644703, "pitch": -0.49702537733457414, "yaw": 1.1870446084625632}, "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": null, "success_tier3": null}
{"episode_index": 28, "task_index": 0, "length": 221, "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": true, "entity_name": "nic_card_mount_0", "entity_pose": {"translation": -0.003947629647611334, "roll": 0.0, "pitch": 0.0, "yaw": 0.1282627223410001}}, "nic_rail_1": {"entity_present": true, "entity_name": "nic_card_mount_1", "entity_pose": {"translation": 0.015491136094585557, "roll": 0.0, "pitch": 0.0, "yaw": -0.10593865070444118}}, "nic_rail_2": {"entity_present": false}, "nic_rail_3": {"entity_present": true, "entity_name": "nic_card_mount_3", "entity_pose": {"translation": -0.0003779625949806263, "roll": 0.0, "pitch": 0.0, "yaw": 0.1116360429609993}}, "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": 0.007171607879176385, "y": 0.01314366383873554, "z": 0.046250025190890824}, "roll": 0.4672599401371653, "pitch": -0.5164557533730433, "yaw": 1.4358449028909623}, "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": null, "success_tier3": null}
{"episode_index": 29, "task_index": 1, "length": 398, "trial_type": "sc", "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": 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": 0.024657013653662116, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "sc_rail_1": {"entity_present": true, "entity_name": "sc_port_1", "entity_pose": {"translation": -0.03750339365763625, "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": 0.006784979202601444, "y": 0.018282508189982245, "z": 0.03526632878377327}, "roll": 0.40568814585773105, "pitch": -0.49612145784211664, "yaw": 1.3856521196758826}, "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": null, "success_tier3": null}
{"episode_index": 30, "task_index": 0, "length": 240, "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": true, "entity_name": "nic_card_mount_0", "entity_pose": {"translation": 0.00856126026470401, "roll": 0.0, "pitch": 0.0, "yaw": -0.16638301103046416}}, "nic_rail_1": {"entity_present": true, "entity_name": "nic_card_mount_1", "entity_pose": {"translation": -0.01541563775445745, "roll": 0.0, "pitch": 0.0, "yaw": -0.02869470246980244}}, "nic_rail_2": {"entity_present": false}, "nic_rail_3": {"entity_present": true, "entity_name": "nic_card_mount_3", "entity_pose": {"translation": -0.007734295895365747, "roll": 0.0, "pitch": 0.0, "yaw": -0.012489018785588274}}, "nic_rail_4": {"entity_present": true, "entity_name": "nic_card_mount_4", "entity_pose": {"translation": -0.016037627255907384, "roll": 0.0, "pitch": 0.0, "yaw": -0.10829341913937185}}, "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": 0.005981016576161599, "y": 0.020211164264473135, "z": 0.04134106399448689}, "roll": 0.43876185674703166, "pitch": -0.3944485277148457, "yaw": 1.3380060979373172}, "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": null, "success_tier3": null}
{"episode_index": 31, "task_index": 1, "length": 957, "trial_type": "sc", "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": 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": 0.046902247014038306, "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": -0.004625455745687405, "y": 0.018898865005644687, "z": 0.04188955348403619}, "roll": 0.47056723070386164, "pitch": -0.49896623345999624, "yaw": 1.3985859988080809}, "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": null, "success_tier3": null}
{"episode_index": 32, "task_index": 0, "length": 140, "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": -0.009966314677566694, "roll": 0.0, "pitch": 0.0, "yaw": 0.026497409650391518}}, "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": 0.00028163983974590436, "y": 0.015349749485763819, "z": 0.03670289684278568}, "roll": 0.5042190514954108, "pitch": -0.5053184493493451, "yaw": 1.3618359663863822}, "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": null, "success_tier3": null}
{"episode_index": 33, "task_index": 1, "length": 467, "trial_type": "sc", "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": false}, "nic_rail_4": {"entity_present": false}, "sc_rail_0": {"entity_present": true, "entity_name": "sc_port_0", "entity_pose": {"translation": 0.053636353751192134, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "sc_rail_1": {"entity_present": true, "entity_name": "sc_port_1", "entity_pose": {"translation": 0.05029468977510988, "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": -7.312121368231946e-05, "y": 0.010461500205964641, "z": 0.04279338627329728}, "roll": 0.45253269121965334, "pitch": -0.5010947910766187, "yaw": 1.2946510760826349}, "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": null, "success_tier3": null}
{"episode_index": 34, "task_index": 0, "length": 918, "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": true, "entity_name": "nic_card_mount_0", "entity_pose": {"translation": -0.00039607813591391663, "roll": 0.0, "pitch": 0.0, "yaw": -0.1525622521939754}}, "nic_rail_1": {"entity_present": true, "entity_name": "nic_card_mount_1", "entity_pose": {"translation": 0.014975321069872607, "roll": 0.0, "pitch": 0.0, "yaw": -0.0755254698456153}}, "nic_rail_2": {"entity_present": true, "entity_name": "nic_card_mount_2", "entity_pose": {"translation": -0.013931528893517404, "roll": 0.0, "pitch": 0.0, "yaw": -0.14440263287166888}}, "nic_rail_3": {"entity_present": true, "entity_name": "nic_card_mount_3", "entity_pose": {"translation": -0.015744933562286033, "roll": 0.0, "pitch": 0.0, "yaw": -0.011610342513435904}}, "nic_rail_4": {"entity_present": true, "entity_name": "nic_card_mount_4", "entity_pose": {"translation": 0.018530274497826557, "roll": 0.0, "pitch": 0.0, "yaw": 0.055284077601473074}}, "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": 0.0031290535723868295, "y": 0.01678737135885867, "z": 0.04398123179313735}, "roll": 0.43849712845524036, "pitch": -0.6080197023209019, "yaw": 1.3428352747727355}, "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": null, "success_tier3": null}
{"episode_index": 35, "task_index": 1, "length": 485, "trial_type": "sc", "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": 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": 0.004394391660767383, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "sc_rail_1": {"entity_present": true, "entity_name": "sc_port_1", "entity_pose": {"translation": -0.021846196104791257, "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": 0.007135178990838645, "y": 0.013593660420403454, "z": 0.04021767691589433}, "roll": 0.43451022189476723, "pitch": -0.4025884189304476, "yaw": 1.3050651259589539}, "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": null, "success_tier3": null}
{"episode_index": 36, "task_index": 0, "length": 1009, "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": 0.01318108548977922, "roll": 0.0, "pitch": 0.0, "yaw": 0.030805767196271094}}, "nic_rail_2": {"entity_present": true, "entity_name": "nic_card_mount_2", "entity_pose": {"translation": 0.001570076774703659, "roll": 0.0, "pitch": 0.0, "yaw": -0.08432772086396785}}, "nic_rail_3": {"entity_present": true, "entity_name": "nic_card_mount_3", "entity_pose": {"translation": -0.015017570651234576, "roll": 0.0, "pitch": 0.0, "yaw": -0.1453246235725405}}, "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": -0.00224975347903449, "y": 0.02472373459240064, "z": 0.043796024446631956}, "roll": 0.46792465947359435, "pitch": -0.48815549197759184, "yaw": 1.3436488240963467}, "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": null, "success_tier3": null}
{"episode_index": 37, "task_index": 1, "length": 723, "trial_type": "sc", "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": 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": -0.02668547128601302, "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": -0.0006282204094112049, "y": 0.014318458647806107, "z": 0.0427721080862633}, "roll": 0.37503315046371133, "pitch": -0.45049582428814583, "yaw": 1.3310526222537942}, "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": null, "success_tier3": null}
{"episode_index": 38, "task_index": 0, "length": 181, "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": true, "entity_name": "nic_card_mount_0", "entity_pose": {"translation": 0.016483822042190385, "roll": 0.0, "pitch": 0.0, "yaw": 0.06627040817015754}}, "nic_rail_1": {"entity_present": true, "entity_name": "nic_card_mount_1", "entity_pose": {"translation": -0.010754248438525082, "roll": 0.0, "pitch": 0.0, "yaw": -0.13950827124188717}}, "nic_rail_2": {"entity_present": false}, "nic_rail_3": {"entity_present": true, "entity_name": "nic_card_mount_3", "entity_pose": {"translation": -0.010972084672949266, "roll": 0.0, "pitch": 0.0, "yaw": -0.09603190751260118}}, "nic_rail_4": {"entity_present": true, "entity_name": "nic_card_mount_4", "entity_pose": {"translation": 0.014313145459017643, "roll": 0.0, "pitch": 0.0, "yaw": -0.05596587476159271}}, "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": 0.004474859925144913, "y": 0.01271144209847297, "z": 0.03899232229211192}, "roll": 0.35099127112394163, "pitch": -0.44734168267780233, "yaw": 1.2979353269794753}, "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": null, "success_tier3": null}
{"episode_index": 39, "task_index": 1, "length": 406, "trial_type": "sc", "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": 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": -0.008850527165375273, "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": -0.0024479360006258747, "y": 0.014833898682708102, "z": 0.04011217820349132}, "roll": 0.5875842012071724, "pitch": -0.681970144528466, "yaw": 1.2965074436148736}, "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": null, "success_tier3": null}
{"episode_index": 40, "task_index": 0, "length": 230, "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": true, "entity_name": "nic_card_mount_1", "entity_pose": {"translation": 0.014389135657964507, "roll": 0.0, "pitch": 0.0, "yaw": -0.11150272395074391}}, "nic_rail_2": {"entity_present": true, "entity_name": "nic_card_mount_2", "entity_pose": {"translation": 0.019523070923634388, "roll": 0.0, "pitch": 0.0, "yaw": 0.16052002283261751}}, "nic_rail_3": {"entity_present": true, "entity_name": "nic_card_mount_3", "entity_pose": {"translation": -0.0113986707226659, "roll": 0.0, "pitch": 0.0, "yaw": 0.1613460678214334}}, "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": 0.0007826313698274532, "y": 0.019190033467767355, "z": 0.04889026199513206}, "roll": 0.276128099116598, "pitch": -0.591870793578676, "yaw": 1.2913303657941697}, "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": null, "success_tier3": null}
{"episode_index": 41, "task_index": 1, "length": 717, "trial_type": "sc", "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": false}, "sc_rail_0": {"entity_present": true, "entity_name": "sc_port_0", "entity_pose": {"translation": 0.04292988336204136, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "sc_rail_1": {"entity_present": true, "entity_name": "sc_port_1", "entity_pose": {"translation": 0.043143221521255645, "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": -0.0011955794613420342, "y": 0.014719367370590309, "z": 0.03520094902243204}, "roll": 0.4375385623428032, "pitch": -0.5029357539286993, "yaw": 1.301004496221049}, "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": null, "success_tier3": null}
{"episode_index": 42, "task_index": 0, "length": 73, "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": true, "entity_name": "nic_card_mount_0", "entity_pose": {"translation": 0.014866920870442751, "roll": 0.0, "pitch": 0.0, "yaw": 0.11881750127891935}}, "nic_rail_1": {"entity_present": true, "entity_name": "nic_card_mount_1", "entity_pose": {"translation": -0.013355646991041402, "roll": 0.0, "pitch": 0.0, "yaw": -0.1691179569541128}}, "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": -0.001694393113015086, "y": 0.005108579895014282, "z": 0.0412337743435604}, "roll": 0.5130806891599373, "pitch": -0.43901133770478795, "yaw": 1.3131053303308873}, "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": null, "success_tier3": null}
{"episode_index": 43, "task_index": 1, "length": 483, "trial_type": "sc", "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": 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": 0.04674093834419045, "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": 0.007494831063907452, "y": 0.015524697854590335, "z": 0.044621968329581284}, "roll": 0.37839229734990365, "pitch": -0.40151252429381334, "yaw": 1.1963141128071746}, "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": null, "success_tier3": null}
{"episode_index": 44, "task_index": 0, "length": 526, "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": 0.0006782176112713409, "roll": 0.0, "pitch": 0.0, "yaw": 0.058945095033301746}}, "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": 0.00517745316560279, "y": 0.01619071480202598, "z": 0.05252141690276766}, "roll": 0.30501631035805676, "pitch": -0.4751570196894009, "yaw": 1.3847427927295963}, "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": null, "success_tier3": null}
{"episode_index": 45, "task_index": 1, "length": 1063, "trial_type": "sc", "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": 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": 0.013276481784037786, "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": -0.003132601949119031, "y": 0.013450010990149695, "z": 0.043864104453003594}, "roll": 0.4508110711705991, "pitch": -0.5085213577661359, "yaw": 1.377574530429737}, "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": null, "success_tier3": null}
{"episode_index": 46, "task_index": 0, "length": 826, "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": true, "entity_name": "nic_card_mount_0", "entity_pose": {"translation": 0.009341546579611802, "roll": 0.0, "pitch": 0.0, "yaw": 0.016832634647613684}}, "nic_rail_1": {"entity_present": true, "entity_name": "nic_card_mount_1", "entity_pose": {"translation": -0.01923229894180222, "roll": 0.0, "pitch": 0.0, "yaw": -0.0498835491953092}}, "nic_rail_2": {"entity_present": true, "entity_name": "nic_card_mount_2", "entity_pose": {"translation": 0.002100810552663663, "roll": 0.0, "pitch": 0.0, "yaw": 0.053351111693580346}}, "nic_rail_3": {"entity_present": true, "entity_name": "nic_card_mount_3", "entity_pose": {"translation": 0.0027279222586778958, "roll": 0.0, "pitch": 0.0, "yaw": -0.10337089288073795}}, "nic_rail_4": {"entity_present": true, "entity_name": "nic_card_mount_4", "entity_pose": {"translation": -0.008013424295921123, "roll": 0.0, "pitch": 0.0, "yaw": -0.166245650997407}}, "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": -0.00595638727443597, "y": 0.01529243293534963, "z": 0.050236259104986344}, "roll": 0.4158598374039035, "pitch": -0.4801879457836593, "yaw": 1.3358411462116906}, "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": null, "success_tier3": null}
{"episode_index": 47, "task_index": 1, "length": 723, "trial_type": "sc", "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": 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": -0.04614958651582777, "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": -0.00033485589838817625, "y": 0.015328849230555375, "z": 0.037930831026118994}, "roll": 0.37388244970665024, "pitch": -0.42839075657480385, "yaw": 1.241534989849494}, "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": null, "success_tier3": null}
{"episode_index": 48, "task_index": 0, "length": 101, "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": true, "entity_name": "nic_card_mount_1", "entity_pose": {"translation": 0.0034440374816598167, "roll": 0.0, "pitch": 0.0, "yaw": 0.04761091802762963}}, "nic_rail_2": {"entity_present": false}, "nic_rail_3": {"entity_present": true, "entity_name": "nic_card_mount_3", "entity_pose": {"translation": -0.020788608558632755, "roll": 0.0, "pitch": 0.0, "yaw": -0.04095380074241939}}, "nic_rail_4": {"entity_present": true, "entity_name": "nic_card_mount_4", "entity_pose": {"translation": 0.01753426605010395, "roll": 0.0, "pitch": 0.0, "yaw": 0.06652551137434072}}, "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": -0.005845278769313257, "y": 0.01591363354743759, "z": 0.036020775388412536}, "roll": 0.536161345054306, "pitch": -0.400697197890738, "yaw": 1.2792322211377387}, "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": null, "success_tier3": null}
{"episode_index": 49, "task_index": 1, "length": 625, "trial_type": "sc", "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": 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": -0.04383130312122791, "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": 0.004547720192929974, "y": 0.02011576483376889, "z": 0.04007377135469792}, "roll": 0.4278330255537403, "pitch": -0.394922107601522, "yaw": 1.4229317293007961}, "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": null, "success_tier3": null}
{"episode_index": 50, "task_index": 0, "length": 127, "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": true, "entity_name": "nic_card_mount_0", "entity_pose": {"translation": 0.01609050353698778, "roll": 0.0, "pitch": 0.0, "yaw": -0.13354204169727701}}, "nic_rail_1": {"entity_present": true, "entity_name": "nic_card_mount_1", "entity_pose": {"translation": -0.018183605853295964, "roll": 0.0, "pitch": 0.0, "yaw": 0.12064334404678057}}, "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": -0.001144966000267169, "roll": 0.0, "pitch": 0.0, "yaw": 0.03749081166683841}}, "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": -0.0037133686319647356, "y": 0.006610608727849892, "z": 0.0479938124036471}, "roll": 0.26850370432174625, "pitch": -0.3342138252158232, "yaw": 1.409803206886209}, "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": null, "success_tier3": null}
{"episode_index": 51, "task_index": 1, "length": 798, "trial_type": "sc", "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": false}, "sc_rail_0": {"entity_present": true, "entity_name": "sc_port_0", "entity_pose": {"translation": -0.03319198766304151, "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": -0.0033775937248963005, "y": 0.010093828197761091, "z": 0.039258649831152785}, "roll": 0.262775446333063, "pitch": -0.40201246571569177, "yaw": 1.194171113890545}, "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": null, "success_tier3": null}
{"episode_index": 52, "task_index": 0, "length": 192, "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": true, "entity_name": "nic_card_mount_0", "entity_pose": {"translation": 0.011677481976490899, "roll": 0.0, "pitch": 0.0, "yaw": -0.035616015662984474}}, "nic_rail_1": {"entity_present": true, "entity_name": "nic_card_mount_1", "entity_pose": {"translation": 0.009957009694330034, "roll": 0.0, "pitch": 0.0, "yaw": 0.12208235087448661}}, "nic_rail_2": {"entity_present": true, "entity_name": "nic_card_mount_2", "entity_pose": {"translation": 0.014387216080662298, "roll": 0.0, "pitch": 0.0, "yaw": 0.15380844924833323}}, "nic_rail_3": {"entity_present": true, "entity_name": "nic_card_mount_3", "entity_pose": {"translation": 0.01243752185168575, "roll": 0.0, "pitch": 0.0, "yaw": 0.16677659728241442}}, "nic_rail_4": {"entity_present": true, "entity_name": "nic_card_mount_4", "entity_pose": {"translation": 0.0197456870251305, "roll": 0.0, "pitch": 0.0, "yaw": -0.06475213789315339}}, "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": 0.0004256229948036601, "y": 0.015718316055978003, "z": 0.04337272572675786}, "roll": 0.5194844164345683, "pitch": -0.4900636549790459, "yaw": 1.4192601968592318}, "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": null, "success_tier3": null}
{"episode_index": 53, "task_index": 1, "length": 456, "trial_type": "sc", "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": false}, "sc_rail_0": {"entity_present": true, "entity_name": "sc_port_0", "entity_pose": {"translation": -0.0560365875971592, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "sc_rail_1": {"entity_present": true, "entity_name": "sc_port_1", "entity_pose": {"translation": -0.05545416609300545, "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": 0.002279694596623585, "y": 0.01764359052733252, "z": 0.041787801624929705}, "roll": 0.3654756949268977, "pitch": -0.4880736938300998, "yaw": 1.2782405199971805}, "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": null, "success_tier3": null}
{"episode_index": 54, "task_index": 0, "length": 241, "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": 0.006201108985336299, "roll": 0.0, "pitch": 0.0, "yaw": -0.14502400579808564}}, "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": -0.007542975928359051, "y": 0.01563051109232095, "z": 0.034092226541646925}, "roll": 0.3697747391298793, "pitch": -0.5362474247351358, "yaw": 1.2049433770590874}, "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": null, "success_tier3": null}
{"episode_index": 55, "task_index": 1, "length": 552, "trial_type": "sc", "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": 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": 0.0011584116683515666, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "sc_rail_1": {"entity_present": true, "entity_name": "sc_port_1", "entity_pose": {"translation": -0.034754405315845394, "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": -0.000626778514537418, "y": 0.011974862742073334, "z": 0.044258402361558424}, "roll": 0.42852418444537155, "pitch": -0.4672991211111186, "yaw": 1.3054162816373927}, "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": null, "success_tier3": null}
{"episode_index": 56, "task_index": 0, "length": 214, "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": true, "entity_name": "nic_card_mount_0", "entity_pose": {"translation": 0.006446394432074766, "roll": 0.0, "pitch": 0.0, "yaw": 0.13030828097940325}}, "nic_rail_1": {"entity_present": true, "entity_name": "nic_card_mount_1", "entity_pose": {"translation": 0.018866805025155163, "roll": 0.0, "pitch": 0.0, "yaw": -0.09780939181962782}}, "nic_rail_2": {"entity_present": true, "entity_name": "nic_card_mount_2", "entity_pose": {"translation": -0.0055732728915217425, "roll": 0.0, "pitch": 0.0, "yaw": -0.12745669031024176}}, "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": -0.0023571685745408647, "y": 0.007703850602160997, "z": 0.0468224384684241}, "roll": 0.5265354767885562, "pitch": -0.49373331432765033, "yaw": 1.2540694174663054}, "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": null, "success_tier3": null}
{"episode_index": 57, "task_index": 1, "length": 582, "trial_type": "sc", "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": 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": -0.048253347717573454, "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": 0.0013951221411499532, "y": 0.013893563735142576, "z": 0.040971708031741494}, "roll": 0.3516776309670778, "pitch": -0.6154273012282696, "yaw": 1.4438371589314498}, "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": null, "success_tier3": null}
{"episode_index": 58, "task_index": 0, "length": 204, "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": true, "entity_name": "nic_card_mount_0", "entity_pose": {"translation": 0.013599584191559086, "roll": 0.0, "pitch": 0.0, "yaw": -0.07572395202703945}}, "nic_rail_1": {"entity_present": true, "entity_name": "nic_card_mount_1", "entity_pose": {"translation": 0.01877386047210066, "roll": 0.0, "pitch": 0.0, "yaw": 0.16702653673627876}}, "nic_rail_2": {"entity_present": true, "entity_name": "nic_card_mount_2", "entity_pose": {"translation": 0.01386229767816105, "roll": 0.0, "pitch": 0.0, "yaw": 0.1247525598026206}}, "nic_rail_3": {"entity_present": true, "entity_name": "nic_card_mount_3", "entity_pose": {"translation": 0.00239991573504815, "roll": 0.0, "pitch": 0.0, "yaw": -0.08830892481220388}}, "nic_rail_4": {"entity_present": true, "entity_name": "nic_card_mount_4", "entity_pose": {"translation": 0.0019046135707079317, "roll": 0.0, "pitch": 0.0, "yaw": -0.09867429637514238}}, "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": 0.0009901267491526566, "y": 0.013954941830522309, "z": 0.038192409680973885}, "roll": 0.6098145545202056, "pitch": -0.3999616233929691, "yaw": 1.421405914489002}, "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": null, "success_tier3": null}
{"episode_index": 59, "task_index": 1, "length": 411, "trial_type": "sc", "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": 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": 0.013359744559361508, "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": 0.0001379034769574907, "y": 0.012167757280537003, "z": 0.03758489016311886}, "roll": 0.41332237570893693, "pitch": -0.48059974365717517, "yaw": 1.3302585005250438}, "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": null, "success_tier3": null}
{"episode_index": 60, "task_index": 0, "length": 216, "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": true, "entity_name": "nic_card_mount_1", "entity_pose": {"translation": -0.004438912162670543, "roll": 0.0, "pitch": 0.0, "yaw": 0.03444267657209697}}, "nic_rail_2": {"entity_present": true, "entity_name": "nic_card_mount_2", "entity_pose": {"translation": -0.016305668583318937, "roll": 0.0, "pitch": 0.0, "yaw": -0.1555912853589947}}, "nic_rail_3": {"entity_present": true, "entity_name": "nic_card_mount_3", "entity_pose": {"translation": 0.011247536633227272, "roll": 0.0, "pitch": 0.0, "yaw": -0.0597524618447989}}, "nic_rail_4": {"entity_present": true, "entity_name": "nic_card_mount_4", "entity_pose": {"translation": -0.0020019322514750366, "roll": 0.0, "pitch": 0.0, "yaw": 0.11291489900589836}}, "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": -0.007088514552943438, "y": 0.015013745865067528, "z": 0.038686111649931756}, "roll": 0.296452032811536, "pitch": -0.4916744956428647, "yaw": 1.4279064952601597}, "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": null, "success_tier3": null}
{"episode_index": 61, "task_index": 1, "length": 1187, "trial_type": "sc", "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": 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": -0.039745585767689724, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "sc_rail_1": {"entity_present": true, "entity_name": "sc_port_1", "entity_pose": {"translation": 0.008681455970458427, "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": -0.0037302346283259982, "y": 0.01572143366180825, "z": 0.042066732253328604}, "roll": 0.5234385095934984, "pitch": -0.4301648182883502, "yaw": 1.2585249958424287}, "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": null, "success_tier3": null}
{"episode_index": 62, "task_index": 0, "length": 1116, "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": true, "entity_name": "nic_card_mount_0", "entity_pose": {"translation": -0.01808248568979968, "roll": 0.0, "pitch": 0.0, "yaw": -0.0016864716981199737}}, "nic_rail_1": {"entity_present": true, "entity_name": "nic_card_mount_1", "entity_pose": {"translation": -0.017146298609103005, "roll": 0.0, "pitch": 0.0, "yaw": -0.09284653418459723}}, "nic_rail_2": {"entity_present": true, "entity_name": "nic_card_mount_2", "entity_pose": {"translation": -0.001907647053224333, "roll": 0.0, "pitch": 0.0, "yaw": -0.05975113065088744}}, "nic_rail_3": {"entity_present": true, "entity_name": "nic_card_mount_3", "entity_pose": {"translation": 0.0225320091412594, "roll": 0.0, "pitch": 0.0, "yaw": -0.12482415894047011}}, "nic_rail_4": {"entity_present": true, "entity_name": "nic_card_mount_4", "entity_pose": {"translation": -0.017558165294393246, "roll": 0.0, "pitch": 0.0, "yaw": -0.16985311662097138}}, "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": -0.0002630552674789877, "y": 0.020897707261612084, "z": 0.043664895683227734}, "roll": 0.3565772422221663, "pitch": -0.5420498776054201, "yaw": 1.4002609091743863}, "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": null, "success_tier3": null}
{"episode_index": 63, "task_index": 1, "length": 313, "trial_type": "sc", "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": 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": -0.03075600857531972, "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": -0.0018415201664598586, "y": 0.015026395241942912, "z": 0.040943855749402513}, "roll": 0.3604342456047746, "pitch": -0.4699154723662956, "yaw": 1.37765210565418}, "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": null, "success_tier3": null}
{"episode_index": 64, "task_index": 0, "length": 273, "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": -0.014757468272580029, "roll": 0.0, "pitch": 0.0, "yaw": 0.06645507518488485}}, "nic_rail_3": {"entity_present": true, "entity_name": "nic_card_mount_3", "entity_pose": {"translation": -0.009682672867977655, "roll": 0.0, "pitch": 0.0, "yaw": -0.014850531497461896}}, "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": 0.0023655724272392065, "y": 0.017868909872449087, "z": 0.04398614422707467}, "roll": 0.4605635500344034, "pitch": -0.45115910126809167, "yaw": 1.3083630345856512}, "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": null, "success_tier3": null}
{"episode_index": 65, "task_index": 1, "length": 422, "trial_type": "sc", "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": false}, "sc_rail_0": {"entity_present": false}, "sc_rail_1": {"entity_present": true, "entity_name": "sc_port_1", "entity_pose": {"translation": -0.038230667407298774, "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": 0.0019658835614559667, "y": 0.00975935271182592, "z": 0.04106231861075822}, "roll": 0.47432921564031083, "pitch": -0.5072556117906942, "yaw": 1.3825901217345709}, "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": null, "success_tier3": null}
{"episode_index": 66, "task_index": 0, "length": 1315, "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": true, "entity_name": "nic_card_mount_1", "entity_pose": {"translation": -0.020123004427646498, "roll": 0.0, "pitch": 0.0, "yaw": 0.09413643758569123}}, "nic_rail_2": {"entity_present": false}, "nic_rail_3": {"entity_present": true, "entity_name": "nic_card_mount_3", "entity_pose": {"translation": -0.010197484389311836, "roll": 0.0, "pitch": 0.0, "yaw": 0.0639612491342148}}, "nic_rail_4": {"entity_present": true, "entity_name": "nic_card_mount_4", "entity_pose": {"translation": -0.0009415674828993637, "roll": 0.0, "pitch": 0.0, "yaw": 0.02766776754257179}}, "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": 0.005043712375785109, "y": 0.020753655173397917, "z": 0.034694164377106214}, "roll": 0.39356935907826124, "pitch": -0.47720594292865204, "yaw": 1.3633589890063655}, "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": null, "success_tier3": null}
{"episode_index": 67, "task_index": 1, "length": 323, "trial_type": "sc", "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": 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": -0.022974383027299504, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "sc_rail_1": {"entity_present": true, "entity_name": "sc_port_1", "entity_pose": {"translation": 0.033377257976610564, "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": -0.002225088694014978, "y": 0.0189880702228839, "z": 0.04318274766563304}, "roll": 0.3911506751278405, "pitch": -0.6220029216239729, "yaw": 1.305317591520832}, "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": null, "success_tier3": null}
{"episode_index": 68, "task_index": 0, "length": 262, "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": true, "entity_name": "nic_card_mount_1", "entity_pose": {"translation": 0.009654143671467684, "roll": 0.0, "pitch": 0.0, "yaw": -0.1351759719113358}}, "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": -0.000990791022788911, "roll": 0.0, "pitch": 0.0, "yaw": -0.03763223790296987}}, "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": 0.00039805519761961075, "y": 0.014277052286533764, "z": 0.04561354938043333}, "roll": 0.37366607059387125, "pitch": -0.5040856694256837, "yaw": 1.3208282816928163}, "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": null, "success_tier3": null}
{"episode_index": 69, "task_index": 1, "length": 460, "trial_type": "sc", "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": 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": 0.0027740292729229316, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "sc_rail_1": {"entity_present": true, "entity_name": "sc_port_1", "entity_pose": {"translation": 0.029674504023975423, "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": 0.001452329881735013, "y": 0.0182294166153507, "z": 0.04463990777991857}, "roll": 0.36539689136733705, "pitch": -0.5609104707925633, "yaw": 1.325661612147834}, "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": null, "success_tier3": null}
{"episode_index": 70, "task_index": 0, "length": 228, "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": true, "entity_name": "nic_card_mount_0", "entity_pose": {"translation": -0.015811834793084782, "roll": 0.0, "pitch": 0.0, "yaw": 0.007673616719953992}}, "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": 0.019965960804064528, "roll": 0.0, "pitch": 0.0, "yaw": -0.09479505681536135}}, "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": 0.000531793451838578, "y": 0.018498032702784998, "z": 0.041678674708215714}, "roll": 0.3364088245563046, "pitch": -0.42210154027611324, "yaw": 1.3075779101351945}, "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": null, "success_tier3": null}
{"episode_index": 71, "task_index": 1, "length": 433, "trial_type": "sc", "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": 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": 0.028457376741046203, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "sc_rail_1": {"entity_present": true, "entity_name": "sc_port_1", "entity_pose": {"translation": 0.044614053959448216, "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": -0.0012261346021849998, "y": 0.008994645841033025, "z": 0.04013749152964799}, "roll": 0.5220930968808261, "pitch": -0.5392566665008495, "yaw": 1.1915884619354098}, "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": null, "success_tier3": null}
{"episode_index": 72, "task_index": 0, "length": 1207, "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": 0.007266967705073995, "roll": 0.0, "pitch": 0.0, "yaw": 0.05547711983777592}}, "nic_rail_1": {"entity_present": false}, "nic_rail_2": {"entity_present": true, "entity_name": "nic_card_mount_2", "entity_pose": {"translation": 0.008585937036238684, "roll": 0.0, "pitch": 0.0, "yaw": -0.1197118277920409}}, "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": 0.0029480920967655546, "y": 0.015904219066211096, "z": 0.03626200533272425}, "roll": 0.3704591454435635, "pitch": -0.4837954382029668, "yaw": 1.2686363640437277}, "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": null, "success_tier3": null}
{"episode_index": 73, "task_index": 1, "length": 709, "trial_type": "sc", "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": 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": 0.03170720441615324, "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": -0.0015634493844210121, "y": 0.010147131152819878, "z": 0.04346658712657286}, "roll": 0.4311869762565785, "pitch": -0.47112989824447093, "yaw": 1.3384094995323979}, "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": null, "success_tier3": null}
{"episode_index": 74, "task_index": 0, "length": 1210, "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": true, "entity_name": "nic_card_mount_3", "entity_pose": {"translation": 0.012798443956755598, "roll": 0.0, "pitch": 0.0, "yaw": -0.0055517167330776055}}, "nic_rail_4": {"entity_present": true, "entity_name": "nic_card_mount_4", "entity_pose": {"translation": 0.007257046939462258, "roll": 0.0, "pitch": 0.0, "yaw": -0.0278389038332034}}, "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": 0.0031921964008999213, "y": 0.015991833253903884, "z": 0.040141410585308665}, "roll": 0.4661718268683577, "pitch": -0.43296462393666596, "yaw": 1.3116943976267146}, "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": null, "success_tier3": null}
{"episode_index": 75, "task_index": 1, "length": 1114, "trial_type": "sc", "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": 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": 0.007259489690172927, "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": -0.000578010557869871, "y": 0.01456276788445309, "z": 0.0423044471369823}, "roll": 0.4396499467258897, "pitch": -0.5019825314337373, "yaw": 1.329368716584487}, "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": null, "success_tier3": null}
{"episode_index": 76, "task_index": 0, "length": 165, "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": true, "entity_name": "nic_card_mount_0", "entity_pose": {"translation": -0.0039695946689510195, "roll": 0.0, "pitch": 0.0, "yaw": 0.10425295532402679}}, "nic_rail_1": {"entity_present": true, "entity_name": "nic_card_mount_1", "entity_pose": {"translation": 0.008650341333369612, "roll": 0.0, "pitch": 0.0, "yaw": -0.052392343684666054}}, "nic_rail_2": {"entity_present": true, "entity_name": "nic_card_mount_2", "entity_pose": {"translation": 0.0008199474781705636, "roll": 0.0, "pitch": 0.0, "yaw": 0.08935881672030334}}, "nic_rail_3": {"entity_present": true, "entity_name": "nic_card_mount_3", "entity_pose": {"translation": -0.015615990141063234, "roll": 0.0, "pitch": 0.0, "yaw": 0.1492256266373023}}, "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": -0.0026229535964609222, "y": 0.018189088521945018, "z": 0.04546141885949621}, "roll": 0.4187095197884053, "pitch": -0.42373818532131524, "yaw": 1.426356422385923}, "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": null, "success_tier3": null}
{"episode_index": 77, "task_index": 1, "length": 450, "trial_type": "sc", "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": 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": 0.04644303770096929, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "sc_rail_1": {"entity_present": true, "entity_name": "sc_port_1", "entity_pose": {"translation": -0.05326893930503374, "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": -0.0048104054158057095, "y": 0.015203248891526721, "z": 0.032612918957124}, "roll": 0.4310999391129092, "pitch": -0.42155346457691256, "yaw": 1.3497260412867678}, "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": null, "success_tier3": null}
{"episode_index": 78, "task_index": 0, "length": 245, "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": true, "entity_name": "nic_card_mount_0", "entity_pose": {"translation": -0.0027217441652865153, "roll": 0.0, "pitch": 0.0, "yaw": -0.06680762511671978}}, "nic_rail_1": {"entity_present": false}, "nic_rail_2": {"entity_present": true, "entity_name": "nic_card_mount_2", "entity_pose": {"translation": -0.006258199811624461, "roll": 0.0, "pitch": 0.0, "yaw": 0.0671286399289656}}, "nic_rail_3": {"entity_present": true, "entity_name": "nic_card_mount_3", "entity_pose": {"translation": 0.019506264111766446, "roll": 0.0, "pitch": 0.0, "yaw": 0.07032831077075302}}, "nic_rail_4": {"entity_present": true, "entity_name": "nic_card_mount_4", "entity_pose": {"translation": -0.016183594791778624, "roll": 0.0, "pitch": 0.0, "yaw": 0.1442238604302669}}, "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": 0.001712898416289852, "y": 0.013316328530453796, "z": 0.043790270007942306}, "roll": 0.48552737866509044, "pitch": -0.527961412052248, "yaw": 1.170168640525264}, "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": null, "success_tier3": null}
{"episode_index": 79, "task_index": 1, "length": 435, "trial_type": "sc", "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": 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": -0.010264172353705775, "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": 0.002588110929694549, "y": 0.020107687948279242, "z": 0.03790386201329671}, "roll": 0.3838591076088233, "pitch": -0.4399576393511409, "yaw": 1.2533390124944652}, "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": null, "success_tier3": null}
{"episode_index": 80, "task_index": 0, "length": 165, "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": -0.01906730543444029, "roll": 0.0, "pitch": 0.0, "yaw": -0.15776330546101167}}, "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": -0.00043767752177024607, "y": 0.01664543402323994, "z": 0.05100081588000005}, "roll": 0.4299064382101859, "pitch": -0.46424336695776386, "yaw": 1.2142849874876644}, "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": null, "success_tier3": null}
{"episode_index": 81, "task_index": 1, "length": 938, "trial_type": "sc", "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": false}, "nic_rail_4": {"entity_present": false}, "sc_rail_0": {"entity_present": true, "entity_name": "sc_port_0", "entity_pose": {"translation": 0.008327331037480831, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "sc_rail_1": {"entity_present": true, "entity_name": "sc_port_1", "entity_pose": {"translation": 0.009260211859697942, "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": -0.006453416243496095, "y": 0.010258591939665851, "z": 0.04236930023044838}, "roll": 0.4296907410217025, "pitch": -0.43053976384956794, "yaw": 1.315514966355101}, "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": null, "success_tier3": null}
{"episode_index": 82, "task_index": 0, "length": 1382, "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": 0.00013859088582306514, "roll": 0.0, "pitch": 0.0, "yaw": 0.07102155838387779}}, "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": -0.001994377632977582, "roll": 0.0, "pitch": 0.0, "yaw": 0.0376989112540101}}, "nic_rail_4": {"entity_present": true, "entity_name": "nic_card_mount_4", "entity_pose": {"translation": 0.0012688002894430499, "roll": 0.0, "pitch": 0.0, "yaw": 0.03691601686279801}}, "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": 0.002421938978767531, "y": 0.014013439526849133, "z": 0.041744544030072925}, "roll": 0.45892311570905076, "pitch": -0.5204495460905535, "yaw": 1.3369219218830963}, "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": null, "success_tier3": null}
{"episode_index": 83, "task_index": 1, "length": 616, "trial_type": "sc", "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": false}, "nic_rail_4": {"entity_present": false}, "sc_rail_0": {"entity_present": true, "entity_name": "sc_port_0", "entity_pose": {"translation": -0.016872616315849805, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "sc_rail_1": {"entity_present": true, "entity_name": "sc_port_1", "entity_pose": {"translation": 0.018756728609525666, "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": -0.0034903505489190076, "y": 0.01890473710385304, "z": 0.04017823057566809}, "roll": 0.4696761952426989, "pitch": -0.4465605486535644, "yaw": 1.3928205839765544}, "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": null, "success_tier3": null}
{"episode_index": 84, "task_index": 0, "length": 169, "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": true, "entity_name": "nic_card_mount_0", "entity_pose": {"translation": -0.01236999039010637, "roll": 0.0, "pitch": 0.0, "yaw": -0.05084319957739316}}, "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": 0.015522084936134162, "roll": 0.0, "pitch": 0.0, "yaw": -0.09578348020271796}}, "nic_rail_4": {"entity_present": true, "entity_name": "nic_card_mount_4", "entity_pose": {"translation": 0.020722102412128164, "roll": 0.0, "pitch": 0.0, "yaw": -0.02439067533220468}}, "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": -0.004746811441167731, "y": 0.01580970697493068, "z": 0.048981390008743596}, "roll": 0.4562379241852921, "pitch": -0.453509426634615, "yaw": 1.2500007271382128}, "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": null, "success_tier3": null}
{"episode_index": 85, "task_index": 1, "length": 449, "trial_type": "sc", "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": 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": -0.04726850370520949, "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": 0.0015314537974064734, "y": 0.015476201188245485, "z": 0.04259825072237123}, "roll": 0.5018825675135716, "pitch": -0.49461060135677065, "yaw": 1.3576275836695515}, "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": null, "success_tier3": null}
{"episode_index": 86, "task_index": 0, "length": 1525, "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": 0.019836438969336304, "roll": 0.0, "pitch": 0.0, "yaw": -0.09152813386921564}}, "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": 0.003860425916378791, "y": 0.02200564496159479, "z": 0.04088942866265645}, "roll": 0.4809486773007865, "pitch": -0.5181377736541618, "yaw": 1.2457849944886394}, "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": null, "success_tier3": null}
{"episode_index": 87, "task_index": 1, "length": 237, "trial_type": "sc", "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": false}, "sc_rail_0": {"entity_present": true, "entity_name": "sc_port_0", "entity_pose": {"translation": 0.03599192103551012, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "sc_rail_1": {"entity_present": true, "entity_name": "sc_port_1", "entity_pose": {"translation": 0.015567534439604444, "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": 0.0011080351204439797, "y": 0.02190182819281176, "z": 0.03780389185322066}, "roll": 0.2607835809224947, "pitch": -0.4424899166856954, "yaw": 1.3627350963272424}, "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": null, "success_tier3": null}
{"episode_index": 88, "task_index": 0, "length": 219, "trial_type": "sfp", "trial_id": "trial_89", "seed": 100088, "randomization": {"board_pose": {"x": 0.14132643285578864, "y": -0.19106427436210552, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 2.8207373379435063}, "rails": {"nic_rail_0": {"entity_present": true, "entity_name": "nic_card_mount_0", "entity_pose": {"translation": -0.009086454424362421, "roll": 0.0, "pitch": 0.0, "yaw": 0.08397389116149034}}, "nic_rail_1": {"entity_present": false}, "nic_rail_2": {"entity_present": true, "entity_name": "nic_card_mount_2", "entity_pose": {"translation": -0.006282762492967112, "roll": 0.0, "pitch": 0.0, "yaw": 0.1302607873977386}}, "nic_rail_3": {"entity_present": true, "entity_name": "nic_card_mount_3", "entity_pose": {"translation": -0.014877225363175449, "roll": 0.0, "pitch": 0.0, "yaw": 0.16476226903734903}}, "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": -0.005175109891878044, "y": 0.016438095039670805, "z": 0.036597126448017825}, "roll": 0.25627252117501087, "pitch": -0.4772737392093404, "yaw": 1.2126279531408566}, "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": null, "success_tier3": null}
{"episode_index": 89, "task_index": 1, "length": 439, "trial_type": "sc", "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": false}, "nic_rail_4": {"entity_present": false}, "sc_rail_0": {"entity_present": true, "entity_name": "sc_port_0", "entity_pose": {"translation": 0.017039656291423372, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "sc_rail_1": {"entity_present": true, "entity_name": "sc_port_1", "entity_pose": {"translation": -0.010224237558842837, "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": 2.320294687445237e-05, "y": 0.015171347001417337, "z": 0.041601956593570875}, "roll": 0.4129128544816005, "pitch": -0.461866929995864, "yaw": 1.4362247663096719}, "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": null, "success_tier3": null}
{"episode_index": 90, "task_index": 0, "length": 213, "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": 0.011360995411925416, "roll": 0.0, "pitch": 0.0, "yaw": 0.02503895482072018}}, "nic_rail_1": {"entity_present": true, "entity_name": "nic_card_mount_1", "entity_pose": {"translation": 0.01775604650361068, "roll": 0.0, "pitch": 0.0, "yaw": 0.052986697963052456}}, "nic_rail_2": {"entity_present": true, "entity_name": "nic_card_mount_2", "entity_pose": {"translation": -0.008136732435908546, "roll": 0.0, "pitch": 0.0, "yaw": -0.007361294325866122}}, "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": -0.007070074944891159, "y": 0.016642111427037802, "z": 0.03730518573699506}, "roll": 0.40181312615375514, "pitch": -0.4692472071936109, "yaw": 1.3679894051115118}, "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": null, "success_tier3": null}
{"episode_index": 91, "task_index": 1, "length": 453, "trial_type": "sc", "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": false}, "sc_rail_0": {"entity_present": true, "entity_name": "sc_port_0", "entity_pose": {"translation": -0.03470717871708436, "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": 0.006175569221314906, "y": 0.017810420830473038, "z": 0.04540243415939603}, "roll": 0.47370777941718295, "pitch": -0.40848328591226807, "yaw": 1.4039178064059123}, "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": null, "success_tier3": null}
{"episode_index": 92, "task_index": 0, "length": 240, "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": true, "entity_name": "nic_card_mount_0", "entity_pose": {"translation": 0.003593876737350777, "roll": 0.0, "pitch": 0.0, "yaw": 0.02983726808575347}}, "nic_rail_1": {"entity_present": true, "entity_name": "nic_card_mount_1", "entity_pose": {"translation": 0.0015920526999157573, "roll": 0.0, "pitch": 0.0, "yaw": -0.05389509658824194}}, "nic_rail_2": {"entity_present": true, "entity_name": "nic_card_mount_2", "entity_pose": {"translation": 0.020215872852302474, "roll": 0.0, "pitch": 0.0, "yaw": -0.1156752558917423}}, "nic_rail_3": {"entity_present": true, "entity_name": "nic_card_mount_3", "entity_pose": {"translation": 0.016314016667961756, "roll": 0.0, "pitch": 0.0, "yaw": -0.029931669785295798}}, "nic_rail_4": {"entity_present": true, "entity_name": "nic_card_mount_4", "entity_pose": {"translation": 0.02094855819240924, "roll": 0.0, "pitch": 0.0, "yaw": -0.044684073679594975}}, "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": 0.0031695033170994905, "y": 0.015616358931460175, "z": 0.045389174997739694}, "roll": 0.494324654962353, "pitch": -0.5037122595193317, "yaw": 1.3903640786864133}, "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": null, "success_tier3": null}
{"episode_index": 93, "task_index": 1, "length": 536, "trial_type": "sc", "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": false}, "sc_rail_0": {"entity_present": true, "entity_name": "sc_port_0", "entity_pose": {"translation": 0.008288168422265207, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "sc_rail_1": {"entity_present": true, "entity_name": "sc_port_1", "entity_pose": {"translation": -0.02160811813443892, "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": -0.0010877937566093293, "y": 0.018754913352001867, "z": 0.04877144397318896}, "roll": 0.5622281195208245, "pitch": -0.5814150637832317, "yaw": 1.5194863813557136}, "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": null, "success_tier3": null}
{"episode_index": 94, "task_index": 0, "length": 428, "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": true, "entity_name": "nic_card_mount_1", "entity_pose": {"translation": 0.011746199044933542, "roll": 0.0, "pitch": 0.0, "yaw": -0.12662066950435194}}, "nic_rail_2": {"entity_present": false}, "nic_rail_3": {"entity_present": true, "entity_name": "nic_card_mount_3", "entity_pose": {"translation": -0.0008711572622830469, "roll": 0.0, "pitch": 0.0, "yaw": 0.13207265395739268}}, "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": 0.004003341542511831, "y": 0.026539480686632408, "z": 0.03954984142825503}, "roll": 0.36167035837272316, "pitch": -0.5130190403500174, "yaw": 1.3121429458800111}, "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": null, "success_tier3": null}
{"episode_index": 95, "task_index": 1, "length": 1076, "trial_type": "sc", "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": false}, "sc_rail_0": {"entity_present": false}, "sc_rail_1": {"entity_present": true, "entity_name": "sc_port_1", "entity_pose": {"translation": 0.039499176642941336, "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": 0.002113685627052088, "y": 0.014168012330525954, "z": 0.03626727395730445}, "roll": 0.39685365269108624, "pitch": -0.4871120035705679, "yaw": 1.1865771791225885}, "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": null, "success_tier3": null}
{"episode_index": 96, "task_index": 0, "length": 159, "trial_type": "sfp", "trial_id": "trial_97", "seed": 100096, "randomization": {"board_pose": {"x": 0.1306641888290157, "y": -0.22444065833908608, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.05514982120767}, "rails": {"nic_rail_0": {"entity_present": true, "entity_name": "nic_card_mount_0", "entity_pose": {"translation": -0.0068447764694360945, "roll": 0.0, "pitch": 0.0, "yaw": -0.024914081388089655}}, "nic_rail_1": {"entity_present": true, "entity_name": "nic_card_mount_1", "entity_pose": {"translation": -1.6254973400027517e-05, "roll": 0.0, "pitch": 0.0, "yaw": -0.11127971602086265}}, "nic_rail_2": {"entity_present": true, "entity_name": "nic_card_mount_2", "entity_pose": {"translation": -0.010045995356942157, "roll": 0.0, "pitch": 0.0, "yaw": 0.02255688190102617}}, "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": 0.0015698879241429983, "y": 0.011699533134859977, "z": 0.04461742184056296}, "roll": 0.5392232992486028, "pitch": -0.48784641253432703, "yaw": 1.382460083043058}, "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": null, "success_tier3": null}
{"episode_index": 97, "task_index": 1, "length": 707, "trial_type": "sc", "trial_id": "trial_98", "seed": 100097, "randomization": {"board_pose": {"x": 0.1833459148881941, "y": -0.215223930312595, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.300840290216528}, "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": 0.03569804467504527, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "sc_rail_1": {"entity_present": true, "entity_name": "sc_port_1", "entity_pose": {"translation": -0.003607449842780823, "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": -0.0002721174549537539, "y": 0.009780013510239806, "z": 0.04235036175477678}, "roll": 0.407864296470674, "pitch": -0.3767170906038044, "yaw": 1.339926837927555}, "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": null, "success_tier3": null}
{"episode_index": 98, "task_index": 0, "length": 232, "trial_type": "sfp", "trial_id": "trial_99", "seed": 100098, "randomization": {"board_pose": {"x": 0.16582721536372552, "y": -0.16609937034124528, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.0328166099416034}, "rails": {"nic_rail_0": {"entity_present": true, "entity_name": "nic_card_mount_0", "entity_pose": {"translation": 0.02091181966339572, "roll": 0.0, "pitch": 0.0, "yaw": 0.06107134783886327}}, "nic_rail_1": {"entity_present": true, "entity_name": "nic_card_mount_1", "entity_pose": {"translation": -0.01469477223918579, "roll": 0.0, "pitch": 0.0, "yaw": 0.0860489487180867}}, "nic_rail_2": {"entity_present": true, "entity_name": "nic_card_mount_2", "entity_pose": {"translation": -0.007788266313056539, "roll": 0.0, "pitch": 0.0, "yaw": 0.052977853979375544}}, "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": -0.0029278414816819496, "y": 0.008867217424459665, "z": 0.05302967120337378}, "roll": 0.48961959073466504, "pitch": -0.454450063539318, "yaw": 1.282277979051005}, "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": null, "success_tier3": null}
{"episode_index": 99, "task_index": 1, "length": 1090, "trial_type": "sc", "trial_id": "trial_100", "seed": 100099, "randomization": {"board_pose": {"x": 0.10261392544771226, "y": -0.23022248788228053, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 2.932935600510876}, "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": 0.05434084600583425, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "sc_rail_1": {"entity_present": true, "entity_name": "sc_port_1", "entity_pose": {"translation": 0.010488139313302058, "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": -0.0026823575671876512, "y": 0.011768955586317114, "z": 0.048232998785191}, "roll": 0.26296595018253655, "pitch": -0.44944474627149666, "yaw": 1.374494975405075}, "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": null, "success_tier3": null}
{"episode_index": 100, "task_index": 0, "length": 134, "trial_type": "sfp", "trial_id": "trial_101", "seed": 100100, "randomization": {"board_pose": {"x": 0.17821438506287868, "y": -0.2172583666133308, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.5016767421283745}, "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": 0.006968172948413093, "roll": 0.0, "pitch": 0.0, "yaw": -0.028474049404006066}}, "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": 0.0059400282524640505, "y": 0.014946409365872673, "z": 0.043538473661606625}, "roll": 0.41803241427299015, "pitch": -0.46434770316038615, "yaw": 1.301992988973613}, "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": null, "success_tier3": null}
{"episode_index": 101, "task_index": 1, "length": 1333, "trial_type": "sc", "trial_id": "trial_102", "seed": 100101, "randomization": {"board_pose": {"x": 0.17447874793471257, "y": -0.211478751548422, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 2.7642391760695393}, "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": 0.011480111848818655, "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": 0.0031447982578564253, "y": 0.008908885128517804, "z": 0.039055070991656414}, "roll": 0.42897852050499935, "pitch": -0.3987065648739315, "yaw": 1.3332447836234118}, "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": null, "success_tier3": null}
{"episode_index": 102, "task_index": 0, "length": 121, "trial_type": "sfp", "trial_id": "trial_103", "seed": 100102, "randomization": {"board_pose": {"x": 0.17916307893581984, "y": -0.2474252844402303, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.066454740214092}, "rails": {"nic_rail_0": {"entity_present": true, "entity_name": "nic_card_mount_0", "entity_pose": {"translation": -0.01650776630963529, "roll": 0.0, "pitch": 0.0, "yaw": 0.09523242256325852}}, "nic_rail_1": {"entity_present": false}, "nic_rail_2": {"entity_present": true, "entity_name": "nic_card_mount_2", "entity_pose": {"translation": 0.01193856601842775, "roll": 0.0, "pitch": 0.0, "yaw": -0.07940896681980103}}, "nic_rail_3": {"entity_present": false}, "nic_rail_4": {"entity_present": true, "entity_name": "nic_card_mount_4", "entity_pose": {"translation": 0.009750336444224274, "roll": 0.0, "pitch": 0.0, "yaw": -0.10915180669651409}}, "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": -0.0009020438731556039, "y": 0.009228808902596187, "z": 0.042997413552463865}, "roll": 0.359713570357393, "pitch": -0.5318406837519506, "yaw": 1.373493155918653}, "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": null, "success_tier3": null}
{"episode_index": 103, "task_index": 1, "length": 445, "trial_type": "sc", "trial_id": "trial_104", "seed": 100103, "randomization": {"board_pose": {"x": 0.17075493771835182, "y": -0.2312594207262788, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 2.6597104917410435}, "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": 0.0387055326951002, "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": -0.00486333397441, "y": 0.020681843343527462, "z": 0.04267709804437553}, "roll": 0.45148658290017785, "pitch": -0.5339840214678637, "yaw": 1.2227715207173073}, "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": null, "success_tier3": null}
{"episode_index": 104, "task_index": 0, "length": 1397, "trial_type": "sfp", "trial_id": "trial_105", "seed": 100104, "randomization": {"board_pose": {"x": 0.15523009149535166, "y": -0.22142984553917455, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 2.809529393009262}, "rails": {"nic_rail_0": {"entity_present": false}, "nic_rail_1": {"entity_present": true, "entity_name": "nic_card_mount_1", "entity_pose": {"translation": 0.012434776543033856, "roll": 0.0, "pitch": 0.0, "yaw": -0.0586001371029324}}, "nic_rail_2": {"entity_present": false}, "nic_rail_3": {"entity_present": true, "entity_name": "nic_card_mount_3", "entity_pose": {"translation": -0.002518863952284789, "roll": 0.0, "pitch": 0.0, "yaw": -0.12456516919533178}}, "nic_rail_4": {"entity_present": true, "entity_name": "nic_card_mount_4", "entity_pose": {"translation": 0.009577806037742703, "roll": 0.0, "pitch": 0.0, "yaw": -0.008659954556563702}}, "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": -0.003849680495889145, "y": 0.0105633884100803, "z": 0.034246218312669996}, "roll": 0.4471757824260098, "pitch": -0.5308288799357762, "yaw": 1.2758830928223721}, "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": null, "success_tier3": null}
{"episode_index": 105, "task_index": 1, "length": 276, "trial_type": "sc", "trial_id": "trial_106", "seed": 100105, "randomization": {"board_pose": {"x": 0.14081701597500157, "y": -0.19138452023152708, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.480809912276475}, "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": -0.009323332496342554, "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": -0.0035144711249105727, "y": 0.01773033878742914, "z": 0.03975992196289778}, "roll": 0.5021680180656933, "pitch": -0.584549484224064, "yaw": 1.325822367247763}, "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": null, "success_tier3": null}
{"episode_index": 106, "task_index": 0, "length": 1461, "trial_type": "sfp", "trial_id": "trial_107", "seed": 100106, "randomization": {"board_pose": {"x": 0.13835939725652968, "y": -0.15783369978464334, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.213840435561427}, "rails": {"nic_rail_0": {"entity_present": true, "entity_name": "nic_card_mount_0", "entity_pose": {"translation": 0.004289080209714715, "roll": 0.0, "pitch": 0.0, "yaw": -0.06687958742472014}}, "nic_rail_1": {"entity_present": true, "entity_name": "nic_card_mount_1", "entity_pose": {"translation": -0.001397541437713059, "roll": 0.0, "pitch": 0.0, "yaw": -0.16968982062618992}}, "nic_rail_2": {"entity_present": false}, "nic_rail_3": {"entity_present": true, "entity_name": "nic_card_mount_3", "entity_pose": {"translation": 0.012181653844250281, "roll": 0.0, "pitch": 0.0, "yaw": 0.060040748953409946}}, "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": 0.0004141638670678354, "y": 0.024161792938525994, "z": 0.04061489726744493}, "roll": 0.48825974959070434, "pitch": -0.553046672017113, "yaw": 1.470444485885612}, "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": null, "success_tier3": null}
{"episode_index": 107, "task_index": 1, "length": 399, "trial_type": "sc", "trial_id": "trial_108", "seed": 100107, "randomization": {"board_pose": {"x": 0.11151302653000747, "y": -0.17895695101161435, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.608573737501591}, "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": 0.043358913196576684, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "sc_rail_1": {"entity_present": true, "entity_name": "sc_port_1", "entity_pose": {"translation": -0.03734504337257978, "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": 0.0014070841684339498, "y": 0.009797128166317795, "z": 0.04004722836361965}, "roll": 0.5314749633876946, "pitch": -0.4684610071674601, "yaw": 1.3130962403525075}, "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": null, "success_tier3": null}
{"episode_index": 108, "task_index": 0, "length": 1167, "trial_type": "sfp", "trial_id": "trial_109", "seed": 100108, "randomization": {"board_pose": {"x": 0.18405825531199352, "y": -0.23850361564539235, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 2.7846479074323223}, "rails": {"nic_rail_0": {"entity_present": true, "entity_name": "nic_card_mount_0", "entity_pose": {"translation": -0.007843275364869444, "roll": 0.0, "pitch": 0.0, "yaw": 0.04701790436342438}}, "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": -0.01589793040350501, "roll": 0.0, "pitch": 0.0, "yaw": -0.11065323087179318}}, "nic_rail_4": {"entity_present": true, "entity_name": "nic_card_mount_4", "entity_pose": {"translation": 0.010050666692896018, "roll": 0.0, "pitch": 0.0, "yaw": 0.10108505944565628}}, "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": -0.0023397235252000416, "y": 0.020537112985835774, "z": 0.034901361952953666}, "roll": 0.48233596622151453, "pitch": -0.3806053085968541, "yaw": 1.2643658873575558}, "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": null, "success_tier3": null}
{"episode_index": 109, "task_index": 1, "length": 306, "trial_type": "sc", "trial_id": "trial_110", "seed": 100109, "randomization": {"board_pose": {"x": 0.16588911072571286, "y": -0.20767183665119643, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.119352735698812}, "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": -0.020644155040228394, "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": -0.004242087514454625, "y": 0.024666275450555497, "z": 0.040047797464028714}, "roll": 0.4303551211309948, "pitch": -0.46380725069011186, "yaw": 1.3794190801703772}, "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": null, "success_tier3": null}
{"episode_index": 110, "task_index": 0, "length": 1496, "trial_type": "sfp", "trial_id": "trial_111", "seed": 100110, "randomization": {"board_pose": {"x": 0.14064682716285942, "y": -0.2484467467590341, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 2.7892332149277816}, "rails": {"nic_rail_0": {"entity_present": true, "entity_name": "nic_card_mount_0", "entity_pose": {"translation": 0.012673215216909138, "roll": 0.0, "pitch": 0.0, "yaw": -0.01733912747978419}}, "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": 0.011491988697780425, "roll": 0.0, "pitch": 0.0, "yaw": 0.08049703616411301}}, "nic_rail_4": {"entity_present": true, "entity_name": "nic_card_mount_4", "entity_pose": {"translation": 0.008635598312142799, "roll": 0.0, "pitch": 0.0, "yaw": 0.1740435537870396}}, "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": -0.0002586465555000077, "y": 0.014774592255239515, "z": 0.0435455705800027}, "roll": 0.570809048994026, "pitch": -0.5721065642086075, "yaw": 1.4337205826621586}, "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": null, "success_tier3": null}
{"episode_index": 111, "task_index": 1, "length": 255, "trial_type": "sc", "trial_id": "trial_112", "seed": 100111, "randomization": {"board_pose": {"x": 0.12991594619301827, "y": -0.16743071400100445, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 2.6590869152288508}, "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": 0.024156030145484855, "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": 0.00032515909918825857, "y": 0.010206169569094944, "z": 0.03640612153400467}, "roll": 0.5492819414429914, "pitch": -0.5651119446884068, "yaw": 1.3798154683994277}, "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": null, "success_tier3": null}
{"episode_index": 112, "task_index": 0, "length": 1486, "trial_type": "sfp", "trial_id": "trial_113", "seed": 100112, "randomization": {"board_pose": {"x": 0.14800722312076176, "y": -0.18769422182135362, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.116423950154549}, "rails": {"nic_rail_0": {"entity_present": true, "entity_name": "nic_card_mount_0", "entity_pose": {"translation": -0.021039123596561154, "roll": 0.0, "pitch": 0.0, "yaw": 0.08804222163083804}}, "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": -0.02080108868099769, "roll": 0.0, "pitch": 0.0, "yaw": 0.16704561229926643}}, "nic_rail_4": {"entity_present": true, "entity_name": "nic_card_mount_4", "entity_pose": {"translation": -0.009035192869394658, "roll": 0.0, "pitch": 0.0, "yaw": 0.029537463836048074}}, "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": -0.003668408573591017, "y": 0.01765101411122773, "z": 0.04282887081436924}, "roll": 0.5001859038893853, "pitch": -0.5552094900060084, "yaw": 1.1624185700852645}, "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": null, "success_tier3": null}
{"episode_index": 113, "task_index": 1, "length": 262, "trial_type": "sc", "trial_id": "trial_114", "seed": 100113, "randomization": {"board_pose": {"x": 0.12760956788740496, "y": -0.24767643908638254, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.3565243899282127}, "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": 0.003974602598337942, "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": 0.0003588347871132635, "y": 0.01297156184070887, "z": 0.03418334895193593}, "roll": 0.4392470357015077, "pitch": -0.4347406826594608, "yaw": 1.4152856630036634}, "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": null, "success_tier3": null}
{"episode_index": 114, "task_index": 0, "length": 233, "trial_type": "sfp", "trial_id": "trial_115", "seed": 100114, "randomization": {"board_pose": {"x": 0.12294041541277012, "y": -0.24026267981148114, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.0859189969975622}, "rails": {"nic_rail_0": {"entity_present": false}, "nic_rail_1": {"entity_present": true, "entity_name": "nic_card_mount_1", "entity_pose": {"translation": 0.019377450188219035, "roll": 0.0, "pitch": 0.0, "yaw": -0.16773680997951765}}, "nic_rail_2": {"entity_present": false}, "nic_rail_3": {"entity_present": true, "entity_name": "nic_card_mount_3", "entity_pose": {"translation": 0.000698767320319503, "roll": 0.0, "pitch": 0.0, "yaw": 0.041262420171916066}}, "nic_rail_4": {"entity_present": true, "entity_name": "nic_card_mount_4", "entity_pose": {"translation": 0.0031836958885591744, "roll": 0.0, "pitch": 0.0, "yaw": -0.15699164031814478}}, "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": -0.002189079230394233, "y": 0.010399156869242372, "z": 0.042296432609846814}, "roll": 0.40195688995756146, "pitch": -0.4193803653048782, "yaw": 1.4088573764452537}, "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": null, "success_tier3": null}
{"episode_index": 115, "task_index": 1, "length": 1287, "trial_type": "sc", "trial_id": "trial_116", "seed": 100115, "randomization": {"board_pose": {"x": 0.19604772449957703, "y": -0.2096291522631366, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 2.693019454730169}, "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": 0.03249536978527982, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "sc_rail_1": {"entity_present": true, "entity_name": "sc_port_1", "entity_pose": {"translation": -0.055020585378730086, "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": -0.005361736825207423, "y": 0.01172020254246934, "z": 0.04383843679107347}, "roll": 0.5342874550257469, "pitch": -0.4639806558235968, "yaw": 1.369749872677766}, "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": null, "success_tier3": null}
{"episode_index": 116, "task_index": 0, "length": 315, "trial_type": "sfp", "trial_id": "trial_117", "seed": 100116, "randomization": {"board_pose": {"x": 0.19360694859537467, "y": -0.15352201418097475, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.4844947456082336}, "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": 0.002944893875195257, "roll": 0.0, "pitch": 0.0, "yaw": 0.0740638497613047}}, "nic_rail_3": {"entity_present": false}, "nic_rail_4": {"entity_present": true, "entity_name": "nic_card_mount_4", "entity_pose": {"translation": 0.00189552599112865, "roll": 0.0, "pitch": 0.0, "yaw": -0.04735573526513495}}, "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": -0.001596979819658569, "y": 0.022363996403527847, "z": 0.042813031090517636}, "roll": 0.42219142018886807, "pitch": -0.49982538654470743, "yaw": 1.2995341808861958}, "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": null, "success_tier3": null}
{"episode_index": 117, "task_index": 1, "length": 832, "trial_type": "sc", "trial_id": "trial_118", "seed": 100117, "randomization": {"board_pose": {"x": 0.19326890901081167, "y": -0.15532727725880247, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.2130190424024345}, "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": -0.02880598867729598, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "sc_rail_1": {"entity_present": true, "entity_name": "sc_port_1", "entity_pose": {"translation": 0.047021590709230496, "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": -3.066238167429469e-05, "y": 0.0154496578166788, "z": 0.04243316746033852}, "roll": 0.39970923663684516, "pitch": -0.4977840202106771, "yaw": 1.2559535599713156}, "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": null, "success_tier3": null}
{"episode_index": 118, "task_index": 0, "length": 211, "trial_type": "sfp", "trial_id": "trial_119", "seed": 100118, "randomization": {"board_pose": {"x": 0.14571770653347293, "y": -0.21376895747512206, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.276151448981189}, "rails": {"nic_rail_0": {"entity_present": true, "entity_name": "nic_card_mount_0", "entity_pose": {"translation": 0.013332542894919475, "roll": 0.0, "pitch": 0.0, "yaw": 0.038777792165938255}}, "nic_rail_1": {"entity_present": false}, "nic_rail_2": {"entity_present": true, "entity_name": "nic_card_mount_2", "entity_pose": {"translation": 0.01730182513789543, "roll": 0.0, "pitch": 0.0, "yaw": 0.08537247233781604}}, "nic_rail_3": {"entity_present": true, "entity_name": "nic_card_mount_3", "entity_pose": {"translation": -0.012273564952029936, "roll": 0.0, "pitch": 0.0, "yaw": 0.031943759513975926}}, "nic_rail_4": {"entity_present": true, "entity_name": "nic_card_mount_4", "entity_pose": {"translation": -0.014044335882807228, "roll": 0.0, "pitch": 0.0, "yaw": 0.1615973956810311}}, "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": -0.002103843420282133, "y": 0.01474780567211157, "z": 0.043746886377596314}, "roll": 0.4072671310190222, "pitch": -0.5595870966556892, "yaw": 1.2429870612024816}, "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": null, "success_tier3": null}
{"episode_index": 119, "task_index": 1, "length": 362, "trial_type": "sc", "trial_id": "trial_120", "seed": 100119, "randomization": {"board_pose": {"x": 0.1476147815899539, "y": -0.16545208857637267, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 2.6700258187026273}, "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": -0.05081848178801247, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "sc_rail_1": {"entity_present": true, "entity_name": "sc_port_1", "entity_pose": {"translation": -0.026737875184373948, "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": -0.0003227137078846418, "y": 0.021953469261084366, "z": 0.03329342180468191}, "roll": 0.5646716494278198, "pitch": -0.4732662712786214, "yaw": 1.3350650846469312}, "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": null, "success_tier3": null}
{"episode_index": 120, "task_index": 0, "length": 265, "trial_type": "sfp", "trial_id": "trial_121", "seed": 100120, "randomization": {"board_pose": {"x": 0.13880263780566188, "y": -0.15492271518881373, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 2.927380913649486}, "rails": {"nic_rail_0": {"entity_present": true, "entity_name": "nic_card_mount_0", "entity_pose": {"translation": 0.013934870129133095, "roll": 0.0, "pitch": 0.0, "yaw": 0.12282845365470163}}, "nic_rail_1": {"entity_present": true, "entity_name": "nic_card_mount_1", "entity_pose": {"translation": 0.005033538931929288, "roll": 0.0, "pitch": 0.0, "yaw": -0.04850708848850451}}, "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": -0.006762635411844219, "y": 0.018226251491055803, "z": 0.05023704142096816}, "roll": 0.5874722085973132, "pitch": -0.499611372826984, "yaw": 1.1801900897438995}, "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": null, "success_tier3": null}
{"episode_index": 121, "task_index": 1, "length": 448, "trial_type": "sc", "trial_id": "trial_122", "seed": 100121, "randomization": {"board_pose": {"x": 0.10719984897823329, "y": -0.17576036306691042, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.5271555425167294}, "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": 0.007356583497491534, "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": 0.002127179863862351, "y": 0.021861928446252957, "z": 0.04712193466673817}, "roll": 0.4553375260685207, "pitch": -0.31246880112641306, "yaw": 1.368931204445088}, "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": null, "success_tier3": null}
{"episode_index": 122, "task_index": 0, "length": 194, "trial_type": "sfp", "trial_id": "trial_123", "seed": 100122, "randomization": {"board_pose": {"x": 0.16806312551814973, "y": -0.22993842103019202, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.0391429531376537}, "rails": {"nic_rail_0": {"entity_present": false}, "nic_rail_1": {"entity_present": true, "entity_name": "nic_card_mount_1", "entity_pose": {"translation": 0.01245259877689027, "roll": 0.0, "pitch": 0.0, "yaw": -0.1695138971935748}}, "nic_rail_2": {"entity_present": false}, "nic_rail_3": {"entity_present": true, "entity_name": "nic_card_mount_3", "entity_pose": {"translation": -0.005465355704424964, "roll": 0.0, "pitch": 0.0, "yaw": 0.015096486502792817}}, "nic_rail_4": {"entity_present": true, "entity_name": "nic_card_mount_4", "entity_pose": {"translation": 0.015642523002614712, "roll": 0.0, "pitch": 0.0, "yaw": 0.11382048693803233}}, "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": 0.0059365886097094405, "y": 0.019755901102361414, "z": 0.03767070862658909}, "roll": 0.3869967736517356, "pitch": -0.4127649392883792, "yaw": 1.3045422926638879}, "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": null, "success_tier3": null}
{"episode_index": 123, "task_index": 1, "length": 594, "trial_type": "sc", "trial_id": "trial_124", "seed": 100123, "randomization": {"board_pose": {"x": 0.10979717740977746, "y": -0.2270941561602369, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 2.957370503800857}, "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": -0.055791577226283785, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "sc_rail_1": {"entity_present": true, "entity_name": "sc_port_1", "entity_pose": {"translation": 0.03434929283996549, "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": 0.0017487960760700155, "y": 0.007010841537814989, "z": 0.038506840531321536}, "roll": 0.34315160541447953, "pitch": -0.41374677714884533, "yaw": 1.2341181262105976}, "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": null, "success_tier3": null}
{"episode_index": 124, "task_index": 0, "length": 235, "trial_type": "sfp", "trial_id": "trial_125", "seed": 100124, "randomization": {"board_pose": {"x": 0.16147358446961912, "y": -0.18964972137900912, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.3161590397358944}, "rails": {"nic_rail_0": {"entity_present": true, "entity_name": "nic_card_mount_0", "entity_pose": {"translation": 0.00164008825388514, "roll": 0.0, "pitch": 0.0, "yaw": -0.02469653051096446}}, "nic_rail_1": {"entity_present": false}, "nic_rail_2": {"entity_present": true, "entity_name": "nic_card_mount_2", "entity_pose": {"translation": -0.008908957715287984, "roll": 0.0, "pitch": 0.0, "yaw": 0.07992914328034213}}, "nic_rail_3": {"entity_present": true, "entity_name": "nic_card_mount_3", "entity_pose": {"translation": 0.02290512239677217, "roll": 0.0, "pitch": 0.0, "yaw": 0.037432211468157735}}, "nic_rail_4": {"entity_present": true, "entity_name": "nic_card_mount_4", "entity_pose": {"translation": -0.014066776388045847, "roll": 0.0, "pitch": 0.0, "yaw": 0.17162350933709786}}, "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": -0.0010920911697383268, "y": 0.0137368111233491, "z": 0.04739765323192589}, "roll": 0.319866215362186, "pitch": -0.5101021413147626, "yaw": 1.1819850844381405}, "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": null, "success_tier3": null}
{"episode_index": 125, "task_index": 1, "length": 437, "trial_type": "sc", "trial_id": "trial_126", "seed": 100125, "randomization": {"board_pose": {"x": 0.17037532120015086, "y": -0.24322033925526365, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.6380130888252538}, "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": -0.04088584823032992, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "sc_rail_1": {"entity_present": true, "entity_name": "sc_port_1", "entity_pose": {"translation": 0.029268397445406755, "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": 0.0076456602775349875, "y": 0.01951284179494965, "z": 0.04081337308480537}, "roll": 0.42712753847148616, "pitch": -0.47305741159249626, "yaw": 1.218711691122655}, "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": null, "success_tier3": null}
{"episode_index": 126, "task_index": 0, "length": 217, "trial_type": "sfp", "trial_id": "trial_127", "seed": 100126, "randomization": {"board_pose": {"x": 0.14343832302061696, "y": -0.1896005216957064, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.3893121093881495}, "rails": {"nic_rail_0": {"entity_present": true, "entity_name": "nic_card_mount_0", "entity_pose": {"translation": -0.009243481353358758, "roll": 0.0, "pitch": 0.0, "yaw": -0.06822788055915424}}, "nic_rail_1": {"entity_present": true, "entity_name": "nic_card_mount_1", "entity_pose": {"translation": 0.000643055515521733, "roll": 0.0, "pitch": 0.0, "yaw": 0.09293288361889858}}, "nic_rail_2": {"entity_present": true, "entity_name": "nic_card_mount_2", "entity_pose": {"translation": 0.016736056765281844, "roll": 0.0, "pitch": 0.0, "yaw": 0.047831839871954204}}, "nic_rail_3": {"entity_present": true, "entity_name": "nic_card_mount_3", "entity_pose": {"translation": 0.005093892383048911, "roll": 0.0, "pitch": 0.0, "yaw": 0.15645548603414133}}, "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": 0.002661285429526598, "y": 0.01647801432471512, "z": 0.03908433756240591}, "roll": 0.5547350010170239, "pitch": -0.40102901476863256, "yaw": 1.3533315458309512}, "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": null, "success_tier3": null}
{"episode_index": 127, "task_index": 1, "length": 2020, "trial_type": "sc", "trial_id": "trial_128", "seed": 100127, "randomization": {"board_pose": {"x": 0.1470456068200957, "y": -0.1561418425010409, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 2.9426155140114147}, "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": -0.007252397043928431, "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": -0.008110655627294993, "y": 0.01633569081640384, "z": 0.03622311340393762}, "roll": 0.5624247338230157, "pitch": -0.48398209519765933, "yaw": 1.4250567001728096}, "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": null, "success_tier3": null}
{"episode_index": 128, "task_index": 0, "length": 59, "trial_type": "sfp", "trial_id": "trial_129", "seed": 100128, "randomization": {"board_pose": {"x": 0.15160192067923353, "y": -0.2329681744720173, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.178601863199923}, "rails": {"nic_rail_0": {"entity_present": true, "entity_name": "nic_card_mount_0", "entity_pose": {"translation": -0.0004553352718197311, "roll": 0.0, "pitch": 0.0, "yaw": 0.15528979826439065}}, "nic_rail_1": {"entity_present": false}, "nic_rail_2": {"entity_present": true, "entity_name": "nic_card_mount_2", "entity_pose": {"translation": 0.010661727880669006, "roll": 0.0, "pitch": 0.0, "yaw": 0.02929259825971591}}, "nic_rail_3": {"entity_present": true, "entity_name": "nic_card_mount_3", "entity_pose": {"translation": 0.016492053172390157, "roll": 0.0, "pitch": 0.0, "yaw": 0.052858866095788576}}, "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": 0.0034607321158154772, "y": 0.016852075078971778, "z": 0.03903698500948737}, "roll": 0.4814130476011745, "pitch": -0.451518801667997, "yaw": 1.3513311189464128}, "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": null, "success_tier3": null}
{"episode_index": 129, "task_index": 1, "length": 437, "trial_type": "sc", "trial_id": "trial_130", "seed": 100129, "randomization": {"board_pose": {"x": 0.1917757746662221, "y": -0.1822274266800643, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.43678101942324}, "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": -0.04466142940398034, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "sc_rail_1": {"entity_present": true, "entity_name": "sc_port_1", "entity_pose": {"translation": 0.014748259790266172, "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": 7.161880860351905e-05, "y": 0.01731091185154272, "z": 0.040488466860962094}, "roll": 0.48693829975789876, "pitch": -0.5157474555798232, "yaw": 1.2825151868788827}, "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": null, "success_tier3": null}
{"episode_index": 130, "task_index": 0, "length": 222, "trial_type": "sfp", "trial_id": "trial_131", "seed": 100130, "randomization": {"board_pose": {"x": 0.14326530109468164, "y": -0.2210516542821884, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.2505595004340897}, "rails": {"nic_rail_0": {"entity_present": true, "entity_name": "nic_card_mount_0", "entity_pose": {"translation": 0.009530198003563257, "roll": 0.0, "pitch": 0.0, "yaw": 0.06802845516112879}}, "nic_rail_1": {"entity_present": false}, "nic_rail_2": {"entity_present": true, "entity_name": "nic_card_mount_2", "entity_pose": {"translation": 0.019429823488431537, "roll": 0.0, "pitch": 0.0, "yaw": 0.13228038826155245}}, "nic_rail_3": {"entity_present": false}, "nic_rail_4": {"entity_present": true, "entity_name": "nic_card_mount_4", "entity_pose": {"translation": 0.013866411905379822, "roll": 0.0, "pitch": 0.0, "yaw": -0.11982195092153583}}, "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": 0.006807943821510909, "y": 0.010057806198130322, "z": 0.04318018562755497}, "roll": 0.41960973444531346, "pitch": -0.5563939536153173, "yaw": 1.3804092987197292}, "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": null, "success_tier3": null}
{"episode_index": 131, "task_index": 1, "length": 536, "trial_type": "sc", "trial_id": "trial_132", "seed": 100131, "randomization": {"board_pose": {"x": 0.1097079334625817, "y": -0.21587051512544683, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.0476440973922094}, "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": -0.0366296962251676, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "sc_rail_1": {"entity_present": true, "entity_name": "sc_port_1", "entity_pose": {"translation": -0.03326422279166782, "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": -0.0014249502997427297, "y": 0.011700489166307044, "z": 0.03974237654864836}, "roll": 0.38421347714142395, "pitch": -0.45791008167529357, "yaw": 1.377759427404508}, "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": null, "success_tier3": null}
{"episode_index": 132, "task_index": 0, "length": 224, "trial_type": "sfp", "trial_id": "trial_133", "seed": 100132, "randomization": {"board_pose": {"x": 0.19160104108965365, "y": -0.1616220910946044, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.3955455401243495}, "rails": {"nic_rail_0": {"entity_present": false}, "nic_rail_1": {"entity_present": true, "entity_name": "nic_card_mount_1", "entity_pose": {"translation": -0.00831251819394356, "roll": 0.0, "pitch": 0.0, "yaw": 0.04599367879438686}}, "nic_rail_2": {"entity_present": true, "entity_name": "nic_card_mount_2", "entity_pose": {"translation": -0.0016318764327261925, "roll": 0.0, "pitch": 0.0, "yaw": -0.16420845049846586}}, "nic_rail_3": {"entity_present": true, "entity_name": "nic_card_mount_3", "entity_pose": {"translation": -0.009017475336569486, "roll": 0.0, "pitch": 0.0, "yaw": -0.033470458366298125}}, "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": 0.0023282548481421144, "y": 0.013767640907501452, "z": 0.04594285062315855}, "roll": 0.5024822074275231, "pitch": -0.5209552966000502, "yaw": 1.3365015568744953}, "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": null, "success_tier3": null}
{"episode_index": 133, "task_index": 1, "length": 1050, "trial_type": "sc", "trial_id": "trial_134", "seed": 100133, "randomization": {"board_pose": {"x": 0.11329229529513524, "y": -0.1863974803365106, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.454459181880215}, "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": -0.0025795964310467642, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "sc_rail_1": {"entity_present": true, "entity_name": "sc_port_1", "entity_pose": {"translation": -0.026377864185237736, "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": 9.327844864031154e-05, "y": 0.01365321040895151, "z": 0.047157192575309086}, "roll": 0.6340022568476648, "pitch": -0.49963417329413473, "yaw": 1.2737301164432702}, "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": null, "success_tier3": null}
{"episode_index": 134, "task_index": 0, "length": 127, "trial_type": "sfp", "trial_id": "trial_135", "seed": 100134, "randomization": {"board_pose": {"x": 0.10624556783336328, "y": -0.17288244313707668, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.4724222267916116}, "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": 0.01831138241149216, "roll": 0.0, "pitch": 0.0, "yaw": -0.017762891123979448}}, "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": -0.0016132292779910925, "y": 0.016006906441146312, "z": 0.03889663583374418}, "roll": 0.43961457901161144, "pitch": -0.4461669877872183, "yaw": 1.3758190679463842}, "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": null, "success_tier3": null}
{"episode_index": 135, "task_index": 1, "length": 438, "trial_type": "sc", "trial_id": "trial_136", "seed": 100135, "randomization": {"board_pose": {"x": 0.1710678227270228, "y": -0.23799620976587116, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.1156724307792603}, "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": 0.04486373775352853, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "sc_rail_1": {"entity_present": true, "entity_name": "sc_port_1", "entity_pose": {"translation": -0.0026262009661695215, "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": 0.0015245340990014133, "y": 0.0087837094916478, "z": 0.04335802056070718}, "roll": 0.5317252311110405, "pitch": -0.6125895952149712, "yaw": 1.340688774141871}, "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": null, "success_tier3": null}
{"episode_index": 136, "task_index": 0, "length": 215, "trial_type": "sfp", "trial_id": "trial_137", "seed": 100136, "randomization": {"board_pose": {"x": 0.10505956102974996, "y": -0.20038125626168862, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.307364085582344}, "rails": {"nic_rail_0": {"entity_present": true, "entity_name": "nic_card_mount_0", "entity_pose": {"translation": -0.0025300948263525247, "roll": 0.0, "pitch": 0.0, "yaw": -0.057547416315157585}}, "nic_rail_1": {"entity_present": true, "entity_name": "nic_card_mount_1", "entity_pose": {"translation": 0.01633562318947833, "roll": 0.0, "pitch": 0.0, "yaw": -0.1710045810573506}}, "nic_rail_2": {"entity_present": false}, "nic_rail_3": {"entity_present": true, "entity_name": "nic_card_mount_3", "entity_pose": {"translation": -0.017767116263868267, "roll": 0.0, "pitch": 0.0, "yaw": -0.04833989781706094}}, "nic_rail_4": {"entity_present": true, "entity_name": "nic_card_mount_4", "entity_pose": {"translation": -0.0015180745770287524, "roll": 0.0, "pitch": 0.0, "yaw": 0.12286365213784659}}, "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": -0.003540154132692073, "y": 0.010240740273923368, "z": 0.044024051239931264}, "roll": 0.47288308161702447, "pitch": -0.601112083674729, "yaw": 1.3132040709482364}, "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": null, "success_tier3": null}
{"episode_index": 137, "task_index": 1, "length": 683, "trial_type": "sc", "trial_id": "trial_138", "seed": 100137, "randomization": {"board_pose": {"x": 0.14258836118710605, "y": -0.2051167252398728, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 2.9499413069356946}, "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": -0.059292976812314394, "roll": 0.0, "pitch": 0.0, "yaw": 0.0}}, "sc_rail_1": {"entity_present": true, "entity_name": "sc_port_1", "entity_pose": {"translation": -0.001996521320471803, "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": -0.0033661429512377283, "y": 0.010998403333581765, "z": 0.043049890373633125}, "roll": 0.3770207875037521, "pitch": -0.5761965893393857, "yaw": 1.442702824442112}, "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": null, "success_tier3": null}
{"episode_index": 138, "task_index": 0, "length": 150, "trial_type": "sfp", "trial_id": "trial_139", "seed": 100138, "randomization": {"board_pose": {"x": 0.11426880234443343, "y": -0.15653451654014755, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 3.2534978415621745}, "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": 0.005966798982627718, "roll": 0.0, "pitch": 0.0, "yaw": 0.024454165500188366}}, "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": 0.006398598547505807, "y": 0.011446261796417341, "z": 0.03852230299423095}, "roll": 0.470848037722039, "pitch": -0.5292868323093949, "yaw": 1.2928783975284392}, "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": null, "success_tier3": null}
{"episode_index": 139, "task_index": 1, "length": 2219, "trial_type": "sc", "trial_id": "trial_140", "seed": 100139, "randomization": {"board_pose": {"x": 0.1191053383965837, "y": -0.21390453719063174, "z": 1.14, "roll": 0.0, "pitch": 0.0, "yaw": 2.983881631662781}, "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": -0.026542527596163802, "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": -0.0009368082237049948, "y": 0.012150394594218145, "z": 0.042878933157220626}, "roll": 0.5304389077724527, "pitch": -0.3850024910564062, "yaw": 1.329874082869089}, "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": null, "success_tier3": null}