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Approximate boxes, not learned RGB recognition or pixel-perfect limb segmentation." +} diff --git a/detour_ahead2_f/pickup_v571_15_attempt_01/cameras/capture_delivery.json b/detour_ahead2_f/pickup_v571_15_attempt_01/cameras/capture_delivery.json new file mode 100644 index 0000000000000000000000000000000000000000..936302afd684cc83ceb65e01d8dd88ca6915859d --- /dev/null +++ b/detour_ahead2_f/pickup_v571_15_attempt_01/cameras/capture_delivery.json @@ -0,0 +1,5 @@ +{ + "wait_idle": 1, + "render_complete_order": 1000, + "source": "existing live render-product annotators" +} diff --git a/detour_ahead2_f/pickup_v571_15_attempt_01/controller_settings.json b/detour_ahead2_f/pickup_v571_15_attempt_01/controller_settings.json new file mode 100644 index 0000000000000000000000000000000000000000..35c5727969909eb62c4d3bd279ed9a3c2d954c62 --- /dev/null +++ b/detour_ahead2_f/pickup_v571_15_attempt_01/controller_settings.json @@ -0,0 +1,68 @@ +{ + "motion_source": "NavTo/DWB + HRI expert", + "curobo_role": "HRI expert geometry and independent audits", + "visibility_trigger": "at least three sampled visible person depth pixels in either onboard camera", + "visibility_trigger_range_m": 2.0, + "occlusion_policy": "last_observed_surface_kept_3s_without_hidden_tracking", + "navigation": { + "goal": [ + 2.6347188305870346, + 0.5690739388484013, + 0.0 + ], + "person_start": [ + 0.7, + -3.0, + 0.0 + ], + "person_goal": [ + 0.7, + 0.0, + 0.0 + ], + "crossing_start_x": -1.45, + "walk_speed": 0.5, + "stop_hold_s": 4.0, + "surface_padding_m": 0.2, + "dwb": { + "device": "cpu", + "dt": 0.1, + "num_rollout_steps": 30, + "num_speed_samples": 15, + "num_steer_samples": 21, + "max_accel": 0.4, + "max_steer_rate": 2.0, + "min_speed": 0.0, + "max_speed": 0.22, + "min_yaw_rate": -0.45, + "max_yaw_rate": 0.45, + "w_goal": 6.0, + "w_path": 8.0, + "w_vel": 4.0, + "w_heading": 0.5, + "goal_heading_fade_distance": 0.5, + "dilate_radius": 0.52, + "room_size": 12.0, + "occupancy_update_interval": 1, + "goal_pos_threshold": 0.02, + "goal_yaw_threshold": 0.08, + "kp_goal_yaw": 1.0, + "safety_enabled": true, + "safety_deceleration": 0.2, + "safety_reaction_time": 0.1, + "detour_replan": true, + "detour_plan_initial": false, + "detour_hold_s": 1.5, + "detour_replan_interval_s": 1.0, + "detour_clearance_cells": 14, + "goal_cost_mode": "path" + }, + "detour_goal": [ + 2.0, + 0.0, + 0.0 + ], + "trigger_distance_m": 2.0, + "occupancy_memory_s": 3.0 + } +} diff --git a/detour_ahead2_f/pickup_v571_15_attempt_01/dataset/contract.json b/detour_ahead2_f/pickup_v571_15_attempt_01/dataset/contract.json new file mode 100644 index 0000000000000000000000000000000000000000..f50972777155927a75bc8a31c8df44bf1ea27072 --- /dev/null +++ b/detour_ahead2_f/pickup_v571_15_attempt_01/dataset/contract.json @@ -0,0 +1,70 @@ +{ + "contract": "magicsim_hri_native_v1", + "schema_version": 1, + "training_transform": "NativeTrainingDataset/v2", + "training_image_resolution": [ + 384, + 384 + ], + "training_image_resize": "full image resized with OpenCV INTER_AREA; 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b/detour_ahead2_f/pickup_v571_15_attempt_01/dataset/magicsim/0/language/narration.json new file mode 100644 index 0000000000000000000000000000000000000000..0637a088a01e8ddab3bf3fa98dbe804cbde1a0dc --- /dev/null +++ b/detour_ahead2_f/pickup_v571_15_attempt_01/dataset/magicsim/0/language/narration.json @@ -0,0 +1 @@ +[] \ No newline at end of file diff --git a/detour_ahead2_f/pickup_v571_15_attempt_01/dataset/magicsim/0/language/scene.json b/detour_ahead2_f/pickup_v571_15_attempt_01/dataset/magicsim/0/language/scene.json new file mode 100644 index 0000000000000000000000000000000000000000..f88e69a3cefa3dcb0f75e3bda66e505097a84fa3 --- /dev/null +++ b/detour_ahead2_f/pickup_v571_15_attempt_01/dataset/magicsim/0/language/scene.json @@ -0,0 +1 @@ +"hri_nav_apple" \ No newline at end of file diff --git a/detour_ahead2_f/pickup_v571_15_attempt_01/dataset/magicsim/0/language/task.json b/detour_ahead2_f/pickup_v571_15_attempt_01/dataset/magicsim/0/language/task.json new file mode 100644 index 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"dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "joint_lift", + "joint_head_pan", + "joint_head_tilt", + "joint_arm_l3", + "joint_arm_l2", + "joint_arm_l1", + "joint_arm_l0", + "joint_wrist_yaw", + "joint_wrist_pitch", + "joint_wrist_roll", + "joint_gripper_finger_left", + "joint_gripper_finger_right" + ] + } + ] + }, + "timing": { + "fps": 10.0, + "fps_int": 10, + "sim_dt": 0.016666666666666666, + "decimation": 6, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 8, + "nan_policy": "from_raw", + "segments": [ + { + "name": "HelloRobot.base_action", + "start": 0, + "end": 8, + "names": [ + "forward_m_s", + "yaw_rad_s", + "lift_m_s", + "total_extension_m_s", + "wrist_yaw_target_rad", + "head_pan_target_rad", + "gripper_close", + "wrist_pitch_target_rad" + ], + "source": "AppleVelocityAction", + "names_source": "action_names" + } + ] + }, + "state_layout": { + "dim": 15, + "segments": [ + { + "name": "HelloRobot.joint_pos", + "start": 0, + "end": 15, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "joint_lift", + "joint_head_pan", + "joint_head_tilt", + "joint_arm_l3", + "joint_arm_l2", + "joint_arm_l1", + "joint_arm_l0", + "joint_wrist_yaw", + "joint_wrist_pitch", + "joint_wrist_roll", + "joint_gripper_finger_left", + "joint_gripper_finger_right" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "joint_vel_layout": { + "dim": 15, + "segments": [ + { + "name": "HelloRobot.joint_vel", + "start": 0, + "end": 15, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "joint_lift", + "joint_head_pan", + "joint_head_tilt", + "joint_arm_l3", + "joint_arm_l2", + "joint_arm_l1", + "joint_arm_l0", + "joint_wrist_yaw", + "joint_wrist_pitch", + "joint_wrist_roll", + "joint_gripper_finger_left", + "joint_gripper_finger_right" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "action_levels": { + "L0": "task command list (collect.auto_collect_info.current_action)", + "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)", + "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)", + "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy", + "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)" + }, + "cameras": { + "head_cam": { + "resolution": [ + 720, + 1280 + ], + "annotators": [ + "rgb" + ] + }, + "wrist_cam": { + "resolution": [ + 640, + 480 + ], + "annotators": [ + "rgb" + ] + } + }, + "generated_run": { + "run_id": "pickup_v571_15_attempt_01", + "task_type": "hri_hri_nav_apple" + } +} \ No newline at end of file diff --git a/detour_ahead2_f/pickup_v571_15_attempt_01/execution_audit.json b/detour_ahead2_f/pickup_v571_15_attempt_01/execution_audit.json new file mode 100644 index 0000000000000000000000000000000000000000..ee33d30c088f9d0b42936b42dc6b4bd882ac34a4 --- /dev/null +++ b/detour_ahead2_f/pickup_v571_15_attempt_01/execution_audit.json @@ -0,0 +1,41 @@ +{ + "action_dimension": 8, + "command_applications": 1271, + "env_episode_steps": 1271, + "last_control_dt_s": 0.10000000521540642, + "post_episode_base_velocity_targets": [ + 0.0, + 0.0, + 0.0 + ], + "error_base_velocity_targets": null, + "final_terminated": true, + "final_truncated": false, + "final_hri_grade": [ + { + "grading_policy": "visible_camera_outcomes_v2", + "visibility_warnings": [ + "unseen_nearby_hazard" + ], + "time_s": 127.1, + "terminal": true, + "verdict": "accept", + "rejection_reasons": [], + "task_success": true, + "human_interaction_complete": true, + "minimum_human_distance_m": 0.1551104364283313, + 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"episode_owner": "independent post-physics grader (Step 3)", + "invalid_env_command": "zero motion; malformed shape stops base then raises" +} diff --git a/detour_ahead2_f/pickup_v571_15_attempt_01/grading_steps.jsonl b/detour_ahead2_f/pickup_v571_15_attempt_01/grading_steps.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5dbe3713229913630f1eac0aa835b0f181027d31 --- /dev/null +++ b/detour_ahead2_f/pickup_v571_15_attempt_01/grading_steps.jsonl @@ -0,0 +1,1271 @@ +{"camera_timestamps": {"head_cam": {"pre_render_s": 8.766667123883963, "after_pre_measure_s": 8.766667123883963, "post_render_s": 8.766667123883963, "pre_physics_step": 522, "post_physics_step": 522}, "wrist_cam": {"pre_render_s": 8.766667123883963, "after_pre_measure_s": 8.766667123883963, "post_render_s": 8.766667123883963, "pre_physics_step": 522, "post_physics_step": 522}}, "pre_physics_clock_s": 5.30000027641654, "post_physics_clock_s": 5.400000281631947, "contacts": [], "pre_time_s": 0.0, 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Native PhysX human contacts accumulate throughout physics. Closest near bone-part visibility audited as a warning at both camera endpoints, including while stationary. Intermediate clearances are unavailable without a timing-perturbing observer; not an independent mesh-clearance proof.", + "execution_kind": "navto_dwb_hri_sequence", + "navigation_behavior": { + "first_visible_s": 3.1, + "stopped_s": 3.5, + "resumed_s": 7.800000000000001, + "slowing_commands": 4, + "hidden_braking_steps": 0, + "max_detour_m": 0.9045834042768192, + "max_turn_rad": 0.9618384135162853, + "max_route_deviation_m": 0.9045834042768192, + "max_heading_deviation_rad": 0.9618384135162853 + }, + "apple_pickup": { + "lifted_s": 120.6, + "held_retracted_s": 127.1, + "maximum_lift_m": 0.06945419311523438 + }, + "head_joint_max_travel_rad": 1.5710088978330532, + "pose_policy": { + "wrist_grasp_from_start": false, + "head_forward": false, + "head_track_apple": true + }, + "desk_reserve_m": 0.0225, + "desk_reserve_experiment": false, + "predicted_grasp_desk_clearance_m": 0.03186928717616124, + "grasp_clearance_below_reserve": false +} diff --git a/detour_ahead2_f/pickup_v571_15_attempt_01/preflight.json b/detour_ahead2_f/pickup_v571_15_attempt_01/preflight.json new file mode 100644 index 0000000000000000000000000000000000000000..ff76cf9bf7f55bce48e50b3a71c965ef78f16b60 --- /dev/null +++ b/detour_ahead2_f/pickup_v571_15_attempt_01/preflight.json @@ -0,0 +1,13 @@ +{ + "valid": true, + "reasons": [], + "initial_clearance": { + "human_gap_m": 2.3744609146196005, + "static_gap_m": 0.30000001192092896, + "closest_part": 1 + }, + "object_spawn_offset_m": 0.018875890473043156, + "target_visible": true, + "target_visibility_required_at_start": false, + "pickup_visibility_checked_at_waiting_pose": true +} diff --git a/detour_ahead2_f/pickup_v571_15_attempt_01/resolved_scene.yaml b/detour_ahead2_f/pickup_v571_15_attempt_01/resolved_scene.yaml new file mode 100644 index 0000000000000000000000000000000000000000..4550eb8b529fcd049e40a536501fc392c7f39151 --- /dev/null +++ b/detour_ahead2_f/pickup_v571_15_attempt_01/resolved_scene.yaml @@ -0,0 +1,737 @@ +env_string: StretchExpertStepEnv-V0 +env: + sim: + device: cpu + use_fabric: false + decimation: 6 + dt: 0.016666666666666666 + seed: 529823294 + soft_resets: 100 + scene: + num_envs: 1 + env_spacing: 4 + contact_reports: true + robot: + HelloRobot: + name: hellorobot + type: mobilemanip + common: + pos: + - - 0 + - 0 + - 0 + - - 0 + - 0 + - 0 + ori: + - - 0 + - 0 + - 0 + - - 0 + - 0 + - 0 + initial_joint_pos: + dummy_base_.*: 0.0 + joint_lift: 0.95 + joint_arm_l[0-3]: 0.025 + joint_wrist_.*: 0.0 + joint_head_pan: 0.0 + joint_head_tilt: -0.6 + joint_gripper_finger_.*: 0.0 + action: + base_action: apple_velocity + arm_action: null + eef_action: null + planner: + dual_mode: false + base_joint_names: + - dummy_base_prismatic_x_joint + - dummy_base_prismatic_y_joint + - dummy_base_revolute_z_joint + ik: + type: hellorobot + enable: false + ik_num_instances: 1 + ik_batch_size: 1 + ik_num_seeds: 32 + ik_max_goalset: 1 + ik_position_threshold: 0.005 + ik_rotation_threshold: 0.05 + microbatch_wait_ms: 1.0 + seed_use_live_joint_pos: true + motiongen: + type: hellorobot + enable: false + motiongen_num_instances: 1 + batch_size: 1 + microbatch_wait_ms: 1.0 + seed_use_live_joint_pos: true + mode: position + body: + type: default + p_controller: + kp_angular_turning_only: 2.0 + kd_angular_turning_only: 0.2 + kp_linear_x: 2.0 + kp_linear_y: 2.0 + kp_angular: 2.0 + kd_linear_x: 0.1 + kd_linear_y: 0.1 + min_vel: -0.25 + max_vel: 0.35 + linear_dead_zone: 0.003 + angular_dead_zone: 0.03 + nav_heading_target: -1 + velocity_frame: world + arm: null + eef: null + physics: + wheel_base: 0.33 + robot_radius: 0.3 + reset: default + camera: + enable_tiled: false + colorize_depth: false + camera0: + camera: + type: camera + mesh: pinhole + resolution: + - 64 + - 64 + frequency: 30 + focal_length: 18.0 + horizontal_aperture: 36.0 + vertical_aperture: 36.0 + clipping_range: + - 0.05 + - 10.0 + focus_distance: 2 + mode: RGB + pos: + - 5.2 + - -4.8 + - 3.2 + ori: + - 61.47688139368797 + - 36.68319166951328 + - 17.986977303457945 + annotator: + enabled: true + rgb_capture: + type: rgb + device: cpu + head_cam: + camera: + type: camera + mesh: pinhole + resolution: + - 720 + - 1280 + frequency: 30 + calibration: + file: safety_layer/stretch_expert/config/realsense_calibration.json + device: head_d435i + profile: color_1280x720 + image_model: rectified + image_fit: native + image_rotation_clockwise_deg: 90 + expected_sha256: 4ef7c6cfeaf117fd14360f61c9bf4c3db2f4a0f50d9da3327ea66fa6164ddeba + clipping_range: + - 0.05 + - 10.0 + focus_distance: 2 + mode: RGB + mount_link: Robot_0/camera_color_optical_frame + pos: + - 0 + - 0 + - 0 + ori: + - 180 + - 0 + - 90 + annotator: + enabled: true + rgb_capture: + type: rgb + device: cpu + wrist_cam: + camera: + type: camera + mesh: pinhole + resolution: + - 640 + - 480 + frequency: 30 + calibration: + file: safety_layer/stretch_expert/config/realsense_calibration.json + device: wrist_d405 + profile: color_640x480 + image_model: rectified + image_fit: native + image_rotation_clockwise_deg: 0 + expected_sha256: 4ef7c6cfeaf117fd14360f61c9bf4c3db2f4a0f50d9da3327ea66fa6164ddeba + clipping_range: + - 0.01 + - 5.0 + focus_distance: 0.3 + mode: RGB + mount_link: Robot_0/gripper_camera_color_optical_frame + pos: + - 0 + - 0 + - 0 + ori: + - 180 + - 0 + - 0 + annotator: + enabled: true + rgb_capture: + type: rgb + device: cpu + scene: + background: + intensity: + - 1085.2 + - 1085.2 + texture: + - $MAGICSIM_ASSETS/Background/champagne_castle_1_4k.hdr + objects: + table: + usd: + - $MAGICSIM_ASSETS/Desk/Collected_cline/cline_inst_base.usd + num_per_env: 1 + random: false + common: + scale: + - 0.7108228980322002 + - 0.20584334852880232 + - 0.8994918699186992 + pos: + - - 2.5855 + - -0.4326 + - -0.0 + - - 2.5855 + - -0.4326 + - -0.0 + ori: + - - 0 + - 0 + - 0 + - - 0 + - 0 + - 0 + table_1: + visual: + visual_material: + usd: + - $MAGICSIM_ASSETS/Material/Source/Wood/Wood_Tiles_Walnut_Multicolor.mdl + random: false + physics: + type: geometry + collision: true + cube: + usd: + - Cube + num_per_env: 1 + random: false + common: + scale: + - 0.08 + - 0.08 + - 0.08 + pos: + - - 10 + - 10 + - 0.15 + - - 10 + - 10 + - 0.15 + ori: + - - 0 + - 0 + - -89.99936862 + - - 0 + - 0 + - -89.99936862 + cube_1: + primitive_params: + size: + - 1 + - 1 + - 1 + visual: + color: + - 1 + - 0 + - 0 + physics: + type: geometry + collision: false + apple: + usd: + - $MAGICSIM_ASSETS/Object/ball/ball_003/Object.usd + num_per_env: 1 + random: false + common: + pos: + - 2.65285 + - -0.25758 + - 0.9270452 + ori: + - 0 + - 0 + - 73.23 + scale: + - 1.3909 + - 1.3909 + - 1.3909 + apple_1: + visual: + color: + - 0.5185 + - 0.8096 + - 0.2924 + physics: + type: rigid + mass: 0.15 + collision: true + physics_material: + static_friction: 1.2 + dynamic_friction: 1.0 + restitution: 0.0 + light: + scene_light: + types: + - Rect + common: + pos: + - 3.293 + - 0.246 + - 2.304 + ori: + - 0.0 + - 0.0 + - 0.0 + color_temperature_range: + - 5679.0 + - 5679.0 + Rect: + intensity_range: + - 3644.3 + - 3644.3 + width_range: + - 1.5 + - 1.5 + height_range: + - 1.5 + - 1.5 + anim: + avatar: + graph: magic + Person: + usd: + - $MAGICSIM_ASSETS/Avatar/Police/female_adult_police_03_new/female_adult_police_03_new.usd + num_per_env: 1 + random: false + common: + pos: + - 1.6651444738474666 + - -1.4073869301679962 + - 0.0 + ori: + - 0.0 + - 0.0 + - 103.56151088564981 + scale: + - 1.0 + - 1.0 + - 1.0 + body_collision: + representation: bone_rigid + friction: 0.6 + restitution: 0.1 + DeskPerson: + usd: + - $MAGICSIM_ASSETS/Avatar/Medical/F_Medical_01/F_Medical_01.usd + num_per_env: 1 + random: false + common: + pos: + - 3.37085 + - -0.57958 + - 0.0 + ori: + - 0.0 + - 0.0 + - -90.0 + scale: + - 1.0 + - 1.0 + - 1.0 + body_collision: + representation: bone_rigid + friction: 0.6 + restitution: 0.1 +task: + observation: {} + reward: {} + person_motion: + mix: + block: 0.5 + cross: 0.3 + clear: 0.2 + hands: + - R + - L + move_s: + - 0.8 + - 1.5 + wait_s: + - 1.5 + - 4.0 + robot_arrival_s: 4.3 + lean_rad: 0.6 + rest_offset: + - 0.18 + - 0.05 + - -0.5 + block: + arrive_before_s: + - 0.3 + - 1.5 + hold_s: + - 2.0 + - 5.0 + offset: + - - -0.03 + - -0.06 + - 0.08 + - - 0.03 + - -0.02 + - 0.12 + cross: + sweep_before_s: + - 0.5 + - 1.5 + sweep_s: + - 0.8 + - 1.5 + sweep_half_m: + - 0.12 + - 0.2 + offset: + - - -0.02 + - 0.06 + - -0.02 + - - 0.02 + - 0.12 + - 0.06 + clear: + first_wait_s: + - 0.5 + - 3.0 + hold_s: + - 1.5 + - 4.0 + offset: + - - 0.32 + - -0.05 + - 0.05 + - - 0.42 + - 0.05 + - 0.15 + termination: + timeout_steps: 2200 + success_hold_frames: 3 +check: + command: MobileReach + mobile: true + base_target: + - 0.7 + - 0 + - 0 + - 1 + - 0 + - 0 + - 0 + - 0 + min_base_displacement: 0.4 + max_base_displacement: 0.02 +hri_navigation: + goal: + - 2.6347188305870346 + - 0.5690739388484013 + - 0.0 + person_start: + - 0.7 + - -3.0 + - 0.0 + person_goal: + - 0.7 + - 0.0 + - 0.0 + crossing_start_x: -1.45 + walk_speed: 0.5 + stop_hold_s: 4.0 + surface_padding_m: 0.2 + dwb: + device: cpu + dt: 0.1 + num_rollout_steps: 30 + num_speed_samples: 15 + num_steer_samples: 21 + max_accel: 0.4 + max_steer_rate: 2.0 + min_speed: 0.0 + max_speed: 0.22 + min_yaw_rate: -0.45 + max_yaw_rate: 0.45 + w_goal: 6.0 + w_path: 8.0 + w_vel: 4.0 + w_heading: 0.5 + goal_heading_fade_distance: 0.5 + dilate_radius: 0.52 + room_size: 12.0 + occupancy_update_interval: 1 + goal_pos_threshold: 0.02 + goal_yaw_threshold: 0.08 + kp_goal_yaw: 1.0 + safety_enabled: true + safety_deceleration: 0.2 + safety_reaction_time: 0.1 + detour_replan: true + detour_plan_initial: false + detour_hold_s: 1.5 + detour_replan_interval_s: 1.0 + detour_clearance_cells: 14 + goal_cost_mode: path + detour_goal: + - 2.0 + - 0.0 + - 0.0 + trigger_distance_m: 2.0 + occupancy_memory_s: 3.0 +hri_apple: + navigation: + detour_goal: + - 2.0 + - 0.0 + - 0.0 + goal: + - 3.0 + - 0.0 + - 0.0 + trigger_distance_m: 2.0 + surface_padding_m: 0.2 + dwb: + goal_cost_mode: path + min_speed: 0.0 + max_accel: 0.4 + w_vel: 4.0 + detour_clearance_cells: 4 + parking: + max_speed: 0.08 + goal_pos_threshold: 0.006 + goal_yaw_threshold: 0.005 + apple_position: + - 2.65285 + - -0.25758 + - 0.9270452 + apple_scale: + - 1.3909 + - 1.3909 + - 1.3909 + apple_yaw_deg: 73.23 + desk_position: + - 2.5855 + - -0.4326 + - -0.0 + desk_scale: + - 0.7108228980322002 + - 0.20584334852880232 + - 0.8994918699186992 + desk_dims: + - 0.7947 + - 0.4967 + - 0.8851 + person_position: + - 3.65 + - -1.05 + - 0.0 + person_yaw_deg: -90.0 + person_approach_goal: + - 3.45 + - -1.05 + - 0.0 + person_approach_speed: 0.1 + hand_initial: + - 3.16 + - -0.85 + - 1.25 + hand_setup_s: 3.0 + hand_block: + - 3.25 + - -0.82 + - 1.23 + hand_intrusion: + - 3.05 + - -0.6 + - 1.23 + hand_ready_s: 12.0 + hand_approach_s: 6.0 + hand_hold_s: 2.0 + hand_withdraw_s: 3.0 + hand_lower_s: 3.0 + minimum_retraction_m: 0.08 + clear_dwell_s: 5.0 + pregrasp_offset_m: 0.08 + grasp_depth_m: 0.045 + grasp_raise_m: 0.02 + finger_collision_cell_m: 0.01 + lift_m: 0.08 + close_hold_s: 1.5 + hold_s: 2.0 + tcp_tolerance_m: 0.008 + lateral_tolerance_m: 0.025 + settled_from_positions: true + grasp_from_live_apple: true + desk_bounds: + - 0.7947 + - 0.4967 + - 0.8851 + object_id: ball_003 + object_noun: ball + object_top_m: 0.0375543 + wrist_grasp_from_start: false + head_track_apple: true + phase_budget_s: + navigate: 72.0 + dock: 72.0 + lift_clearance: 18.0 + wait: 84.5 + above_grasp: 84.5 + approach: 78.5 + lift: 12.0 + hold: 12.0 + grasp_wrist_yaw_rad: 0.1625 + grasp_wrist_pitch_rad: -0.1568 + predicted_grasp_desk_clearance_m: 0.03186928717616124 + grasp_clearance_below_reserve: false + table_material: Wood_Tiles_Walnut_Multicolor + park_standoff_m: 0.8364 + hover_backoff_m: 0.26 + hand_expected: true +hri_couple_fingers: true +hri_gripper_close_s: 1.0 +hri_gripper_open_rad: 0.32 +hri_arm_hold: true +hri_fingertip_friction: + static_friction: 1.5 + dynamic_friction: 1.3 +hri_basic_grading: true +hri_floor: + size_m: 400.0 + tile_m: 1.0 + material: Asphalt_Fine + mdl_path: $MAGICSIM_ASSETS/Material/Ground/Asphalt_Fine.mdl + mdl_name: Asphalt_Fine +hri_basic: + task: pickup + robot_start: + - -1.07432 + - -0.3256 + - -0.28513 + lift_m: 0.58739 + extension_m: 0.11662 + layout_offset: + - -0.3245 + - 0.5394 + apple_offset: + - 0.06735 + - -0.01333 + detour: + crossing: + category: Person + avatar: PoliceFemale03 + behaviour: pause + animation: Idle + side: -1 + start_world: + - 1.66514 + - -1.40739 + cross_world: + - 1.26792 + - 0.23938 + end_world: + - 0.53725 + - 3.2685 + stand_world: + - 1.26792 + - 0.23938 + speed_mps: 0.542 + trigger_m: 2.112 + pause_s: 7.75 + route_start: + - -1.07432 + - -0.3256 + route_park: + - 2.63472 + - 0.56907 + desk: + category: DeskPerson + avatar: MedicalFemale01 + spot_world: + - 3.37085 + - -0.57958 + approach_world: + - 3.17085 + - -0.57958 + approach_speed_mps: 0.1 + hover_world: + - 2.65285 + - 0.00242 + - 1.02705 + hand_ready: + - 2.87285 + - -0.35758 + - 1.22705 + hand_intrusion: + - 2.77585 + - -0.18358 + - 1.1146 + hand_placement: ahead + hand_press_direction: + - -0.55159 + - 0.83411 + hand_entry: + - 2.87585 + - -0.18358 + - 1.22705 + setup_s: 3.0 + lower_s: 3.0 + blocks: + - delay_s: 0.78 + approach_s: 5.39 + hold_s: 4.88 + withdraw_s: 2.09 + press_m: 0.0 + press_s: 0.0 + - delay_s: 2.2 + approach_s: 5.91 + hold_s: 3.17 + withdraw_s: 2.96 + press_m: 0.0 + press_s: 0.0 + - delay_s: 3.41 + approach_s: 6.39 + hold_s: 4.0 + withdraw_s: 3.26 + press_m: 0.076 + press_s: 2.72 + minimum_retraction_m: 0.02 + occupancy_memory_s: 3.0 +hri_seven_commands: true diff --git a/detour_ahead2_f/pickup_v572_07_attempt_01/dataset/magicsim/0/action/action_merged.json b/detour_ahead2_f/pickup_v572_07_attempt_01/dataset/magicsim/0/action/action_merged.json new file mode 100644 index 0000000000000000000000000000000000000000..8c6d9bff8444725cc354b969e421d133b8698e14 --- /dev/null +++ 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