Hugging Face's logo

Datasets:
padiredd
/
Ablation_Block_visual_raw

Tasks:
Robotics
Modalities:
Video
Size:
1K - 10K
Tags:
isaac-lab
simulation
raw
ffw-sg2
cyclo_lab
Libraries:
Datasets
License:
Dataset card Data Studio Files
xet
 Community
padiredd commited on
Commit
09f13e7
·
verified ·
1 Parent(s): 3bb774a

Add files using upload-large-folder tool

Browse files
This view is limited to 50 files because it contains too many changes.   See raw diff
Files changed (50) hide show
  1. abl_visual_p009/episode_0001/meta.json +173 -0
  2. abl_visual_p009/episode_0002/meta.json +181 -0
  3. abl_visual_p009/episode_0003/meta.json +141 -0
  4. abl_visual_p009/episode_0004/meta.json +165 -0
  5. abl_visual_p009/episode_0005/meta.json +138 -0
  6. abl_visual_p009/episode_0006/meta.json +130 -0
  7. abl_visual_p009/episode_0007/meta.json +181 -0
  8. abl_visual_p009/episode_0008/meta.json +178 -0
  9. abl_visual_p009/episode_0009/meta.json +136 -0
  10. abl_visual_p009/episode_0011/meta.json +163 -0
  11. abl_visual_p009/episode_0012/meta.json +152 -0
  12. abl_visual_p009/episode_0013/meta.json +132 -0
  13. abl_visual_p009/episode_0014/meta.json +162 -0
  14. abl_visual_p009/episode_0015/meta.json +152 -0
  15. abl_visual_p009/episode_0016/meta.json +176 -0
  16. abl_visual_p009/episode_0017/meta.json +152 -0
  17. abl_visual_p009/episode_0018/meta.json +166 -0
  18. abl_visual_p009/episode_0019/meta.json +181 -0
  19. abl_visual_p009/episode_0020/meta.json +155 -0
  20. abl_visual_p009/episode_0021/meta.json +168 -0
  21. abl_visual_p009/episode_0022/meta.json +176 -0
  22. abl_visual_p009/episode_0023/meta.json +178 -0
  23. abl_visual_p009/episode_0024/meta.json +149 -0
  24. abl_visual_p009/episode_0025/meta.json +141 -0
  25. abl_visual_p009/episode_0028/meta.json +181 -0
  26. abl_visual_p009/episode_0029/meta.json +169 -0
  27. abl_visual_p009/episode_0030/meta.json +155 -0
  28. abl_visual_p009/episode_0031/meta.json +167 -0
  29. abl_visual_p009/episode_0032/meta.json +147 -0
  30. abl_visual_p009/episode_0033/meta.json +157 -0
  31. abl_visual_p009/episode_0034/meta.json +135 -0
  32. abl_visual_p009/episode_0035/meta.json +136 -0
  33. abl_visual_p009/episode_0036/meta.json +176 -0
  34. abl_visual_p009/episode_0037/meta.json +176 -0
  35. abl_visual_p009/episode_0038/meta.json +168 -0
  36. abl_visual_p009/episode_0039/meta.json +132 -0
  37. abl_visual_p009/episode_0040/meta.json +172 -0
  38. abl_visual_p009/episode_0042/meta.json +175 -0
  39. abl_visual_p009/episode_0044/meta.json +166 -0
  40. abl_visual_p009/episode_0046/meta.json +152 -0
  41. abl_visual_p009/episode_0047/meta.json +149 -0
  42. abl_visual_p009/episode_0048/meta.json +171 -0
  43. abl_visual_p009/episode_0049/meta.json +149 -0
  44. abl_visual_p009/episode_0050/meta.json +152 -0
  45. abl_visual_p012/episode_0000/meta.json +117 -0
  46. abl_visual_p012/episode_0001/meta.json +138 -0
  47. abl_visual_p012/episode_0002/meta.json +159 -0
  48. abl_visual_p012/episode_0003/meta.json +165 -0
  49. abl_visual_p012/episode_0004/meta.json +141 -0
  50. abl_visual_p012/episode_0005/meta.json +114 -0
abl_visual_p009/episode_0001/meta.json ADDED
@@ -0,0 +1,173 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 1,
3
+ "success": true,
4
+ "arm": "l",
5
+ "cube_init_xy_yaw": [
6
+ 0.4600376784801483,
7
+ 0.07890921831130981,
8
+ 7.489988327026367
9
+ ],
10
+ "cube_settled_pos": [
11
+ 0.4600372314453125,
12
+ 0.07890939712524414,
13
+ 0.7628947496414185
14
+ ],
15
+ "cube_lift": 0.12338072061538696,
16
+ "gripper_joint1_end": 0.6875958442687988,
17
+ "final_phase": "done",
18
+ "table_top_z": 0.742894868850708,
19
+ "program_sha": "9f1c8b2d6170",
20
+ "program_result": {
21
+ "success": true,
22
+ "status": "OK",
23
+ "ticks": 153
24
+ },
25
+ "params": {
26
+ "PREGRASP": 0.10908256471157074,
27
+ "LIFT": 0.13390681147575378,
28
+ "CLOSE_DELAY_S": 0.271048367023468,
29
+ "RATE": 0.7617114186286926,
30
+ "VIA_XY": -0.01959236152470112,
31
+ "VIA_Z": 0.033915091305971146,
32
+ "TILT_DEG": 0.0,
33
+ "AZIMUTH_DEG": 0.0
34
+ },
35
+ "skills": [
36
+ {
37
+ "success": true,
38
+ "status": "OK",
39
+ "tag": "reach",
40
+ "err_mm": 0.9,
41
+ "err_deg": 0.1,
42
+ "ticks": 57
43
+ },
44
+ {
45
+ "success": false,
46
+ "status": "NOT_CONVERGED",
47
+ "tag": "approach",
48
+ "err_mm": 12.6,
49
+ "err_deg": 0.1,
50
+ "ticks": 53
51
+ },
52
+ {
53
+ "success": true,
54
+ "status": "OK",
55
+ "tag": "close",
56
+ "finger_q": 0.6877
57
+ },
58
+ {
59
+ "success": true,
60
+ "status": "OK",
61
+ "tag": "lift",
62
+ "err_mm": 3.3,
63
+ "err_deg": 0.1,
64
+ "ticks": 17
65
+ }
66
+ ],
67
+ "dr": {
68
+ "backdrop": {
69
+ "mode": "real",
70
+ "variant": "right_arm_left"
71
+ },
72
+ "table": {
73
+ "mode": "nominal"
74
+ },
75
+ "lights": {
76
+ "mode": "random",
77
+ "ceiling": [
78
+ {
79
+ "pos": [
80
+ 2.834,
81
+ -0.739,
82
+ 3.22
83
+ ],
84
+ "intensity_scale": 1.95,
85
+ "kelvin": 5525
86
+ },
87
+ {
88
+ "pos": [
89
+ 1.35,
90
+ 0.582,
91
+ 2.752
92
+ ],
93
+ "intensity_scale": 1.495,
94
+ "kelvin": 3966
95
+ }
96
+ ],
97
+ "level": 1.671,
98
+ "dome": {
99
+ "intensity_scale": 0.252,
100
+ "kelvin": 4737
101
+ }
102
+ },
103
+ "cube": {
104
+ "mode": "random",
105
+ "rgb": [
106
+ 0.491,
107
+ 0.572,
108
+ 0.0
109
+ ],
110
+ "roughness": 0.705
111
+ },
112
+ "spots": {
113
+ "count": 3,
114
+ "spots": [
115
+ {
116
+ "aim": [
117
+ 0.24,
118
+ 0.151
119
+ ],
120
+ "dist": 1.287,
121
+ "tilt_deg": 2.0,
122
+ "cone_deg": 8.9,
123
+ "softness": 0.47,
124
+ "radius": 0.026,
125
+ "brightness": 1.63,
126
+ "kelvin": 5289
127
+ },
128
+ {
129
+ "aim": [
130
+ 0.591,
131
+ 0.005
132
+ ],
133
+ "dist": 1.004,
134
+ "tilt_deg": 14.0,
135
+ "cone_deg": 17.1,
136
+ "softness": 0.37,
137
+ "radius": 0.014,
138
+ "brightness": 0.25,
139
+ "kelvin": 5133
140
+ },
141
+ {
142
+ "aim": [
143
+ 0.715,
144
+ 0.477
145
+ ],
146
+ "dist": 0.954,
147
+ "tilt_deg": 8.3,
148
+ "cone_deg": 24.5,
149
+ "softness": 0.25,
150
+ "radius": 0.019,
151
+ "brightness": 1.92,
152
+ "kelvin": 5167
153
+ }
154
+ ]
155
+ }
156
+ },
157
+ "start_pose": {
158
+ "arm_offset_deg": {
159
+ "l": [],
160
+ "r": []
161
+ },
162
+ "joints": [],
163
+ "gripper_open": 0.1753,
164
+ "gripper_close": 0.7922
165
+ },
166
+ "pair_key": [
167
+ 40009,
168
+ 1,
169
+ 1
170
+ ],
171
+ "length": 153,
172
+ "fps": 15
173
+ }
abl_visual_p009/episode_0002/meta.json ADDED
@@ -0,0 +1,181 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 2,
3
+ "success": true,
4
+ "arm": "l",
5
+ "cube_init_xy_yaw": [
6
+ 0.29308730363845825,
7
+ 0.40499985218048096,
8
+ 16.72575569152832
9
+ ],
10
+ "cube_settled_pos": [
11
+ 0.2930870056152344,
12
+ 0.4049997329711914,
13
+ 0.762894868850708
14
+ ],
15
+ "cube_lift": 0.14405286312103271,
16
+ "gripper_joint1_end": 0.6870221495628357,
17
+ "final_phase": "done",
18
+ "table_top_z": 0.742894868850708,
19
+ "program_sha": "9f1c8b2d6170",
20
+ "program_result": {
21
+ "success": true,
22
+ "status": "OK",
23
+ "ticks": 126
24
+ },
25
+ "params": {
26
+ "PREGRASP": 0.05858314782381058,
27
+ "LIFT": 0.14748960733413696,
28
+ "CLOSE_DELAY_S": 0.08037399500608444,
29
+ "RATE": 0.8127208948135376,
30
+ "VIA_XY": 0.01274951547384262,
31
+ "VIA_Z": 0.040582429617643356,
32
+ "TILT_DEG": 0.0,
33
+ "AZIMUTH_DEG": 0.0
34
+ },
35
+ "skills": [
36
+ {
37
+ "success": true,
38
+ "status": "OK",
39
+ "tag": "reach",
40
+ "err_mm": 1.6,
41
+ "err_deg": 0.1,
42
+ "ticks": 61
43
+ },
44
+ {
45
+ "success": true,
46
+ "status": "OK",
47
+ "tag": "approach",
48
+ "err_mm": 1.2,
49
+ "err_deg": 0.0,
50
+ "ticks": 24
51
+ },
52
+ {
53
+ "success": true,
54
+ "status": "OK",
55
+ "tag": "close",
56
+ "finger_q": 0.6869
57
+ },
58
+ {
59
+ "success": true,
60
+ "status": "OK",
61
+ "tag": "lift",
62
+ "err_mm": 4.3,
63
+ "err_deg": 0.1,
64
+ "ticks": 18
65
+ }
66
+ ],
67
+ "dr": {
68
+ "backdrop": {
69
+ "mode": "texture",
70
+ "floor": "Plaster007",
71
+ "walls": "Concrete046",
72
+ "tile_m": 1.307
73
+ },
74
+ "table": {
75
+ "mode": "colour",
76
+ "rgb": [
77
+ 0.022,
78
+ 0.021,
79
+ 0.022
80
+ ],
81
+ "roughness": 0.105
82
+ },
83
+ "lights": {
84
+ "mode": "random",
85
+ "ceiling": [
86
+ {
87
+ "pos": [
88
+ 2.402,
89
+ -0.363,
90
+ 3.324
91
+ ],
92
+ "intensity_scale": 2.089,
93
+ "kelvin": 6839
94
+ },
95
+ {
96
+ "pos": [
97
+ 1.023,
98
+ 0.548,
99
+ 3.359
100
+ ],
101
+ "intensity_scale": 2.75,
102
+ "kelvin": 4189
103
+ }
104
+ ],
105
+ "level": 2.296,
106
+ "dome": {
107
+ "intensity_scale": 0.252,
108
+ "kelvin": 4737
109
+ }
110
+ },
111
+ "cube": {
112
+ "mode": "random",
113
+ "rgb": [
114
+ 0.149,
115
+ 0.556,
116
+ 0.005
117
+ ],
118
+ "roughness": 0.334
119
+ },
120
+ "spots": {
121
+ "count": 3,
122
+ "spots": [
123
+ {
124
+ "aim": [
125
+ 0.53,
126
+ 0.466
127
+ ],
128
+ "dist": 1.012,
129
+ "tilt_deg": 5.0,
130
+ "cone_deg": 21.1,
131
+ "softness": 0.21,
132
+ "radius": 0.031,
133
+ "brightness": 1.6,
134
+ "kelvin": 3724
135
+ },
136
+ {
137
+ "aim": [
138
+ 0.296,
139
+ 0.511
140
+ ],
141
+ "dist": 1.006,
142
+ "tilt_deg": 28.0,
143
+ "cone_deg": 16.6,
144
+ "softness": 0.22,
145
+ "radius": 0.042,
146
+ "brightness": 0.48,
147
+ "kelvin": 3017
148
+ },
149
+ {
150
+ "aim": [
151
+ 0.71,
152
+ -0.147
153
+ ],
154
+ "dist": 1.508,
155
+ "tilt_deg": 34.6,
156
+ "cone_deg": 23.8,
157
+ "softness": 0.26,
158
+ "radius": 0.047,
159
+ "brightness": 0.47,
160
+ "kelvin": 4166
161
+ }
162
+ ]
163
+ }
164
+ },
165
+ "start_pose": {
166
+ "arm_offset_deg": {
167
+ "l": [],
168
+ "r": []
169
+ },
170
+ "joints": [],
171
+ "gripper_open": 0.1813,
172
+ "gripper_close": 0.7938
173
+ },
174
+ "pair_key": [
175
+ 40009,
176
+ 1,
177
+ 2
178
+ ],
179
+ "length": 126,
180
+ "fps": 15
181
+ }
abl_visual_p009/episode_0003/meta.json ADDED
@@ -0,0 +1,141 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 3,
3
+ "success": true,
4
+ "arm": "l",
5
+ "cube_init_xy_yaw": [
6
+ 0.32781583070755005,
7
+ 0.3551143407821655,
8
+ -5.108604907989502
9
+ ],
10
+ "cube_settled_pos": [
11
+ 0.3278160095214844,
12
+ 0.3551139831542969,
13
+ 0.7628948092460632
14
+ ],
15
+ "cube_lift": 0.0971142053604126,
16
+ "gripper_joint1_end": 0.6866745352745056,
17
+ "final_phase": "done",
18
+ "table_top_z": 0.742894868850708,
19
+ "program_sha": "9f1c8b2d6170",
20
+ "program_result": {
21
+ "success": true,
22
+ "status": "OK",
23
+ "ticks": 127
24
+ },
25
+ "params": {
26
+ "PREGRASP": 0.052359696477651596,
27
+ "LIFT": 0.09959038347005844,
28
+ "CLOSE_DELAY_S": 0.4892924129962921,
29
+ "RATE": 0.7754113674163818,
30
+ "VIA_XY": 0.006940275430679321,
31
+ "VIA_Z": 0.0027070543728768826,
32
+ "TILT_DEG": 0.0,
33
+ "AZIMUTH_DEG": 0.0
34
+ },
35
+ "skills": [
36
+ {
37
+ "success": true,
38
+ "status": "OK",
39
+ "tag": "reach",
40
+ "err_mm": 1.3,
41
+ "err_deg": 0.0,
42
+ "ticks": 58
43
+ },
44
+ {
45
+ "success": true,
46
+ "status": "OK",
47
+ "tag": "approach",
48
+ "err_mm": 0.9,
49
+ "err_deg": 0.0,
50
+ "ticks": 23
51
+ },
52
+ {
53
+ "success": true,
54
+ "status": "OK",
55
+ "tag": "close",
56
+ "finger_q": 0.6866
57
+ },
58
+ {
59
+ "success": true,
60
+ "status": "OK",
61
+ "tag": "lift",
62
+ "err_mm": 2.9,
63
+ "err_deg": 0.1,
64
+ "ticks": 17
65
+ }
66
+ ],
67
+ "dr": {
68
+ "backdrop": {
69
+ "mode": "texture",
70
+ "floor": "Terrazzo013",
71
+ "walls": "WoodFloor040",
72
+ "tile_m": 1.557
73
+ },
74
+ "table": {
75
+ "mode": "colour",
76
+ "rgb": [
77
+ 0.038,
78
+ 0.036,
79
+ 0.036
80
+ ],
81
+ "roughness": 0.454
82
+ },
83
+ "lights": {
84
+ "mode": "random",
85
+ "ceiling": [
86
+ {
87
+ "pos": [
88
+ 2.18,
89
+ -1.081,
90
+ 3.12
91
+ ],
92
+ "intensity_scale": 1.197,
93
+ "kelvin": 5569
94
+ },
95
+ {
96
+ "pos": [
97
+ 1.324,
98
+ 0.822,
99
+ 2.653
100
+ ],
101
+ "intensity_scale": 2.009,
102
+ "kelvin": 5693
103
+ }
104
+ ],
105
+ "level": 1.702,
106
+ "dome": {
107
+ "intensity_scale": 0.252,
108
+ "kelvin": 4737
109
+ }
110
+ },
111
+ "cube": {
112
+ "mode": "random",
113
+ "rgb": [
114
+ 0.502,
115
+ 0.417,
116
+ 0.0
117
+ ],
118
+ "roughness": 0.707
119
+ },
120
+ "spots": {
121
+ "count": 0,
122
+ "spots": []
123
+ }
124
+ },
125
+ "start_pose": {
126
+ "arm_offset_deg": {
127
+ "l": [],
128
+ "r": []
129
+ },
130
+ "joints": [],
131
+ "gripper_open": 0.2232,
132
+ "gripper_close": 0.7899
133
+ },
134
+ "pair_key": [
135
+ 40009,
136
+ 1,
137
+ 3
138
+ ],
139
+ "length": 127,
140
+ "fps": 15
141
+ }
abl_visual_p009/episode_0004/meta.json ADDED
@@ -0,0 +1,165 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 4,
3
+ "success": true,
4
+ "arm": "l",
5
+ "cube_init_xy_yaw": [
6
+ 0.3150494396686554,
7
+ 0.3023618459701538,
8
+ 22.925762176513672
9
+ ],
10
+ "cube_settled_pos": [
11
+ 0.3150496482849121,
12
+ 0.30236148834228516,
13
+ 0.7628949284553528
14
+ ],
15
+ "cube_lift": 0.09362185001373291,
16
+ "gripper_joint1_end": 0.6840085983276367,
17
+ "final_phase": "done",
18
+ "table_top_z": 0.742894868850708,
19
+ "program_sha": "9f1c8b2d6170",
20
+ "program_result": {
21
+ "success": true,
22
+ "status": "OK",
23
+ "ticks": 168
24
+ },
25
+ "params": {
26
+ "PREGRASP": 0.05439773201942444,
27
+ "LIFT": 0.09588208794593811,
28
+ "CLOSE_DELAY_S": 0.08067911118268967,
29
+ "RATE": 1.1045235395431519,
30
+ "VIA_XY": -6.557628512382507e-05,
31
+ "VIA_Z": 0.023220065981149673,
32
+ "TILT_DEG": 0.0,
33
+ "AZIMUTH_DEG": 0.0
34
+ },
35
+ "skills": [
36
+ {
37
+ "success": true,
38
+ "status": "OK",
39
+ "tag": "reach",
40
+ "err_mm": 1.6,
41
+ "err_deg": 0.1,
42
+ "ticks": 83
43
+ },
44
+ {
45
+ "success": true,
46
+ "status": "OK",
47
+ "tag": "approach",
48
+ "err_mm": 1.3,
49
+ "err_deg": 0.0,
50
+ "ticks": 33
51
+ },
52
+ {
53
+ "success": true,
54
+ "status": "OK",
55
+ "tag": "close",
56
+ "finger_q": 0.6839
57
+ },
58
+ {
59
+ "success": true,
60
+ "status": "OK",
61
+ "tag": "lift",
62
+ "err_mm": 2.3,
63
+ "err_deg": 0.0,
64
+ "ticks": 25
65
+ }
66
+ ],
67
+ "dr": {
68
+ "backdrop": {
69
+ "mode": "texture",
70
+ "floor": "Concrete047A",
71
+ "walls": "Wood096",
72
+ "tile_m": 1.762
73
+ },
74
+ "table": {
75
+ "mode": "texture",
76
+ "texture": "Leather038",
77
+ "tile_m": 0.662,
78
+ "angle_deg": 343.8
79
+ },
80
+ "lights": {
81
+ "mode": "random",
82
+ "ceiling": [
83
+ {
84
+ "pos": [
85
+ 2.725,
86
+ -1.261,
87
+ 2.616
88
+ ],
89
+ "intensity_scale": 0.448,
90
+ "kelvin": 4738
91
+ },
92
+ {
93
+ "pos": [
94
+ 0.43,
95
+ 1.662,
96
+ 2.772
97
+ ],
98
+ "intensity_scale": 0.487,
99
+ "kelvin": 4390
100
+ }
101
+ ],
102
+ "level": 0.622,
103
+ "dome": {
104
+ "intensity_scale": 0.252,
105
+ "kelvin": 4737
106
+ }
107
+ },
108
+ "cube": {
109
+ "mode": "random",
110
+ "rgb": [
111
+ 0.468,
112
+ 0.512,
113
+ 0.004
114
+ ],
115
+ "roughness": 0.744
116
+ },
117
+ "spots": {
118
+ "count": 2,
119
+ "spots": [
120
+ {
121
+ "aim": [
122
+ 0.557,
123
+ 0.207
124
+ ],
125
+ "dist": 0.899,
126
+ "tilt_deg": 16.2,
127
+ "cone_deg": 11.6,
128
+ "softness": 0.55,
129
+ "radius": 0.046,
130
+ "brightness": 1.6,
131
+ "kelvin": 5031
132
+ },
133
+ {
134
+ "aim": [
135
+ 0.182,
136
+ 0.087
137
+ ],
138
+ "dist": 0.98,
139
+ "tilt_deg": 17.1,
140
+ "cone_deg": 14.3,
141
+ "softness": 0.05,
142
+ "radius": 0.015,
143
+ "brightness": 1.61,
144
+ "kelvin": 5586
145
+ }
146
+ ]
147
+ }
148
+ },
149
+ "start_pose": {
150
+ "arm_offset_deg": {
151
+ "l": [],
152
+ "r": []
153
+ },
154
+ "joints": [],
155
+ "gripper_open": 0.2352,
156
+ "gripper_close": 0.7682
157
+ },
158
+ "pair_key": [
159
+ 40009,
160
+ 1,
161
+ 4
162
+ ],
163
+ "length": 168,
164
+ "fps": 15
165
+ }
abl_visual_p009/episode_0005/meta.json ADDED
@@ -0,0 +1,138 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 5,
3
+ "success": true,
4
+ "arm": "l",
5
+ "cube_init_xy_yaw": [
6
+ 0.2785930931568146,
7
+ 0.5263849496841431,
8
+ -28.999576568603516
9
+ ],
10
+ "cube_settled_pos": [
11
+ 0.2785940170288086,
12
+ 0.5263848304748535,
13
+ 0.762894868850708
14
+ ],
15
+ "cube_lift": 0.11622518301010132,
16
+ "gripper_joint1_end": 0.6909631490707397,
17
+ "final_phase": "done",
18
+ "table_top_z": 0.742894868850708,
19
+ "program_sha": "9f1c8b2d6170",
20
+ "program_result": {
21
+ "success": true,
22
+ "status": "OK",
23
+ "ticks": 147
24
+ },
25
+ "params": {
26
+ "PREGRASP": 0.09437420964241028,
27
+ "LIFT": 0.11985999345779419,
28
+ "CLOSE_DELAY_S": 0.3217245042324066,
29
+ "RATE": 0.9190195798873901,
30
+ "VIA_XY": 0.019217446446418762,
31
+ "VIA_Z": 0.0011519782710820436,
32
+ "TILT_DEG": 0.0,
33
+ "AZIMUTH_DEG": 0.0
34
+ },
35
+ "skills": [
36
+ {
37
+ "success": true,
38
+ "status": "OK",
39
+ "tag": "reach",
40
+ "err_mm": 2.4,
41
+ "err_deg": 0.0,
42
+ "ticks": 69
43
+ },
44
+ {
45
+ "success": true,
46
+ "status": "OK",
47
+ "tag": "approach",
48
+ "err_mm": 0.9,
49
+ "err_deg": 0.0,
50
+ "ticks": 28
51
+ },
52
+ {
53
+ "success": true,
54
+ "status": "OK",
55
+ "tag": "close",
56
+ "finger_q": 0.6908
57
+ },
58
+ {
59
+ "success": true,
60
+ "status": "OK",
61
+ "tag": "lift",
62
+ "err_mm": 4.2,
63
+ "err_deg": 0.1,
64
+ "ticks": 21
65
+ }
66
+ ],
67
+ "dr": {
68
+ "backdrop": {
69
+ "mode": "texture",
70
+ "floor": "Tiles141",
71
+ "walls": "Bricks106A",
72
+ "tile_m": 0.538
73
+ },
74
+ "table": {
75
+ "mode": "texture",
76
+ "texture": "Plaster007",
77
+ "tile_m": 1.011,
78
+ "angle_deg": 276.1
79
+ },
80
+ "lights": {
81
+ "mode": "random",
82
+ "ceiling": [
83
+ {
84
+ "pos": [
85
+ 2.129,
86
+ -0.437,
87
+ 3.393
88
+ ],
89
+ "intensity_scale": 1.256,
90
+ "kelvin": 3786
91
+ },
92
+ {
93
+ "pos": [
94
+ 1.341,
95
+ 1.569,
96
+ 2.603
97
+ ],
98
+ "intensity_scale": 1.108,
99
+ "kelvin": 5803
100
+ }
101
+ ],
102
+ "level": 1.004,
103
+ "dome": {
104
+ "intensity_scale": 0.252,
105
+ "kelvin": 4737
106
+ }
107
+ },
108
+ "cube": {
109
+ "mode": "random",
110
+ "rgb": [
111
+ 0.143,
112
+ 0.453,
113
+ 0.006
114
+ ],
115
+ "roughness": 0.595
116
+ },
117
+ "spots": {
118
+ "count": 0,
119
+ "spots": []
120
+ }
121
+ },
122
+ "start_pose": {
123
+ "arm_offset_deg": {
124
+ "l": [],
125
+ "r": []
126
+ },
127
+ "joints": [],
128
+ "gripper_open": 0.2502,
129
+ "gripper_close": 0.8238
130
+ },
131
+ "pair_key": [
132
+ 40009,
133
+ 1,
134
+ 5
135
+ ],
136
+ "length": 147,
137
+ "fps": 15
138
+ }
abl_visual_p009/episode_0006/meta.json ADDED
@@ -0,0 +1,130 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 6,
3
+ "success": true,
4
+ "arm": "l",
5
+ "cube_init_xy_yaw": [
6
+ 0.41403815150260925,
7
+ 0.042023733258247375,
8
+ -36.25699234008789
9
+ ],
10
+ "cube_settled_pos": [
11
+ 0.41403818130493164,
12
+ 0.042023658752441406,
13
+ 0.7628948092460632
14
+ ],
15
+ "cube_lift": 0.10128462314605713,
16
+ "gripper_joint1_end": 0.6937412619590759,
17
+ "final_phase": "done",
18
+ "table_top_z": 0.742894868850708,
19
+ "program_sha": "9f1c8b2d6170",
20
+ "program_result": {
21
+ "success": true,
22
+ "status": "OK",
23
+ "ticks": 210
24
+ },
25
+ "params": {
26
+ "PREGRASP": 0.08825545758008957,
27
+ "LIFT": 0.11189084500074387,
28
+ "CLOSE_DELAY_S": 0.375723659992218,
29
+ "RATE": 1.1423742771148682,
30
+ "VIA_XY": -0.03851165249943733,
31
+ "VIA_Z": 0.022700902074575424,
32
+ "TILT_DEG": 0.0,
33
+ "AZIMUTH_DEG": 0.0
34
+ },
35
+ "skills": [
36
+ {
37
+ "success": true,
38
+ "status": "OK",
39
+ "tag": "reach",
40
+ "err_mm": 0.7,
41
+ "err_deg": 0.0,
42
+ "ticks": 86
43
+ },
44
+ {
45
+ "success": false,
46
+ "status": "NOT_CONVERGED",
47
+ "tag": "approach",
48
+ "err_mm": 20.7,
49
+ "err_deg": 0.2,
50
+ "ticks": 64
51
+ },
52
+ {
53
+ "success": true,
54
+ "status": "OK",
55
+ "tag": "close",
56
+ "finger_q": 0.6939
57
+ },
58
+ {
59
+ "success": true,
60
+ "status": "OK",
61
+ "tag": "lift",
62
+ "err_mm": 1.1,
63
+ "err_deg": 0.1,
64
+ "ticks": 26
65
+ }
66
+ ],
67
+ "dr": {
68
+ "backdrop": {
69
+ "mode": "real",
70
+ "variant": "handover_left"
71
+ },
72
+ "table": {
73
+ "mode": "texture",
74
+ "texture": "WoodFloor064",
75
+ "tile_m": 0.353,
76
+ "angle_deg": 189.4
77
+ },
78
+ "lights": {
79
+ "mode": "random",
80
+ "ceiling": [
81
+ {
82
+ "pos": [
83
+ 2.513,
84
+ -1.119,
85
+ 2.871
86
+ ],
87
+ "intensity_scale": 0.259,
88
+ "kelvin": 4907
89
+ },
90
+ {
91
+ "pos": [
92
+ 1.138,
93
+ 0.48,
94
+ 3.295
95
+ ],
96
+ "intensity_scale": 0.202,
97
+ "kelvin": 5549
98
+ }
99
+ ],
100
+ "level": 0.225,
101
+ "dome": {
102
+ "intensity_scale": 0.252,
103
+ "kelvin": 4737
104
+ }
105
+ },
106
+ "cube": {
107
+ "mode": "nominal"
108
+ },
109
+ "spots": {
110
+ "count": 0,
111
+ "spots": []
112
+ }
113
+ },
114
+ "start_pose": {
115
+ "arm_offset_deg": {
116
+ "l": [],
117
+ "r": []
118
+ },
119
+ "joints": [],
120
+ "gripper_open": 0.1943,
121
+ "gripper_close": 0.8072
122
+ },
123
+ "pair_key": [
124
+ 40009,
125
+ 1,
126
+ 6
127
+ ],
128
+ "length": 210,
129
+ "fps": 15
130
+ }
abl_visual_p009/episode_0007/meta.json ADDED
@@ -0,0 +1,181 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 7,
3
+ "success": true,
4
+ "arm": "l",
5
+ "cube_init_xy_yaw": [
6
+ 0.43949171900749207,
7
+ 0.14036723971366882,
8
+ 3.2491743564605713
9
+ ],
10
+ "cube_settled_pos": [
11
+ 0.43949174880981445,
12
+ 0.1403675079345703,
13
+ 0.7628949284553528
14
+ ],
15
+ "cube_lift": 0.1413288712501526,
16
+ "gripper_joint1_end": 0.6895813345909119,
17
+ "final_phase": "done",
18
+ "table_top_z": 0.742894868850708,
19
+ "program_sha": "9f1c8b2d6170",
20
+ "program_result": {
21
+ "success": true,
22
+ "status": "OK",
23
+ "ticks": 143
24
+ },
25
+ "params": {
26
+ "PREGRASP": 0.09340281039476395,
27
+ "LIFT": 0.1452694833278656,
28
+ "CLOSE_DELAY_S": 0.48158207535743713,
29
+ "RATE": 0.8812577724456787,
30
+ "VIA_XY": -0.03935743495821953,
31
+ "VIA_Z": 0.04371581971645355,
32
+ "TILT_DEG": 0.0,
33
+ "AZIMUTH_DEG": 0.0
34
+ },
35
+ "skills": [
36
+ {
37
+ "success": true,
38
+ "status": "OK",
39
+ "tag": "reach",
40
+ "err_mm": 0.8,
41
+ "err_deg": 0.0,
42
+ "ticks": 66
43
+ },
44
+ {
45
+ "success": true,
46
+ "status": "OK",
47
+ "tag": "approach",
48
+ "err_mm": 2.4,
49
+ "err_deg": 0.1,
50
+ "ticks": 26
51
+ },
52
+ {
53
+ "success": true,
54
+ "status": "OK",
55
+ "tag": "close",
56
+ "finger_q": 0.6895
57
+ },
58
+ {
59
+ "success": true,
60
+ "status": "OK",
61
+ "tag": "lift",
62
+ "err_mm": 2.7,
63
+ "err_deg": 0.1,
64
+ "ticks": 20
65
+ }
66
+ ],
67
+ "dr": {
68
+ "backdrop": {
69
+ "mode": "texture",
70
+ "floor": "Fabric084",
71
+ "walls": "Planks037A",
72
+ "tile_m": 1.864
73
+ },
74
+ "table": {
75
+ "mode": "colour",
76
+ "rgb": [
77
+ 0.185,
78
+ 0.19,
79
+ 0.185
80
+ ],
81
+ "roughness": 0.482
82
+ },
83
+ "lights": {
84
+ "mode": "random",
85
+ "ceiling": [
86
+ {
87
+ "pos": [
88
+ 3.424,
89
+ -1.533,
90
+ 2.692
91
+ ],
92
+ "intensity_scale": 1.124,
93
+ "kelvin": 6520
94
+ },
95
+ {
96
+ "pos": [
97
+ 0.574,
98
+ 0.815,
99
+ 2.705
100
+ ],
101
+ "intensity_scale": 1.012,
102
+ "kelvin": 6428
103
+ }
104
+ ],
105
+ "level": 0.963,
106
+ "dome": {
107
+ "intensity_scale": 0.252,
108
+ "kelvin": 4737
109
+ }
110
+ },
111
+ "cube": {
112
+ "mode": "random",
113
+ "rgb": [
114
+ 0.193,
115
+ 0.637,
116
+ 0.001
117
+ ],
118
+ "roughness": 0.66
119
+ },
120
+ "spots": {
121
+ "count": 3,
122
+ "spots": [
123
+ {
124
+ "aim": [
125
+ 0.363,
126
+ 0.44
127
+ ],
128
+ "dist": 1.562,
129
+ "tilt_deg": 31.4,
130
+ "cone_deg": 22.4,
131
+ "softness": 0.34,
132
+ "radius": 0.047,
133
+ "brightness": 0.96,
134
+ "kelvin": 6135
135
+ },
136
+ {
137
+ "aim": [
138
+ 0.226,
139
+ 0.324
140
+ ],
141
+ "dist": 0.619,
142
+ "tilt_deg": 5.8,
143
+ "cone_deg": 12.8,
144
+ "softness": 0.16,
145
+ "radius": 0.033,
146
+ "brightness": 1.41,
147
+ "kelvin": 6462
148
+ },
149
+ {
150
+ "aim": [
151
+ 0.241,
152
+ 0.468
153
+ ],
154
+ "dist": 0.698,
155
+ "tilt_deg": 4.2,
156
+ "cone_deg": 15.7,
157
+ "softness": 0.23,
158
+ "radius": 0.043,
159
+ "brightness": 0.9,
160
+ "kelvin": 5540
161
+ }
162
+ ]
163
+ }
164
+ },
165
+ "start_pose": {
166
+ "arm_offset_deg": {
167
+ "l": [],
168
+ "r": []
169
+ },
170
+ "joints": [],
171
+ "gripper_open": 0.2125,
172
+ "gripper_close": 0.8111
173
+ },
174
+ "pair_key": [
175
+ 40009,
176
+ 1,
177
+ 7
178
+ ],
179
+ "length": 143,
180
+ "fps": 15
181
+ }
abl_visual_p009/episode_0008/meta.json ADDED
@@ -0,0 +1,178 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 8,
3
+ "success": true,
4
+ "arm": "l",
5
+ "cube_init_xy_yaw": [
6
+ 0.3102038502693176,
7
+ 0.2365729659795761,
8
+ 18.641658782958984
9
+ ],
10
+ "cube_settled_pos": [
11
+ 0.31020402908325195,
12
+ 0.2365732192993164,
13
+ 0.7628947496414185
14
+ ],
15
+ "cube_lift": 0.14186394214630127,
16
+ "gripper_joint1_end": 0.6879892945289612,
17
+ "final_phase": "done",
18
+ "table_top_z": 0.742894868850708,
19
+ "program_sha": "9f1c8b2d6170",
20
+ "program_result": {
21
+ "success": true,
22
+ "status": "OK",
23
+ "ticks": 145
24
+ },
25
+ "params": {
26
+ "PREGRASP": 0.05599352344870567,
27
+ "LIFT": 0.14445564150810242,
28
+ "CLOSE_DELAY_S": 0.17854344844818115,
29
+ "RATE": 0.9180341958999634,
30
+ "VIA_XY": -0.004591420292854309,
31
+ "VIA_Z": 0.0052414704114198685,
32
+ "TILT_DEG": 0.0,
33
+ "AZIMUTH_DEG": 0.0
34
+ },
35
+ "skills": [
36
+ {
37
+ "success": true,
38
+ "status": "OK",
39
+ "tag": "reach",
40
+ "err_mm": 1.7,
41
+ "err_deg": 0.1,
42
+ "ticks": 69
43
+ },
44
+ {
45
+ "success": true,
46
+ "status": "OK",
47
+ "tag": "approach",
48
+ "err_mm": 1.4,
49
+ "err_deg": 0.0,
50
+ "ticks": 28
51
+ },
52
+ {
53
+ "success": true,
54
+ "status": "OK",
55
+ "tag": "close",
56
+ "finger_q": 0.6878
57
+ },
58
+ {
59
+ "success": true,
60
+ "status": "OK",
61
+ "tag": "lift",
62
+ "err_mm": 3.2,
63
+ "err_deg": 0.1,
64
+ "ticks": 21
65
+ }
66
+ ],
67
+ "dr": {
68
+ "backdrop": {
69
+ "mode": "texture",
70
+ "floor": "Asphalt033",
71
+ "walls": "Plaster003",
72
+ "tile_m": 1.141
73
+ },
74
+ "table": {
75
+ "mode": "texture",
76
+ "texture": "Bricks105",
77
+ "tile_m": 0.805,
78
+ "angle_deg": 51.4
79
+ },
80
+ "lights": {
81
+ "mode": "random",
82
+ "ceiling": [
83
+ {
84
+ "pos": [
85
+ 3.466,
86
+ -1.178,
87
+ 2.651
88
+ ],
89
+ "intensity_scale": 2.103,
90
+ "kelvin": 4662
91
+ },
92
+ {
93
+ "pos": [
94
+ 0.809,
95
+ 0.821,
96
+ 3.325
97
+ ],
98
+ "intensity_scale": 1.433,
99
+ "kelvin": 5055
100
+ }
101
+ ],
102
+ "level": 1.569,
103
+ "dome": {
104
+ "intensity_scale": 0.252,
105
+ "kelvin": 4737
106
+ }
107
+ },
108
+ "cube": {
109
+ "mode": "random",
110
+ "rgb": [
111
+ 0.286,
112
+ 0.654,
113
+ 0.0
114
+ ],
115
+ "roughness": 0.654
116
+ },
117
+ "spots": {
118
+ "count": 3,
119
+ "spots": [
120
+ {
121
+ "aim": [
122
+ 0.743,
123
+ -0.145
124
+ ],
125
+ "dist": 1.578,
126
+ "tilt_deg": 6.8,
127
+ "cone_deg": 18.7,
128
+ "softness": 0.56,
129
+ "radius": 0.023,
130
+ "brightness": 0.35,
131
+ "kelvin": 3758
132
+ },
133
+ {
134
+ "aim": [
135
+ 0.421,
136
+ 0.192
137
+ ],
138
+ "dist": 1.467,
139
+ "tilt_deg": 17.2,
140
+ "cone_deg": 24.7,
141
+ "softness": 0.44,
142
+ "radius": 0.036,
143
+ "brightness": 1.38,
144
+ "kelvin": 4844
145
+ },
146
+ {
147
+ "aim": [
148
+ 0.579,
149
+ 0.436
150
+ ],
151
+ "dist": 1.516,
152
+ "tilt_deg": 13.6,
153
+ "cone_deg": 23.0,
154
+ "softness": 0.59,
155
+ "radius": 0.034,
156
+ "brightness": 0.79,
157
+ "kelvin": 3772
158
+ }
159
+ ]
160
+ }
161
+ },
162
+ "start_pose": {
163
+ "arm_offset_deg": {
164
+ "l": [],
165
+ "r": []
166
+ },
167
+ "joints": [],
168
+ "gripper_open": 0.25,
169
+ "gripper_close": 0.8005
170
+ },
171
+ "pair_key": [
172
+ 40009,
173
+ 1,
174
+ 8
175
+ ],
176
+ "length": 145,
177
+ "fps": 15
178
+ }
abl_visual_p009/episode_0009/meta.json ADDED
@@ -0,0 +1,136 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 9,
3
+ "success": true,
4
+ "arm": "l",
5
+ "cube_init_xy_yaw": [
6
+ 0.3392169177532196,
7
+ 0.3566089868545532,
8
+ 8.124947547912598
9
+ ],
10
+ "cube_settled_pos": [
11
+ 0.3392167091369629,
12
+ 0.35660886764526367,
13
+ 0.7628947496414185
14
+ ],
15
+ "cube_lift": 0.11889439821243286,
16
+ "gripper_joint1_end": 0.6838114261627197,
17
+ "final_phase": "done",
18
+ "table_top_z": 0.742894868850708,
19
+ "program_sha": "9f1c8b2d6170",
20
+ "program_result": {
21
+ "success": true,
22
+ "status": "OK",
23
+ "ticks": 172
24
+ },
25
+ "params": {
26
+ "PREGRASP": 0.10467052459716797,
27
+ "LIFT": 0.12121498584747314,
28
+ "CLOSE_DELAY_S": 0.2813645303249359,
29
+ "RATE": 1.1135298013687134,
30
+ "VIA_XY": 0.009396437555551529,
31
+ "VIA_Z": 0.03643999993801117,
32
+ "TILT_DEG": 0.0,
33
+ "AZIMUTH_DEG": 0.0
34
+ },
35
+ "skills": [
36
+ {
37
+ "success": true,
38
+ "status": "OK",
39
+ "tag": "reach",
40
+ "err_mm": 1.6,
41
+ "err_deg": 0.0,
42
+ "ticks": 84
43
+ },
44
+ {
45
+ "success": true,
46
+ "status": "OK",
47
+ "tag": "approach",
48
+ "err_mm": 1.0,
49
+ "err_deg": 0.0,
50
+ "ticks": 33
51
+ },
52
+ {
53
+ "success": true,
54
+ "status": "OK",
55
+ "tag": "close",
56
+ "finger_q": 0.6837
57
+ },
58
+ {
59
+ "success": true,
60
+ "status": "OK",
61
+ "tag": "lift",
62
+ "err_mm": 2.4,
63
+ "err_deg": 0.1,
64
+ "ticks": 25
65
+ }
66
+ ],
67
+ "dr": {
68
+ "backdrop": {
69
+ "mode": "real",
70
+ "variant": "left_arm_right"
71
+ },
72
+ "table": {
73
+ "mode": "texture",
74
+ "texture": "Wood095",
75
+ "tile_m": 1.084,
76
+ "angle_deg": 144.1
77
+ },
78
+ "lights": {
79
+ "mode": "random",
80
+ "ceiling": [
81
+ {
82
+ "pos": [
83
+ 3.316,
84
+ -0.687,
85
+ 2.615
86
+ ],
87
+ "intensity_scale": 1.009,
88
+ "kelvin": 4239
89
+ },
90
+ {
91
+ "pos": [
92
+ 0.694,
93
+ 0.833,
94
+ 2.403
95
+ ],
96
+ "intensity_scale": 1.07,
97
+ "kelvin": 5581
98
+ }
99
+ ],
100
+ "level": 1.333,
101
+ "dome": {
102
+ "intensity_scale": 0.252,
103
+ "kelvin": 4737
104
+ }
105
+ },
106
+ "cube": {
107
+ "mode": "random",
108
+ "rgb": [
109
+ 0.171,
110
+ 0.476,
111
+ 0.003
112
+ ],
113
+ "roughness": 0.439
114
+ },
115
+ "spots": {
116
+ "count": 0,
117
+ "spots": []
118
+ }
119
+ },
120
+ "start_pose": {
121
+ "arm_offset_deg": {
122
+ "l": [],
123
+ "r": []
124
+ },
125
+ "joints": [],
126
+ "gripper_open": 0.2126,
127
+ "gripper_close": 0.7668
128
+ },
129
+ "pair_key": [
130
+ 40009,
131
+ 1,
132
+ 9
133
+ ],
134
+ "length": 172,
135
+ "fps": 15
136
+ }
abl_visual_p009/episode_0011/meta.json ADDED
@@ -0,0 +1,163 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 11,
3
+ "success": true,
4
+ "arm": "l",
5
+ "cube_init_xy_yaw": [
6
+ 0.30689698457717896,
7
+ 0.14341789484024048,
8
+ 1.3929086923599243
9
+ ],
10
+ "cube_settled_pos": [
11
+ 0.3068971633911133,
12
+ 0.1434183120727539,
13
+ 0.7628948092460632
14
+ ],
15
+ "cube_lift": 0.1339769959449768,
16
+ "gripper_joint1_end": 0.6833711266517639,
17
+ "final_phase": "done",
18
+ "table_top_z": 0.742894868850708,
19
+ "program_sha": "9f1c8b2d6170",
20
+ "program_result": {
21
+ "success": true,
22
+ "status": "OK",
23
+ "ticks": 129
24
+ },
25
+ "params": {
26
+ "PREGRASP": 0.05321582779288292,
27
+ "LIFT": 0.13639506697654724,
28
+ "CLOSE_DELAY_S": 0.45403578877449036,
29
+ "RATE": 0.7808969020843506,
30
+ "VIA_XY": -0.012486197054386139,
31
+ "VIA_Z": 0.007386595476418734,
32
+ "TILT_DEG": 0.0,
33
+ "AZIMUTH_DEG": 0.0
34
+ },
35
+ "skills": [
36
+ {
37
+ "success": true,
38
+ "status": "OK",
39
+ "tag": "reach",
40
+ "err_mm": 1.6,
41
+ "err_deg": 0.1,
42
+ "ticks": 59
43
+ },
44
+ {
45
+ "success": true,
46
+ "status": "OK",
47
+ "tag": "approach",
48
+ "err_mm": 1.3,
49
+ "err_deg": 0.0,
50
+ "ticks": 23
51
+ },
52
+ {
53
+ "success": true,
54
+ "status": "OK",
55
+ "tag": "close",
56
+ "finger_q": 0.6834
57
+ },
58
+ {
59
+ "success": true,
60
+ "status": "OK",
61
+ "tag": "lift",
62
+ "err_mm": 3.3,
63
+ "err_deg": 0.1,
64
+ "ticks": 18
65
+ }
66
+ ],
67
+ "dr": {
68
+ "backdrop": {
69
+ "mode": "real",
70
+ "variant": "handover_left"
71
+ },
72
+ "table": {
73
+ "mode": "texture",
74
+ "texture": "Fabric028",
75
+ "tile_m": 0.829,
76
+ "angle_deg": 316.6
77
+ },
78
+ "lights": {
79
+ "mode": "random",
80
+ "ceiling": [
81
+ {
82
+ "pos": [
83
+ 2.927,
84
+ -0.975,
85
+ 3.198
86
+ ],
87
+ "intensity_scale": 0.289,
88
+ "kelvin": 3564
89
+ },
90
+ {
91
+ "pos": [
92
+ 1.063,
93
+ 1.544,
94
+ 2.374
95
+ ],
96
+ "intensity_scale": 0.294,
97
+ "kelvin": 6440
98
+ }
99
+ ],
100
+ "level": 0.21,
101
+ "dome": {
102
+ "intensity_scale": 0.252,
103
+ "kelvin": 4737
104
+ }
105
+ },
106
+ "cube": {
107
+ "mode": "random",
108
+ "rgb": [
109
+ 0.232,
110
+ 0.631,
111
+ 0.0
112
+ ],
113
+ "roughness": 0.719
114
+ },
115
+ "spots": {
116
+ "count": 2,
117
+ "spots": [
118
+ {
119
+ "aim": [
120
+ 0.263,
121
+ 0.284
122
+ ],
123
+ "dist": 1.396,
124
+ "tilt_deg": 17.2,
125
+ "cone_deg": 24.8,
126
+ "softness": 0.31,
127
+ "radius": 0.038,
128
+ "brightness": 1.41,
129
+ "kelvin": 4693
130
+ },
131
+ {
132
+ "aim": [
133
+ 0.591,
134
+ -0.074
135
+ ],
136
+ "dist": 1.017,
137
+ "tilt_deg": 10.2,
138
+ "cone_deg": 20.7,
139
+ "softness": 0.36,
140
+ "radius": 0.039,
141
+ "brightness": 0.25,
142
+ "kelvin": 5186
143
+ }
144
+ ]
145
+ }
146
+ },
147
+ "start_pose": {
148
+ "arm_offset_deg": {
149
+ "l": [],
150
+ "r": []
151
+ },
152
+ "joints": [],
153
+ "gripper_open": 0.1938,
154
+ "gripper_close": 0.7635
155
+ },
156
+ "pair_key": [
157
+ 40009,
158
+ 1,
159
+ 11
160
+ ],
161
+ "length": 129,
162
+ "fps": 15
163
+ }
abl_visual_p009/episode_0012/meta.json ADDED
@@ -0,0 +1,152 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 12,
3
+ "success": true,
4
+ "arm": "l",
5
+ "cube_init_xy_yaw": [
6
+ 0.4227994978427887,
7
+ 0.11952716112136841,
8
+ -36.864830017089844
9
+ ],
10
+ "cube_settled_pos": [
11
+ 0.42279911041259766,
12
+ 0.11952686309814453,
13
+ 0.762894868850708
14
+ ],
15
+ "cube_lift": 0.09408998489379883,
16
+ "gripper_joint1_end": 0.686079204082489,
17
+ "final_phase": "done",
18
+ "table_top_z": 0.742894868850708,
19
+ "program_sha": "9f1c8b2d6170",
20
+ "program_result": {
21
+ "success": true,
22
+ "status": "OK",
23
+ "ticks": 175
24
+ },
25
+ "params": {
26
+ "PREGRASP": 0.08653053641319275,
27
+ "LIFT": 0.09713966399431229,
28
+ "CLOSE_DELAY_S": 0.43693727254867554,
29
+ "RATE": 1.114101767539978,
30
+ "VIA_XY": -0.032379575073719025,
31
+ "VIA_Z": 0.05097149685025215,
32
+ "TILT_DEG": 0.0,
33
+ "AZIMUTH_DEG": 0.0
34
+ },
35
+ "skills": [
36
+ {
37
+ "success": true,
38
+ "status": "OK",
39
+ "tag": "reach",
40
+ "err_mm": 0.4,
41
+ "err_deg": 0.0,
42
+ "ticks": 84
43
+ },
44
+ {
45
+ "success": true,
46
+ "status": "OK",
47
+ "tag": "approach",
48
+ "err_mm": 1.9,
49
+ "err_deg": 0.0,
50
+ "ticks": 33
51
+ },
52
+ {
53
+ "success": true,
54
+ "status": "OK",
55
+ "tag": "close",
56
+ "finger_q": 0.686
57
+ },
58
+ {
59
+ "success": true,
60
+ "status": "OK",
61
+ "tag": "lift",
62
+ "err_mm": 1.1,
63
+ "err_deg": 0.1,
64
+ "ticks": 25
65
+ }
66
+ ],
67
+ "dr": {
68
+ "backdrop": {
69
+ "mode": "texture",
70
+ "floor": "Onyx015",
71
+ "walls": "Fabric028",
72
+ "tile_m": 0.756
73
+ },
74
+ "table": {
75
+ "mode": "texture",
76
+ "texture": "CorrugatedSteel007A",
77
+ "tile_m": 0.693,
78
+ "angle_deg": 306.5
79
+ },
80
+ "lights": {
81
+ "mode": "random",
82
+ "ceiling": [
83
+ {
84
+ "pos": [
85
+ 2.59,
86
+ -0.555,
87
+ 2.368
88
+ ],
89
+ "intensity_scale": 0.583,
90
+ "kelvin": 4920
91
+ },
92
+ {
93
+ "pos": [
94
+ 1.518,
95
+ 0.899,
96
+ 2.677
97
+ ],
98
+ "intensity_scale": 0.602,
99
+ "kelvin": 5805
100
+ }
101
+ ],
102
+ "level": 0.767,
103
+ "dome": {
104
+ "intensity_scale": 0.252,
105
+ "kelvin": 4737
106
+ }
107
+ },
108
+ "cube": {
109
+ "mode": "random",
110
+ "rgb": [
111
+ 0.137,
112
+ 0.478,
113
+ 0.001
114
+ ],
115
+ "roughness": 0.539
116
+ },
117
+ "spots": {
118
+ "count": 1,
119
+ "spots": [
120
+ {
121
+ "aim": [
122
+ 0.221,
123
+ 0.261
124
+ ],
125
+ "dist": 0.932,
126
+ "tilt_deg": 27.7,
127
+ "cone_deg": 22.1,
128
+ "softness": 0.45,
129
+ "radius": 0.028,
130
+ "brightness": 1.78,
131
+ "kelvin": 3826
132
+ }
133
+ ]
134
+ }
135
+ },
136
+ "start_pose": {
137
+ "arm_offset_deg": {
138
+ "l": [],
139
+ "r": []
140
+ },
141
+ "joints": [],
142
+ "gripper_open": 0.1986,
143
+ "gripper_close": 0.7815
144
+ },
145
+ "pair_key": [
146
+ 40009,
147
+ 1,
148
+ 12
149
+ ],
150
+ "length": 175,
151
+ "fps": 15
152
+ }
abl_visual_p009/episode_0013/meta.json ADDED
@@ -0,0 +1,132 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 13,
3
+ "success": true,
4
+ "arm": "l",
5
+ "cube_init_xy_yaw": [
6
+ 0.39396923780441284,
7
+ 0.14364255964756012,
8
+ 39.81886672973633
9
+ ],
10
+ "cube_settled_pos": [
11
+ 0.3939695358276367,
12
+ 0.14364242553710938,
13
+ 0.762894868850708
14
+ ],
15
+ "cube_lift": 0.07908779382705688,
16
+ "gripper_joint1_end": 0.6370717287063599,
17
+ "final_phase": "done",
18
+ "table_top_z": 0.742894868850708,
19
+ "program_sha": "9f1c8b2d6170",
20
+ "program_result": {
21
+ "success": true,
22
+ "status": "OK",
23
+ "ticks": 218
24
+ },
25
+ "params": {
26
+ "PREGRASP": 0.06293093413114548,
27
+ "LIFT": 0.08341948688030243,
28
+ "CLOSE_DELAY_S": 0.1461886316537857,
29
+ "RATE": 1.2398600578308105,
30
+ "VIA_XY": 0.008373778313398361,
31
+ "VIA_Z": 0.014328686520457268,
32
+ "TILT_DEG": 0.0,
33
+ "AZIMUTH_DEG": 0.0
34
+ },
35
+ "skills": [
36
+ {
37
+ "success": false,
38
+ "status": "NOT_CONVERGED",
39
+ "tag": "reach",
40
+ "err_mm": 28.3,
41
+ "err_deg": 0.8,
42
+ "ticks": 123
43
+ },
44
+ {
45
+ "success": true,
46
+ "status": "OK",
47
+ "tag": "approach",
48
+ "err_mm": 4.6,
49
+ "err_deg": 0.9,
50
+ "ticks": 37
51
+ },
52
+ {
53
+ "success": true,
54
+ "status": "OK",
55
+ "tag": "close",
56
+ "finger_q": 0.6014
57
+ },
58
+ {
59
+ "success": true,
60
+ "status": "OK",
61
+ "tag": "lift",
62
+ "err_mm": 2.1,
63
+ "err_deg": 0.1,
64
+ "ticks": 28
65
+ }
66
+ ],
67
+ "dr": {
68
+ "backdrop": {
69
+ "mode": "off"
70
+ },
71
+ "table": {
72
+ "mode": "nominal"
73
+ },
74
+ "lights": {
75
+ "mode": "random",
76
+ "ceiling": [
77
+ {
78
+ "pos": [
79
+ 2.096,
80
+ -0.813,
81
+ 3.322
82
+ ],
83
+ "intensity_scale": 0.476,
84
+ "kelvin": 6859
85
+ },
86
+ {
87
+ "pos": [
88
+ 0.516,
89
+ 1.287,
90
+ 3.18
91
+ ],
92
+ "intensity_scale": 0.501,
93
+ "kelvin": 5872
94
+ }
95
+ ],
96
+ "level": 0.515,
97
+ "dome": {
98
+ "intensity_scale": 0.252,
99
+ "kelvin": 4737
100
+ }
101
+ },
102
+ "cube": {
103
+ "mode": "random",
104
+ "rgb": [
105
+ 0.416,
106
+ 0.617,
107
+ 0.0
108
+ ],
109
+ "roughness": 0.521
110
+ },
111
+ "spots": {
112
+ "count": 0,
113
+ "spots": []
114
+ }
115
+ },
116
+ "start_pose": {
117
+ "arm_offset_deg": {
118
+ "l": [],
119
+ "r": []
120
+ },
121
+ "joints": [],
122
+ "gripper_open": 0.2119,
123
+ "gripper_close": 0.7519
124
+ },
125
+ "pair_key": [
126
+ 40009,
127
+ 1,
128
+ 13
129
+ ],
130
+ "length": 218,
131
+ "fps": 15
132
+ }
abl_visual_p009/episode_0014/meta.json ADDED
@@ -0,0 +1,162 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 14,
3
+ "success": true,
4
+ "arm": "l",
5
+ "cube_init_xy_yaw": [
6
+ 0.3901861011981964,
7
+ -0.011070355772972107,
8
+ -21.73345947265625
9
+ ],
10
+ "cube_settled_pos": [
11
+ 0.3901863098144531,
12
+ -0.01107025146484375,
13
+ 0.7628949284553528
14
+ ],
15
+ "cube_lift": 0.06780266761779785,
16
+ "gripper_joint1_end": 0.6968550682067871,
17
+ "final_phase": "done",
18
+ "table_top_z": 0.742894868850708,
19
+ "program_sha": "9f1c8b2d6170",
20
+ "program_result": {
21
+ "success": true,
22
+ "status": "OK",
23
+ "ticks": 170
24
+ },
25
+ "params": {
26
+ "PREGRASP": 0.10512447357177734,
27
+ "LIFT": 0.08662010729312897,
28
+ "CLOSE_DELAY_S": 0.04451896622776985,
29
+ "RATE": 0.9100210666656494,
30
+ "VIA_XY": -0.03166995942592621,
31
+ "VIA_Z": 0.004734063055366278,
32
+ "TILT_DEG": 0.0,
33
+ "AZIMUTH_DEG": 0.0
34
+ },
35
+ "skills": [
36
+ {
37
+ "success": true,
38
+ "status": "OK",
39
+ "tag": "reach",
40
+ "err_mm": 1.0,
41
+ "err_deg": 0.0,
42
+ "ticks": 68
43
+ },
44
+ {
45
+ "success": false,
46
+ "status": "NOT_CONVERGED",
47
+ "tag": "approach",
48
+ "err_mm": 31.8,
49
+ "err_deg": 0.2,
50
+ "ticks": 57
51
+ },
52
+ {
53
+ "success": true,
54
+ "status": "OK",
55
+ "tag": "close",
56
+ "finger_q": 0.6997
57
+ },
58
+ {
59
+ "success": true,
60
+ "status": "OK",
61
+ "tag": "lift",
62
+ "err_mm": 1.3,
63
+ "err_deg": 0.0,
64
+ "ticks": 20
65
+ }
66
+ ],
67
+ "dr": {
68
+ "backdrop": {
69
+ "mode": "texture",
70
+ "floor": "WoodFloor064",
71
+ "walls": "Carpet012",
72
+ "tile_m": 1.755
73
+ },
74
+ "table": {
75
+ "mode": "nominal"
76
+ },
77
+ "lights": {
78
+ "mode": "random",
79
+ "ceiling": [
80
+ {
81
+ "pos": [
82
+ 3.245,
83
+ -1.218,
84
+ 2.415
85
+ ],
86
+ "intensity_scale": 0.61,
87
+ "kelvin": 6354
88
+ },
89
+ {
90
+ "pos": [
91
+ 1.253,
92
+ 1.004,
93
+ 2.308
94
+ ],
95
+ "intensity_scale": 0.512,
96
+ "kelvin": 6464
97
+ }
98
+ ],
99
+ "level": 0.466,
100
+ "dome": {
101
+ "intensity_scale": 0.252,
102
+ "kelvin": 4737
103
+ }
104
+ },
105
+ "cube": {
106
+ "mode": "random",
107
+ "rgb": [
108
+ 0.387,
109
+ 0.478,
110
+ 0.005
111
+ ],
112
+ "roughness": 0.792
113
+ },
114
+ "spots": {
115
+ "count": 2,
116
+ "spots": [
117
+ {
118
+ "aim": [
119
+ 0.4,
120
+ 0.229
121
+ ],
122
+ "dist": 0.946,
123
+ "tilt_deg": 33.8,
124
+ "cone_deg": 23.0,
125
+ "softness": 0.06,
126
+ "radius": 0.014,
127
+ "brightness": 0.93,
128
+ "kelvin": 6492
129
+ },
130
+ {
131
+ "aim": [
132
+ 0.248,
133
+ 0.484
134
+ ],
135
+ "dist": 1.234,
136
+ "tilt_deg": 6.5,
137
+ "cone_deg": 19.5,
138
+ "softness": 0.35,
139
+ "radius": 0.01,
140
+ "brightness": 1.63,
141
+ "kelvin": 5618
142
+ }
143
+ ]
144
+ }
145
+ },
146
+ "start_pose": {
147
+ "arm_offset_deg": {
148
+ "l": [],
149
+ "r": []
150
+ },
151
+ "joints": [],
152
+ "gripper_open": 0.2568,
153
+ "gripper_close": 0.7808
154
+ },
155
+ "pair_key": [
156
+ 40009,
157
+ 1,
158
+ 14
159
+ ],
160
+ "length": 170,
161
+ "fps": 15
162
+ }
abl_visual_p009/episode_0015/meta.json ADDED
@@ -0,0 +1,152 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 15,
3
+ "success": true,
4
+ "arm": "l",
5
+ "cube_init_xy_yaw": [
6
+ 0.27927592396736145,
7
+ 0.26379919052124023,
8
+ 15.126913070678711
9
+ ],
10
+ "cube_settled_pos": [
11
+ 0.27927589416503906,
12
+ 0.26379966735839844,
13
+ 0.7628949880599976
14
+ ],
15
+ "cube_lift": 0.07999914884567261,
16
+ "gripper_joint1_end": 0.6902015805244446,
17
+ "final_phase": "done",
18
+ "table_top_z": 0.742894868850708,
19
+ "program_sha": "9f1c8b2d6170",
20
+ "program_result": {
21
+ "success": true,
22
+ "status": "OK",
23
+ "ticks": 199
24
+ },
25
+ "params": {
26
+ "PREGRASP": 0.09743071347475052,
27
+ "LIFT": 0.08191464841365814,
28
+ "CLOSE_DELAY_S": 0.30640891194343567,
29
+ "RATE": 1.283604621887207,
30
+ "VIA_XY": 0.02075718343257904,
31
+ "VIA_Z": 0.055680688470602036,
32
+ "TILT_DEG": 0.0,
33
+ "AZIMUTH_DEG": 0.0
34
+ },
35
+ "skills": [
36
+ {
37
+ "success": true,
38
+ "status": "OK",
39
+ "tag": "reach",
40
+ "err_mm": 1.9,
41
+ "err_deg": 0.0,
42
+ "ticks": 96
43
+ },
44
+ {
45
+ "success": true,
46
+ "status": "OK",
47
+ "tag": "approach",
48
+ "err_mm": 1.4,
49
+ "err_deg": 0.0,
50
+ "ticks": 39
51
+ },
52
+ {
53
+ "success": true,
54
+ "status": "OK",
55
+ "tag": "close",
56
+ "finger_q": 0.6901
57
+ },
58
+ {
59
+ "success": true,
60
+ "status": "OK",
61
+ "tag": "lift",
62
+ "err_mm": 2.1,
63
+ "err_deg": 0.0,
64
+ "ticks": 29
65
+ }
66
+ ],
67
+ "dr": {
68
+ "backdrop": {
69
+ "mode": "texture",
70
+ "floor": "Wood096",
71
+ "walls": "Wood092",
72
+ "tile_m": 1.352
73
+ },
74
+ "table": {
75
+ "mode": "texture",
76
+ "texture": "Travertine009",
77
+ "tile_m": 0.768,
78
+ "angle_deg": 278.6
79
+ },
80
+ "lights": {
81
+ "mode": "random",
82
+ "ceiling": [
83
+ {
84
+ "pos": [
85
+ 2.443,
86
+ -0.309,
87
+ 3.085
88
+ ],
89
+ "intensity_scale": 0.294,
90
+ "kelvin": 6863
91
+ },
92
+ {
93
+ "pos": [
94
+ 1.383,
95
+ 1.071,
96
+ 2.204
97
+ ],
98
+ "intensity_scale": 0.41,
99
+ "kelvin": 5904
100
+ }
101
+ ],
102
+ "level": 0.322,
103
+ "dome": {
104
+ "intensity_scale": 0.252,
105
+ "kelvin": 4737
106
+ }
107
+ },
108
+ "cube": {
109
+ "mode": "random",
110
+ "rgb": [
111
+ 0.375,
112
+ 0.567,
113
+ 0.001
114
+ ],
115
+ "roughness": 0.505
116
+ },
117
+ "spots": {
118
+ "count": 1,
119
+ "spots": [
120
+ {
121
+ "aim": [
122
+ 0.696,
123
+ 0.311
124
+ ],
125
+ "dist": 1.206,
126
+ "tilt_deg": 6.4,
127
+ "cone_deg": 19.6,
128
+ "softness": 0.05,
129
+ "radius": 0.018,
130
+ "brightness": 1.34,
131
+ "kelvin": 5848
132
+ }
133
+ ]
134
+ }
135
+ },
136
+ "start_pose": {
137
+ "arm_offset_deg": {
138
+ "l": [],
139
+ "r": []
140
+ },
141
+ "joints": [],
142
+ "gripper_open": 0.2097,
143
+ "gripper_close": 0.8198
144
+ },
145
+ "pair_key": [
146
+ 40009,
147
+ 1,
148
+ 15
149
+ ],
150
+ "length": 199,
151
+ "fps": 15
152
+ }
abl_visual_p009/episode_0016/meta.json ADDED
@@ -0,0 +1,176 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 16,
3
+ "success": true,
4
+ "arm": "l",
5
+ "cube_init_xy_yaw": [
6
+ 0.4400959610939026,
7
+ 0.28332608938217163,
8
+ 26.879140853881836
9
+ ],
10
+ "cube_settled_pos": [
11
+ 0.4400959014892578,
12
+ 0.2833261489868164,
13
+ 0.7628946304321289
14
+ ],
15
+ "cube_lift": 0.11650371551513672,
16
+ "gripper_joint1_end": 0.6871740818023682,
17
+ "final_phase": "done",
18
+ "table_top_z": 0.742894868850708,
19
+ "program_sha": "9f1c8b2d6170",
20
+ "program_result": {
21
+ "success": true,
22
+ "status": "OK",
23
+ "ticks": 153
24
+ },
25
+ "params": {
26
+ "PREGRASP": 0.08,
27
+ "LIFT": 0.12,
28
+ "CLOSE_DELAY_S": 0.0,
29
+ "RATE": 1.0,
30
+ "VIA_XY": 0.0,
31
+ "VIA_Z": 0.0,
32
+ "TILT_DEG": 0.0,
33
+ "AZIMUTH_DEG": 0.0
34
+ },
35
+ "skills": [
36
+ {
37
+ "success": true,
38
+ "status": "OK",
39
+ "tag": "reach",
40
+ "err_mm": 1.0,
41
+ "err_deg": 0.1,
42
+ "ticks": 75
43
+ },
44
+ {
45
+ "success": true,
46
+ "status": "OK",
47
+ "tag": "approach",
48
+ "err_mm": 1.4,
49
+ "err_deg": 0.1,
50
+ "ticks": 30
51
+ },
52
+ {
53
+ "success": true,
54
+ "status": "OK",
55
+ "tag": "close",
56
+ "finger_q": 0.6871
57
+ },
58
+ {
59
+ "success": true,
60
+ "status": "OK",
61
+ "tag": "lift",
62
+ "err_mm": 2.3,
63
+ "err_deg": 0.1,
64
+ "ticks": 22
65
+ }
66
+ ],
67
+ "dr": {
68
+ "backdrop": {
69
+ "mode": "real",
70
+ "variant": "left_arm_left"
71
+ },
72
+ "table": {
73
+ "mode": "texture",
74
+ "texture": "Asphalt033",
75
+ "tile_m": 0.381,
76
+ "angle_deg": 333.1
77
+ },
78
+ "lights": {
79
+ "mode": "random",
80
+ "ceiling": [
81
+ {
82
+ "pos": [
83
+ 2.909,
84
+ -0.687,
85
+ 3.373
86
+ ],
87
+ "intensity_scale": 0.257,
88
+ "kelvin": 4628
89
+ },
90
+ {
91
+ "pos": [
92
+ 0.832,
93
+ 1.045,
94
+ 2.293
95
+ ],
96
+ "intensity_scale": 0.255,
97
+ "kelvin": 6262
98
+ }
99
+ ],
100
+ "level": 0.229,
101
+ "dome": {
102
+ "intensity_scale": 0.352,
103
+ "kelvin": 6092
104
+ }
105
+ },
106
+ "cube": {
107
+ "mode": "random",
108
+ "rgb": [
109
+ 0.358,
110
+ 0.512,
111
+ 0.003
112
+ ],
113
+ "roughness": 0.31
114
+ },
115
+ "spots": {
116
+ "count": 3,
117
+ "spots": [
118
+ {
119
+ "aim": [
120
+ 0.167,
121
+ 0.275
122
+ ],
123
+ "dist": 0.983,
124
+ "tilt_deg": 10.0,
125
+ "cone_deg": 10.4,
126
+ "softness": 0.33,
127
+ "radius": 0.015,
128
+ "brightness": 1.92,
129
+ "kelvin": 3292
130
+ },
131
+ {
132
+ "aim": [
133
+ 0.741,
134
+ 0.533
135
+ ],
136
+ "dist": 0.862,
137
+ "tilt_deg": 21.5,
138
+ "cone_deg": 17.7,
139
+ "softness": 0.21,
140
+ "radius": 0.023,
141
+ "brightness": 1.65,
142
+ "kelvin": 6127
143
+ },
144
+ {
145
+ "aim": [
146
+ 0.294,
147
+ 0.332
148
+ ],
149
+ "dist": 1.348,
150
+ "tilt_deg": 22.8,
151
+ "cone_deg": 20.8,
152
+ "softness": 0.06,
153
+ "radius": 0.035,
154
+ "brightness": 1.14,
155
+ "kelvin": 5804
156
+ }
157
+ ]
158
+ }
159
+ },
160
+ "start_pose": {
161
+ "arm_offset_deg": {
162
+ "l": [],
163
+ "r": []
164
+ },
165
+ "joints": [],
166
+ "gripper_open": 0.235,
167
+ "gripper_close": 0.7921
168
+ },
169
+ "pair_key": [
170
+ 40009,
171
+ 2,
172
+ 0
173
+ ],
174
+ "length": 153,
175
+ "fps": 15
176
+ }
abl_visual_p009/episode_0017/meta.json ADDED
@@ -0,0 +1,152 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 17,
3
+ "success": true,
4
+ "arm": "l",
5
+ "cube_init_xy_yaw": [
6
+ 0.31384986639022827,
7
+ 0.5766737461090088,
8
+ 23.318084716796875
9
+ ],
10
+ "cube_settled_pos": [
11
+ 0.31384944915771484,
12
+ 0.5766730308532715,
13
+ 0.7628949284553528
14
+ ],
15
+ "cube_lift": 0.11791849136352539,
16
+ "gripper_joint1_end": 0.683484673500061,
17
+ "final_phase": "done",
18
+ "table_top_z": 0.742894868850708,
19
+ "program_sha": "9f1c8b2d6170",
20
+ "program_result": {
21
+ "success": true,
22
+ "status": "OK",
23
+ "ticks": 183
24
+ },
25
+ "params": {
26
+ "PREGRASP": 0.10710632801055908,
27
+ "LIFT": 0.1219782829284668,
28
+ "CLOSE_DELAY_S": 0.08435976505279541,
29
+ "RATE": 1.212011456489563,
30
+ "VIA_XY": -0.033902499824762344,
31
+ "VIA_Z": 0.040603116154670715,
32
+ "TILT_DEG": 0.0,
33
+ "AZIMUTH_DEG": 0.0
34
+ },
35
+ "skills": [
36
+ {
37
+ "success": true,
38
+ "status": "OK",
39
+ "tag": "reach",
40
+ "err_mm": 0.8,
41
+ "err_deg": 0.0,
42
+ "ticks": 91
43
+ },
44
+ {
45
+ "success": true,
46
+ "status": "OK",
47
+ "tag": "approach",
48
+ "err_mm": 3.7,
49
+ "err_deg": 0.1,
50
+ "ticks": 36
51
+ },
52
+ {
53
+ "success": true,
54
+ "status": "OK",
55
+ "tag": "close",
56
+ "finger_q": 0.6834
57
+ },
58
+ {
59
+ "success": true,
60
+ "status": "OK",
61
+ "tag": "lift",
62
+ "err_mm": 1.9,
63
+ "err_deg": 0.1,
64
+ "ticks": 27
65
+ }
66
+ ],
67
+ "dr": {
68
+ "backdrop": {
69
+ "mode": "texture",
70
+ "floor": "Rubber004",
71
+ "walls": "CorrugatedSteel007A",
72
+ "tile_m": 1.234
73
+ },
74
+ "table": {
75
+ "mode": "texture",
76
+ "texture": "Terrazzo013",
77
+ "tile_m": 0.799,
78
+ "angle_deg": 342.4
79
+ },
80
+ "lights": {
81
+ "mode": "random",
82
+ "ceiling": [
83
+ {
84
+ "pos": [
85
+ 2.276,
86
+ -0.987,
87
+ 3.25
88
+ ],
89
+ "intensity_scale": 0.249,
90
+ "kelvin": 4483
91
+ },
92
+ {
93
+ "pos": [
94
+ 0.543,
95
+ 1.029,
96
+ 2.771
97
+ ],
98
+ "intensity_scale": 0.406,
99
+ "kelvin": 6248
100
+ }
101
+ ],
102
+ "level": 0.303,
103
+ "dome": {
104
+ "intensity_scale": 0.352,
105
+ "kelvin": 6092
106
+ }
107
+ },
108
+ "cube": {
109
+ "mode": "random",
110
+ "rgb": [
111
+ 0.618,
112
+ 0.667,
113
+ 0.0
114
+ ],
115
+ "roughness": 0.487
116
+ },
117
+ "spots": {
118
+ "count": 1,
119
+ "spots": [
120
+ {
121
+ "aim": [
122
+ 0.44,
123
+ 0.517
124
+ ],
125
+ "dist": 1.253,
126
+ "tilt_deg": 18.2,
127
+ "cone_deg": 13.6,
128
+ "softness": 0.26,
129
+ "radius": 0.038,
130
+ "brightness": 1.38,
131
+ "kelvin": 5238
132
+ }
133
+ ]
134
+ }
135
+ },
136
+ "start_pose": {
137
+ "arm_offset_deg": {
138
+ "l": [],
139
+ "r": []
140
+ },
141
+ "joints": [],
142
+ "gripper_open": 0.218,
143
+ "gripper_close": 0.7525
144
+ },
145
+ "pair_key": [
146
+ 40009,
147
+ 2,
148
+ 1
149
+ ],
150
+ "length": 183,
151
+ "fps": 15
152
+ }
abl_visual_p009/episode_0018/meta.json ADDED
@@ -0,0 +1,166 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 18,
3
+ "success": true,
4
+ "arm": "l",
5
+ "cube_init_xy_yaw": [
6
+ 0.2994126081466675,
7
+ 0.6039789915084839,
8
+ -3.8863706588745117
9
+ ],
10
+ "cube_settled_pos": [
11
+ 0.29941272735595703,
12
+ 0.6039791107177734,
13
+ 0.7628948092460632
14
+ ],
15
+ "cube_lift": 0.12976962327957153,
16
+ "gripper_joint1_end": 0.682581901550293,
17
+ "final_phase": "done",
18
+ "table_top_z": 0.742894868850708,
19
+ "program_sha": "9f1c8b2d6170",
20
+ "program_result": {
21
+ "success": true,
22
+ "status": "OK",
23
+ "ticks": 153
24
+ },
25
+ "params": {
26
+ "PREGRASP": 0.10762162506580353,
27
+ "LIFT": 0.13385573029518127,
28
+ "CLOSE_DELAY_S": 0.3090290129184723,
29
+ "RATE": 0.9726486802101135,
30
+ "VIA_XY": 0.01003902405500412,
31
+ "VIA_Z": 0.020862869918346405,
32
+ "TILT_DEG": 0.0,
33
+ "AZIMUTH_DEG": 0.0
34
+ },
35
+ "skills": [
36
+ {
37
+ "success": true,
38
+ "status": "OK",
39
+ "tag": "reach",
40
+ "err_mm": 1.3,
41
+ "err_deg": 0.0,
42
+ "ticks": 73
43
+ },
44
+ {
45
+ "success": true,
46
+ "status": "OK",
47
+ "tag": "approach",
48
+ "err_mm": 3.0,
49
+ "err_deg": 0.1,
50
+ "ticks": 29
51
+ },
52
+ {
53
+ "success": true,
54
+ "status": "OK",
55
+ "tag": "close",
56
+ "finger_q": 0.6825
57
+ },
58
+ {
59
+ "success": true,
60
+ "status": "OK",
61
+ "tag": "lift",
62
+ "err_mm": 3.2,
63
+ "err_deg": 0.1,
64
+ "ticks": 22
65
+ }
66
+ ],
67
+ "dr": {
68
+ "backdrop": {
69
+ "mode": "real",
70
+ "variant": "handover_left"
71
+ },
72
+ "table": {
73
+ "mode": "colour",
74
+ "rgb": [
75
+ 0.175,
76
+ 0.218,
77
+ 0.227
78
+ ],
79
+ "roughness": 0.548
80
+ },
81
+ "lights": {
82
+ "mode": "random",
83
+ "ceiling": [
84
+ {
85
+ "pos": [
86
+ 2.946,
87
+ -0.482,
88
+ 2.732
89
+ ],
90
+ "intensity_scale": 0.156,
91
+ "kelvin": 6609
92
+ },
93
+ {
94
+ "pos": [
95
+ 0.915,
96
+ 0.392,
97
+ 2.268
98
+ ],
99
+ "intensity_scale": 0.118,
100
+ "kelvin": 3606
101
+ }
102
+ ],
103
+ "level": 0.158,
104
+ "dome": {
105
+ "intensity_scale": 0.352,
106
+ "kelvin": 6092
107
+ }
108
+ },
109
+ "cube": {
110
+ "mode": "random",
111
+ "rgb": [
112
+ 0.249,
113
+ 0.703,
114
+ 0.0
115
+ ],
116
+ "roughness": 0.392
117
+ },
118
+ "spots": {
119
+ "count": 2,
120
+ "spots": [
121
+ {
122
+ "aim": [
123
+ 0.487,
124
+ 0.241
125
+ ],
126
+ "dist": 1.428,
127
+ "tilt_deg": 12.6,
128
+ "cone_deg": 22.1,
129
+ "softness": 0.3,
130
+ "radius": 0.023,
131
+ "brightness": 0.78,
132
+ "kelvin": 3782
133
+ },
134
+ {
135
+ "aim": [
136
+ 0.202,
137
+ 0.082
138
+ ],
139
+ "dist": 1.446,
140
+ "tilt_deg": 8.8,
141
+ "cone_deg": 18.1,
142
+ "softness": 0.59,
143
+ "radius": 0.023,
144
+ "brightness": 0.43,
145
+ "kelvin": 3317
146
+ }
147
+ ]
148
+ }
149
+ },
150
+ "start_pose": {
151
+ "arm_offset_deg": {
152
+ "l": [],
153
+ "r": []
154
+ },
155
+ "joints": [],
156
+ "gripper_open": 0.1843,
157
+ "gripper_close": 0.7541
158
+ },
159
+ "pair_key": [
160
+ 40009,
161
+ 2,
162
+ 2
163
+ ],
164
+ "length": 153,
165
+ "fps": 15
166
+ }
abl_visual_p009/episode_0019/meta.json ADDED
@@ -0,0 +1,181 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 19,
3
+ "success": true,
4
+ "arm": "l",
5
+ "cube_init_xy_yaw": [
6
+ 0.3618983328342438,
7
+ 0.4836996793746948,
8
+ -23.737957000732422
9
+ ],
10
+ "cube_settled_pos": [
11
+ 0.36189842224121094,
12
+ 0.4836997985839844,
13
+ 0.762894868850708
14
+ ],
15
+ "cube_lift": 0.13818484544754028,
16
+ "gripper_joint1_end": 0.6825186014175415,
17
+ "final_phase": "done",
18
+ "table_top_z": 0.742894868850708,
19
+ "program_sha": "9f1c8b2d6170",
20
+ "program_result": {
21
+ "success": true,
22
+ "status": "OK",
23
+ "ticks": 168
24
+ },
25
+ "params": {
26
+ "PREGRASP": 0.09684759378433228,
27
+ "LIFT": 0.1413138210773468,
28
+ "CLOSE_DELAY_S": 0.28687360882759094,
29
+ "RATE": 1.0856292247772217,
30
+ "VIA_XY": -0.03257623687386513,
31
+ "VIA_Z": 0.019780002534389496,
32
+ "TILT_DEG": 0.0,
33
+ "AZIMUTH_DEG": 0.0
34
+ },
35
+ "skills": [
36
+ {
37
+ "success": true,
38
+ "status": "OK",
39
+ "tag": "reach",
40
+ "err_mm": 1.1,
41
+ "err_deg": 0.0,
42
+ "ticks": 81
43
+ },
44
+ {
45
+ "success": true,
46
+ "status": "OK",
47
+ "tag": "approach",
48
+ "err_mm": 1.1,
49
+ "err_deg": 0.0,
50
+ "ticks": 33
51
+ },
52
+ {
53
+ "success": true,
54
+ "status": "OK",
55
+ "tag": "close",
56
+ "finger_q": 0.6825
57
+ },
58
+ {
59
+ "success": true,
60
+ "status": "OK",
61
+ "tag": "lift",
62
+ "err_mm": 2.7,
63
+ "err_deg": 0.1,
64
+ "ticks": 24
65
+ }
66
+ ],
67
+ "dr": {
68
+ "backdrop": {
69
+ "mode": "texture",
70
+ "floor": "PaintedPlaster010",
71
+ "walls": "Wood096",
72
+ "tile_m": 0.615
73
+ },
74
+ "table": {
75
+ "mode": "colour",
76
+ "rgb": [
77
+ 0.139,
78
+ 0.131,
79
+ 0.153
80
+ ],
81
+ "roughness": 0.519
82
+ },
83
+ "lights": {
84
+ "mode": "random",
85
+ "ceiling": [
86
+ {
87
+ "pos": [
88
+ 3.003,
89
+ -0.925,
90
+ 2.718
91
+ ],
92
+ "intensity_scale": 2.679,
93
+ "kelvin": 6025
94
+ },
95
+ {
96
+ "pos": [
97
+ 1.094,
98
+ 0.434,
99
+ 2.922
100
+ ],
101
+ "intensity_scale": 2.28,
102
+ "kelvin": 3970
103
+ }
104
+ ],
105
+ "level": 2.121,
106
+ "dome": {
107
+ "intensity_scale": 0.352,
108
+ "kelvin": 6092
109
+ }
110
+ },
111
+ "cube": {
112
+ "mode": "random",
113
+ "rgb": [
114
+ 0.221,
115
+ 0.428,
116
+ 0.003
117
+ ],
118
+ "roughness": 0.337
119
+ },
120
+ "spots": {
121
+ "count": 3,
122
+ "spots": [
123
+ {
124
+ "aim": [
125
+ 0.608,
126
+ 0.011
127
+ ],
128
+ "dist": 1.125,
129
+ "tilt_deg": 8.6,
130
+ "cone_deg": 19.8,
131
+ "softness": 0.09,
132
+ "radius": 0.053,
133
+ "brightness": 0.66,
134
+ "kelvin": 6466
135
+ },
136
+ {
137
+ "aim": [
138
+ 0.453,
139
+ -0.121
140
+ ],
141
+ "dist": 0.862,
142
+ "tilt_deg": 15.4,
143
+ "cone_deg": 24.9,
144
+ "softness": 0.32,
145
+ "radius": 0.054,
146
+ "brightness": 1.76,
147
+ "kelvin": 3504
148
+ },
149
+ {
150
+ "aim": [
151
+ 0.413,
152
+ 0.287
153
+ ],
154
+ "dist": 1.147,
155
+ "tilt_deg": 19.8,
156
+ "cone_deg": 24.0,
157
+ "softness": 0.48,
158
+ "radius": 0.031,
159
+ "brightness": 0.62,
160
+ "kelvin": 5667
161
+ }
162
+ ]
163
+ }
164
+ },
165
+ "start_pose": {
166
+ "arm_offset_deg": {
167
+ "l": [],
168
+ "r": []
169
+ },
170
+ "joints": [],
171
+ "gripper_open": 0.2387,
172
+ "gripper_close": 0.7557
173
+ },
174
+ "pair_key": [
175
+ 40009,
176
+ 2,
177
+ 3
178
+ ],
179
+ "length": 168,
180
+ "fps": 15
181
+ }
abl_visual_p009/episode_0020/meta.json ADDED
@@ -0,0 +1,155 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 20,
3
+ "success": true,
4
+ "arm": "l",
5
+ "cube_init_xy_yaw": [
6
+ 0.44438815116882324,
7
+ 0.3076289892196655,
8
+ -25.846458435058594
9
+ ],
10
+ "cube_settled_pos": [
11
+ 0.44438838958740234,
12
+ 0.3076286315917969,
13
+ 0.762894868850708
14
+ ],
15
+ "cube_lift": 0.1276324987411499,
16
+ "gripper_joint1_end": 0.6833675503730774,
17
+ "final_phase": "done",
18
+ "table_top_z": 0.742894868850708,
19
+ "program_sha": "9f1c8b2d6170",
20
+ "program_result": {
21
+ "success": true,
22
+ "status": "OK",
23
+ "ticks": 188
24
+ },
25
+ "params": {
26
+ "PREGRASP": 0.0633518248796463,
27
+ "LIFT": 0.13039085268974304,
28
+ "CLOSE_DELAY_S": 0.4623921513557434,
29
+ "RATE": 1.1997075080871582,
30
+ "VIA_XY": 0.03502529114484787,
31
+ "VIA_Z": 0.0114293172955513,
32
+ "TILT_DEG": 0.0,
33
+ "AZIMUTH_DEG": 0.0
34
+ },
35
+ "skills": [
36
+ {
37
+ "success": true,
38
+ "status": "OK",
39
+ "tag": "reach",
40
+ "err_mm": 0.4,
41
+ "err_deg": 0.0,
42
+ "ticks": 90
43
+ },
44
+ {
45
+ "success": true,
46
+ "status": "OK",
47
+ "tag": "approach",
48
+ "err_mm": 2.0,
49
+ "err_deg": 0.0,
50
+ "ticks": 36
51
+ },
52
+ {
53
+ "success": true,
54
+ "status": "OK",
55
+ "tag": "close",
56
+ "finger_q": 0.6834
57
+ },
58
+ {
59
+ "success": true,
60
+ "status": "OK",
61
+ "tag": "lift",
62
+ "err_mm": 1.3,
63
+ "err_deg": 0.0,
64
+ "ticks": 27
65
+ }
66
+ ],
67
+ "dr": {
68
+ "backdrop": {
69
+ "mode": "texture",
70
+ "floor": "Plaster003",
71
+ "walls": "Tiles143",
72
+ "tile_m": 1.591
73
+ },
74
+ "table": {
75
+ "mode": "colour",
76
+ "rgb": [
77
+ 0.078,
78
+ 0.124,
79
+ 0.12
80
+ ],
81
+ "roughness": 0.379
82
+ },
83
+ "lights": {
84
+ "mode": "random",
85
+ "ceiling": [
86
+ {
87
+ "pos": [
88
+ 2.617,
89
+ -1.767,
90
+ 3.255
91
+ ],
92
+ "intensity_scale": 1.076,
93
+ "kelvin": 6425
94
+ },
95
+ {
96
+ "pos": [
97
+ 0.183,
98
+ 1.147,
99
+ 2.771
100
+ ],
101
+ "intensity_scale": 1.294,
102
+ "kelvin": 3949
103
+ }
104
+ ],
105
+ "level": 1.462,
106
+ "dome": {
107
+ "intensity_scale": 0.352,
108
+ "kelvin": 6092
109
+ }
110
+ },
111
+ "cube": {
112
+ "mode": "random",
113
+ "rgb": [
114
+ 0.629,
115
+ 0.749,
116
+ 0.0
117
+ ],
118
+ "roughness": 0.747
119
+ },
120
+ "spots": {
121
+ "count": 1,
122
+ "spots": [
123
+ {
124
+ "aim": [
125
+ 0.52,
126
+ 0.214
127
+ ],
128
+ "dist": 1.26,
129
+ "tilt_deg": 25.8,
130
+ "cone_deg": 13.4,
131
+ "softness": 0.3,
132
+ "radius": 0.033,
133
+ "brightness": 1.32,
134
+ "kelvin": 5494
135
+ }
136
+ ]
137
+ }
138
+ },
139
+ "start_pose": {
140
+ "arm_offset_deg": {
141
+ "l": [],
142
+ "r": []
143
+ },
144
+ "joints": [],
145
+ "gripper_open": 0.2216,
146
+ "gripper_close": 0.7617
147
+ },
148
+ "pair_key": [
149
+ 40009,
150
+ 2,
151
+ 4
152
+ ],
153
+ "length": 188,
154
+ "fps": 15
155
+ }
abl_visual_p009/episode_0021/meta.json ADDED
@@ -0,0 +1,168 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 21,
3
+ "success": true,
4
+ "arm": "l",
5
+ "cube_init_xy_yaw": [
6
+ 0.4392794370651245,
7
+ 0.047200143337249756,
8
+ -15.659310340881348
9
+ ],
10
+ "cube_settled_pos": [
11
+ 0.43927955627441406,
12
+ 0.04720020294189453,
13
+ 0.7628948092460632
14
+ ],
15
+ "cube_lift": 0.1028699278831482,
16
+ "gripper_joint1_end": 0.6894819140434265,
17
+ "final_phase": "done",
18
+ "table_top_z": 0.742894868850708,
19
+ "program_sha": "9f1c8b2d6170",
20
+ "program_result": {
21
+ "success": true,
22
+ "status": "OK",
23
+ "ticks": 221
24
+ },
25
+ "params": {
26
+ "PREGRASP": 0.10291674733161926,
27
+ "LIFT": 0.11786581575870514,
28
+ "CLOSE_DELAY_S": 0.24251572787761688,
29
+ "RATE": 1.2481529712677002,
30
+ "VIA_XY": -0.005621176213026047,
31
+ "VIA_Z": 0.014073889702558517,
32
+ "TILT_DEG": 0.0,
33
+ "AZIMUTH_DEG": 0.0
34
+ },
35
+ "skills": [
36
+ {
37
+ "success": true,
38
+ "status": "OK",
39
+ "tag": "reach",
40
+ "err_mm": 0.8,
41
+ "err_deg": 0.0,
42
+ "ticks": 94
43
+ },
44
+ {
45
+ "success": false,
46
+ "status": "NOT_CONVERGED",
47
+ "tag": "approach",
48
+ "err_mm": 24.6,
49
+ "err_deg": 0.2,
50
+ "ticks": 67
51
+ },
52
+ {
53
+ "success": true,
54
+ "status": "OK",
55
+ "tag": "close",
56
+ "finger_q": 0.6897
57
+ },
58
+ {
59
+ "success": true,
60
+ "status": "OK",
61
+ "tag": "lift",
62
+ "err_mm": 1.3,
63
+ "err_deg": 0.0,
64
+ "ticks": 28
65
+ }
66
+ ],
67
+ "dr": {
68
+ "backdrop": {
69
+ "mode": "texture",
70
+ "floor": "Onyx015",
71
+ "walls": "Marble012",
72
+ "tile_m": 0.978
73
+ },
74
+ "table": {
75
+ "mode": "colour",
76
+ "rgb": [
77
+ 0.071,
78
+ 0.078,
79
+ 0.042
80
+ ],
81
+ "roughness": 0.562
82
+ },
83
+ "lights": {
84
+ "mode": "random",
85
+ "ceiling": [
86
+ {
87
+ "pos": [
88
+ 3.143,
89
+ -1.346,
90
+ 2.488
91
+ ],
92
+ "intensity_scale": 1.39,
93
+ "kelvin": 3961
94
+ },
95
+ {
96
+ "pos": [
97
+ 0.793,
98
+ 1.765,
99
+ 2.682
100
+ ],
101
+ "intensity_scale": 0.842,
102
+ "kelvin": 3562
103
+ }
104
+ ],
105
+ "level": 1.139,
106
+ "dome": {
107
+ "intensity_scale": 0.352,
108
+ "kelvin": 6092
109
+ }
110
+ },
111
+ "cube": {
112
+ "mode": "random",
113
+ "rgb": [
114
+ 0.55,
115
+ 0.741,
116
+ 0.0
117
+ ],
118
+ "roughness": 0.506
119
+ },
120
+ "spots": {
121
+ "count": 2,
122
+ "spots": [
123
+ {
124
+ "aim": [
125
+ 0.481,
126
+ -0.095
127
+ ],
128
+ "dist": 1.426,
129
+ "tilt_deg": 21.1,
130
+ "cone_deg": 19.3,
131
+ "softness": 0.4,
132
+ "radius": 0.049,
133
+ "brightness": 1.47,
134
+ "kelvin": 3746
135
+ },
136
+ {
137
+ "aim": [
138
+ 0.228,
139
+ -0.036
140
+ ],
141
+ "dist": 1.004,
142
+ "tilt_deg": 33.7,
143
+ "cone_deg": 9.6,
144
+ "softness": 0.56,
145
+ "radius": 0.043,
146
+ "brightness": 1.45,
147
+ "kelvin": 6426
148
+ }
149
+ ]
150
+ }
151
+ },
152
+ "start_pose": {
153
+ "arm_offset_deg": {
154
+ "l": [],
155
+ "r": []
156
+ },
157
+ "joints": [],
158
+ "gripper_open": 0.206,
159
+ "gripper_close": 0.7703
160
+ },
161
+ "pair_key": [
162
+ 40009,
163
+ 2,
164
+ 5
165
+ ],
166
+ "length": 221,
167
+ "fps": 15
168
+ }
abl_visual_p009/episode_0022/meta.json ADDED
@@ -0,0 +1,176 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 22,
3
+ "success": true,
4
+ "arm": "l",
5
+ "cube_init_xy_yaw": [
6
+ 0.3816573917865753,
7
+ 0.3389853835105896,
8
+ 29.031827926635742
9
+ ],
10
+ "cube_settled_pos": [
11
+ 0.38165760040283203,
12
+ 0.3389854431152344,
13
+ 0.7628947496414185
14
+ ],
15
+ "cube_lift": 0.13985008001327515,
16
+ "gripper_joint1_end": 0.6865917444229126,
17
+ "final_phase": "done",
18
+ "table_top_z": 0.742894868850708,
19
+ "program_sha": "9f1c8b2d6170",
20
+ "program_result": {
21
+ "success": true,
22
+ "status": "OK",
23
+ "ticks": 183
24
+ },
25
+ "params": {
26
+ "PREGRASP": 0.08280779421329498,
27
+ "LIFT": 0.14270980656147003,
28
+ "CLOSE_DELAY_S": 0.15840071439743042,
29
+ "RATE": 1.1981496810913086,
30
+ "VIA_XY": -0.021697506308555603,
31
+ "VIA_Z": 0.0042120544239878654,
32
+ "TILT_DEG": 0.0,
33
+ "AZIMUTH_DEG": 0.0
34
+ },
35
+ "skills": [
36
+ {
37
+ "success": true,
38
+ "status": "OK",
39
+ "tag": "reach",
40
+ "err_mm": 1.5,
41
+ "err_deg": 0.0,
42
+ "ticks": 90
43
+ },
44
+ {
45
+ "success": true,
46
+ "status": "OK",
47
+ "tag": "approach",
48
+ "err_mm": 0.8,
49
+ "err_deg": 0.0,
50
+ "ticks": 36
51
+ },
52
+ {
53
+ "success": true,
54
+ "status": "OK",
55
+ "tag": "close",
56
+ "finger_q": 0.6865
57
+ },
58
+ {
59
+ "success": true,
60
+ "status": "OK",
61
+ "tag": "lift",
62
+ "err_mm": 2.5,
63
+ "err_deg": 0.1,
64
+ "ticks": 27
65
+ }
66
+ ],
67
+ "dr": {
68
+ "backdrop": {
69
+ "mode": "real",
70
+ "variant": "right_arm_left"
71
+ },
72
+ "table": {
73
+ "mode": "texture",
74
+ "texture": "Fabric028",
75
+ "tile_m": 1.176,
76
+ "angle_deg": 351.9
77
+ },
78
+ "lights": {
79
+ "mode": "random",
80
+ "ceiling": [
81
+ {
82
+ "pos": [
83
+ 3.045,
84
+ -1.683,
85
+ 3.028
86
+ ],
87
+ "intensity_scale": 0.482,
88
+ "kelvin": 3641
89
+ },
90
+ {
91
+ "pos": [
92
+ 1.511,
93
+ 1.792,
94
+ 2.494
95
+ ],
96
+ "intensity_scale": 0.377,
97
+ "kelvin": 3772
98
+ }
99
+ ],
100
+ "level": 0.414,
101
+ "dome": {
102
+ "intensity_scale": 0.352,
103
+ "kelvin": 6092
104
+ }
105
+ },
106
+ "cube": {
107
+ "mode": "random",
108
+ "rgb": [
109
+ 0.296,
110
+ 0.682,
111
+ 0.002
112
+ ],
113
+ "roughness": 0.426
114
+ },
115
+ "spots": {
116
+ "count": 3,
117
+ "spots": [
118
+ {
119
+ "aim": [
120
+ 0.441,
121
+ 0.057
122
+ ],
123
+ "dist": 0.941,
124
+ "tilt_deg": 16.3,
125
+ "cone_deg": 24.8,
126
+ "softness": 0.4,
127
+ "radius": 0.057,
128
+ "brightness": 0.28,
129
+ "kelvin": 4455
130
+ },
131
+ {
132
+ "aim": [
133
+ 0.475,
134
+ 0.008
135
+ ],
136
+ "dist": 1.24,
137
+ "tilt_deg": 33.5,
138
+ "cone_deg": 11.4,
139
+ "softness": 0.45,
140
+ "radius": 0.028,
141
+ "brightness": 1.07,
142
+ "kelvin": 4614
143
+ },
144
+ {
145
+ "aim": [
146
+ 0.604,
147
+ -0.092
148
+ ],
149
+ "dist": 0.917,
150
+ "tilt_deg": 2.1,
151
+ "cone_deg": 14.3,
152
+ "softness": 0.2,
153
+ "radius": 0.01,
154
+ "brightness": 1.45,
155
+ "kelvin": 5934
156
+ }
157
+ ]
158
+ }
159
+ },
160
+ "start_pose": {
161
+ "arm_offset_deg": {
162
+ "l": [],
163
+ "r": []
164
+ },
165
+ "joints": [],
166
+ "gripper_open": 0.1604,
167
+ "gripper_close": 0.7884
168
+ },
169
+ "pair_key": [
170
+ 40009,
171
+ 2,
172
+ 6
173
+ ],
174
+ "length": 183,
175
+ "fps": 15
176
+ }
abl_visual_p009/episode_0023/meta.json ADDED
@@ -0,0 +1,178 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 23,
3
+ "success": true,
4
+ "arm": "l",
5
+ "cube_init_xy_yaw": [
6
+ 0.40779048204421997,
7
+ 0.0001858249306678772,
8
+ -3.8159947395324707
9
+ ],
10
+ "cube_settled_pos": [
11
+ 0.4077906608581543,
12
+ 0.00018596649169921875,
13
+ 0.7628947496414185
14
+ ],
15
+ "cube_lift": 0.11376339197158813,
16
+ "gripper_joint1_end": 0.6985430717468262,
17
+ "final_phase": "done",
18
+ "table_top_z": 0.742894868850708,
19
+ "program_sha": "9f1c8b2d6170",
20
+ "program_result": {
21
+ "success": true,
22
+ "status": "OK",
23
+ "ticks": 195
24
+ },
25
+ "params": {
26
+ "PREGRASP": 0.0619986429810524,
27
+ "LIFT": 0.13053922355175018,
28
+ "CLOSE_DELAY_S": 0.15691755712032318,
29
+ "RATE": 1.0752252340316772,
30
+ "VIA_XY": -0.03865513578057289,
31
+ "VIA_Z": 0.057037707418203354,
32
+ "TILT_DEG": 0.0,
33
+ "AZIMUTH_DEG": 0.0
34
+ },
35
+ "skills": [
36
+ {
37
+ "success": true,
38
+ "status": "OK",
39
+ "tag": "reach",
40
+ "err_mm": 1.0,
41
+ "err_deg": 0.0,
42
+ "ticks": 81
43
+ },
44
+ {
45
+ "success": false,
46
+ "status": "NOT_CONVERGED",
47
+ "tag": "approach",
48
+ "err_mm": 21.1,
49
+ "err_deg": 0.1,
50
+ "ticks": 62
51
+ },
52
+ {
53
+ "success": true,
54
+ "status": "OK",
55
+ "tag": "close",
56
+ "finger_q": 0.6981
57
+ },
58
+ {
59
+ "success": true,
60
+ "status": "OK",
61
+ "tag": "lift",
62
+ "err_mm": 1.8,
63
+ "err_deg": 0.0,
64
+ "ticks": 24
65
+ }
66
+ ],
67
+ "dr": {
68
+ "backdrop": {
69
+ "mode": "texture",
70
+ "floor": "Plaster003",
71
+ "walls": "Bricks106A",
72
+ "tile_m": 1.707
73
+ },
74
+ "table": {
75
+ "mode": "texture",
76
+ "texture": "Terrazzo013",
77
+ "tile_m": 0.943,
78
+ "angle_deg": 270.1
79
+ },
80
+ "lights": {
81
+ "mode": "random",
82
+ "ceiling": [
83
+ {
84
+ "pos": [
85
+ 2.468,
86
+ -1.318,
87
+ 3.323
88
+ ],
89
+ "intensity_scale": 2.371,
90
+ "kelvin": 6585
91
+ },
92
+ {
93
+ "pos": [
94
+ 1.396,
95
+ 1.291,
96
+ 2.36
97
+ ],
98
+ "intensity_scale": 1.264,
99
+ "kelvin": 3734
100
+ }
101
+ ],
102
+ "level": 1.744,
103
+ "dome": {
104
+ "intensity_scale": 0.352,
105
+ "kelvin": 6092
106
+ }
107
+ },
108
+ "cube": {
109
+ "mode": "random",
110
+ "rgb": [
111
+ 0.468,
112
+ 0.583,
113
+ 0.002
114
+ ],
115
+ "roughness": 0.602
116
+ },
117
+ "spots": {
118
+ "count": 3,
119
+ "spots": [
120
+ {
121
+ "aim": [
122
+ 0.553,
123
+ 0.305
124
+ ],
125
+ "dist": 0.896,
126
+ "tilt_deg": 20.3,
127
+ "cone_deg": 18.1,
128
+ "softness": 0.14,
129
+ "radius": 0.045,
130
+ "brightness": 0.32,
131
+ "kelvin": 5783
132
+ },
133
+ {
134
+ "aim": [
135
+ 0.712,
136
+ 0.391
137
+ ],
138
+ "dist": 1.105,
139
+ "tilt_deg": 19.7,
140
+ "cone_deg": 22.0,
141
+ "softness": 0.4,
142
+ "radius": 0.03,
143
+ "brightness": 1.96,
144
+ "kelvin": 3655
145
+ },
146
+ {
147
+ "aim": [
148
+ 0.575,
149
+ 0.318
150
+ ],
151
+ "dist": 0.74,
152
+ "tilt_deg": 14.8,
153
+ "cone_deg": 23.9,
154
+ "softness": 0.55,
155
+ "radius": 0.059,
156
+ "brightness": 1.29,
157
+ "kelvin": 3824
158
+ }
159
+ ]
160
+ }
161
+ },
162
+ "start_pose": {
163
+ "arm_offset_deg": {
164
+ "l": [],
165
+ "r": []
166
+ },
167
+ "joints": [],
168
+ "gripper_open": 0.2438,
169
+ "gripper_close": 0.805
170
+ },
171
+ "pair_key": [
172
+ 40009,
173
+ 2,
174
+ 7
175
+ ],
176
+ "length": 195,
177
+ "fps": 15
178
+ }
abl_visual_p009/episode_0024/meta.json ADDED
@@ -0,0 +1,149 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 24,
3
+ "success": true,
4
+ "arm": "l",
5
+ "cube_init_xy_yaw": [
6
+ 0.428824245929718,
7
+ 0.16759729385375977,
8
+ 2.8856921195983887
9
+ ],
10
+ "cube_settled_pos": [
11
+ 0.42882442474365234,
12
+ 0.16759681701660156,
13
+ 0.7628949880599976
14
+ ],
15
+ "cube_lift": 0.11694622039794922,
16
+ "gripper_joint1_end": 0.6839187145233154,
17
+ "final_phase": "done",
18
+ "table_top_z": 0.742894868850708,
19
+ "program_sha": "9f1c8b2d6170",
20
+ "program_result": {
21
+ "success": true,
22
+ "status": "OK",
23
+ "ticks": 201
24
+ },
25
+ "params": {
26
+ "PREGRASP": 0.07119808346033096,
27
+ "LIFT": 0.11931487917900085,
28
+ "CLOSE_DELAY_S": 0.012699518352746964,
29
+ "RATE": 1.3463246822357178,
30
+ "VIA_XY": -0.0364064984023571,
31
+ "VIA_Z": 0.02368360012769699,
32
+ "TILT_DEG": 0.0,
33
+ "AZIMUTH_DEG": 0.0
34
+ },
35
+ "skills": [
36
+ {
37
+ "success": true,
38
+ "status": "OK",
39
+ "tag": "reach",
40
+ "err_mm": 0.8,
41
+ "err_deg": 0.0,
42
+ "ticks": 101
43
+ },
44
+ {
45
+ "success": true,
46
+ "status": "OK",
47
+ "tag": "approach",
48
+ "err_mm": 0.9,
49
+ "err_deg": 0.0,
50
+ "ticks": 40
51
+ },
52
+ {
53
+ "success": true,
54
+ "status": "OK",
55
+ "tag": "close",
56
+ "finger_q": 0.6839
57
+ },
58
+ {
59
+ "success": true,
60
+ "status": "OK",
61
+ "tag": "lift",
62
+ "err_mm": 1.6,
63
+ "err_deg": 0.0,
64
+ "ticks": 30
65
+ }
66
+ ],
67
+ "dr": {
68
+ "backdrop": {
69
+ "mode": "off"
70
+ },
71
+ "table": {
72
+ "mode": "texture",
73
+ "texture": "Paper006",
74
+ "tile_m": 0.401,
75
+ "angle_deg": 11.4
76
+ },
77
+ "lights": {
78
+ "mode": "random",
79
+ "ceiling": [
80
+ {
81
+ "pos": [
82
+ 2.41,
83
+ -0.415,
84
+ 2.453
85
+ ],
86
+ "intensity_scale": 0.442,
87
+ "kelvin": 4764
88
+ },
89
+ {
90
+ "pos": [
91
+ 0.666,
92
+ 1.473,
93
+ 3.36
94
+ ],
95
+ "intensity_scale": 0.388,
96
+ "kelvin": 3766
97
+ }
98
+ ],
99
+ "level": 0.447,
100
+ "dome": {
101
+ "intensity_scale": 0.352,
102
+ "kelvin": 6092
103
+ }
104
+ },
105
+ "cube": {
106
+ "mode": "random",
107
+ "rgb": [
108
+ 0.307,
109
+ 0.492,
110
+ 0.004
111
+ ],
112
+ "roughness": 0.773
113
+ },
114
+ "spots": {
115
+ "count": 1,
116
+ "spots": [
117
+ {
118
+ "aim": [
119
+ 0.274,
120
+ 0.107
121
+ ],
122
+ "dist": 0.773,
123
+ "tilt_deg": 1.3,
124
+ "cone_deg": 15.0,
125
+ "softness": 0.08,
126
+ "radius": 0.012,
127
+ "brightness": 1.26,
128
+ "kelvin": 3330
129
+ }
130
+ ]
131
+ }
132
+ },
133
+ "start_pose": {
134
+ "arm_offset_deg": {
135
+ "l": [],
136
+ "r": []
137
+ },
138
+ "joints": [],
139
+ "gripper_open": 0.2519,
140
+ "gripper_close": 0.7672
141
+ },
142
+ "pair_key": [
143
+ 40009,
144
+ 2,
145
+ 8
146
+ ],
147
+ "length": 201,
148
+ "fps": 15
149
+ }
abl_visual_p009/episode_0025/meta.json ADDED
@@ -0,0 +1,141 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 25,
3
+ "success": true,
4
+ "arm": "l",
5
+ "cube_init_xy_yaw": [
6
+ 0.3519345223903656,
7
+ 0.20651747286319733,
8
+ -34.65072250366211
9
+ ],
10
+ "cube_settled_pos": [
11
+ 0.35193443298339844,
12
+ 0.20651769638061523,
13
+ 0.762894868850708
14
+ ],
15
+ "cube_lift": 0.1352834701538086,
16
+ "gripper_joint1_end": 0.689271092414856,
17
+ "final_phase": "done",
18
+ "table_top_z": 0.742894868850708,
19
+ "program_sha": "9f1c8b2d6170",
20
+ "program_result": {
21
+ "success": true,
22
+ "status": "OK",
23
+ "ticks": 162
24
+ },
25
+ "params": {
26
+ "PREGRASP": 0.09559213370084763,
27
+ "LIFT": 0.1379166841506958,
28
+ "CLOSE_DELAY_S": 0.3436317443847656,
29
+ "RATE": 1.0273922681808472,
30
+ "VIA_XY": 0.03419063240289688,
31
+ "VIA_Z": 0.04223864898085594,
32
+ "TILT_DEG": 0.0,
33
+ "AZIMUTH_DEG": 0.0
34
+ },
35
+ "skills": [
36
+ {
37
+ "success": true,
38
+ "status": "OK",
39
+ "tag": "reach",
40
+ "err_mm": 1.1,
41
+ "err_deg": 0.0,
42
+ "ticks": 77
43
+ },
44
+ {
45
+ "success": true,
46
+ "status": "OK",
47
+ "tag": "approach",
48
+ "err_mm": 0.7,
49
+ "err_deg": 0.0,
50
+ "ticks": 31
51
+ },
52
+ {
53
+ "success": true,
54
+ "status": "OK",
55
+ "tag": "close",
56
+ "finger_q": 0.6892
57
+ },
58
+ {
59
+ "success": true,
60
+ "status": "OK",
61
+ "tag": "lift",
62
+ "err_mm": 2.1,
63
+ "err_deg": 0.0,
64
+ "ticks": 23
65
+ }
66
+ ],
67
+ "dr": {
68
+ "backdrop": {
69
+ "mode": "texture",
70
+ "floor": "Tiles139",
71
+ "walls": "Fabric030",
72
+ "tile_m": 0.509
73
+ },
74
+ "table": {
75
+ "mode": "colour",
76
+ "rgb": [
77
+ 0.077,
78
+ 0.038,
79
+ 0.043
80
+ ],
81
+ "roughness": 0.594
82
+ },
83
+ "lights": {
84
+ "mode": "random",
85
+ "ceiling": [
86
+ {
87
+ "pos": [
88
+ 3.336,
89
+ -1.817,
90
+ 3.361
91
+ ],
92
+ "intensity_scale": 0.315,
93
+ "kelvin": 5340
94
+ },
95
+ {
96
+ "pos": [
97
+ 0.924,
98
+ 1.649,
99
+ 2.592
100
+ ],
101
+ "intensity_scale": 0.206,
102
+ "kelvin": 5606
103
+ }
104
+ ],
105
+ "level": 0.241,
106
+ "dome": {
107
+ "intensity_scale": 0.352,
108
+ "kelvin": 6092
109
+ }
110
+ },
111
+ "cube": {
112
+ "mode": "random",
113
+ "rgb": [
114
+ 0.415,
115
+ 0.505,
116
+ 0.006
117
+ ],
118
+ "roughness": 0.404
119
+ },
120
+ "spots": {
121
+ "count": 0,
122
+ "spots": []
123
+ }
124
+ },
125
+ "start_pose": {
126
+ "arm_offset_deg": {
127
+ "l": [],
128
+ "r": []
129
+ },
130
+ "joints": [],
131
+ "gripper_open": 0.1733,
132
+ "gripper_close": 0.8102
133
+ },
134
+ "pair_key": [
135
+ 40009,
136
+ 2,
137
+ 9
138
+ ],
139
+ "length": 162,
140
+ "fps": 15
141
+ }
abl_visual_p009/episode_0028/meta.json ADDED
@@ -0,0 +1,181 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 28,
3
+ "success": true,
4
+ "arm": "l",
5
+ "cube_init_xy_yaw": [
6
+ 0.37872177362442017,
7
+ 0.10288597643375397,
8
+ 36.1529541015625
9
+ ],
10
+ "cube_settled_pos": [
11
+ 0.3787221908569336,
12
+ 0.10288619995117188,
13
+ 0.7628946900367737
14
+ ],
15
+ "cube_lift": 0.119853675365448,
16
+ "gripper_joint1_end": 0.6935274600982666,
17
+ "final_phase": "done",
18
+ "table_top_z": 0.742894868850708,
19
+ "program_sha": "9f1c8b2d6170",
20
+ "program_result": {
21
+ "success": true,
22
+ "status": "OK",
23
+ "ticks": 231
24
+ },
25
+ "params": {
26
+ "PREGRASP": 0.06934821605682373,
27
+ "LIFT": 0.13713626563549042,
28
+ "CLOSE_DELAY_S": 0.1801428645849228,
29
+ "RATE": 0.890744149684906,
30
+ "VIA_XY": -0.03640512377023697,
31
+ "VIA_Z": 0.020471878349781036,
32
+ "TILT_DEG": 0.0,
33
+ "AZIMUTH_DEG": 0.0
34
+ },
35
+ "skills": [
36
+ {
37
+ "success": false,
38
+ "status": "NOT_CONVERGED",
39
+ "tag": "reach",
40
+ "err_mm": 31.6,
41
+ "err_deg": 0.9,
42
+ "ticks": 97
43
+ },
44
+ {
45
+ "success": false,
46
+ "status": "NOT_CONVERGED",
47
+ "tag": "approach",
48
+ "err_mm": 19.6,
49
+ "err_deg": 0.6,
50
+ "ticks": 57
51
+ },
52
+ {
53
+ "success": true,
54
+ "status": "OK",
55
+ "tag": "close",
56
+ "finger_q": 0.6952
57
+ },
58
+ {
59
+ "success": false,
60
+ "status": "NOT_CONVERGED",
61
+ "tag": "lift",
62
+ "err_mm": 29.9,
63
+ "err_deg": 0.7,
64
+ "ticks": 50
65
+ }
66
+ ],
67
+ "dr": {
68
+ "backdrop": {
69
+ "mode": "texture",
70
+ "floor": "Leather038",
71
+ "walls": "Paper001",
72
+ "tile_m": 1.448
73
+ },
74
+ "table": {
75
+ "mode": "colour",
76
+ "rgb": [
77
+ 0.124,
78
+ 0.137,
79
+ 0.136
80
+ ],
81
+ "roughness": 0.543
82
+ },
83
+ "lights": {
84
+ "mode": "random",
85
+ "ceiling": [
86
+ {
87
+ "pos": [
88
+ 3.111,
89
+ -1.299,
90
+ 2.551
91
+ ],
92
+ "intensity_scale": 3.42,
93
+ "kelvin": 6257
94
+ },
95
+ {
96
+ "pos": [
97
+ 0.854,
98
+ 0.977,
99
+ 3.105
100
+ ],
101
+ "intensity_scale": 3.535,
102
+ "kelvin": 5127
103
+ }
104
+ ],
105
+ "level": 2.664,
106
+ "dome": {
107
+ "intensity_scale": 0.352,
108
+ "kelvin": 6092
109
+ }
110
+ },
111
+ "cube": {
112
+ "mode": "random",
113
+ "rgb": [
114
+ 0.167,
115
+ 0.572,
116
+ 0.0
117
+ ],
118
+ "roughness": 0.473
119
+ },
120
+ "spots": {
121
+ "count": 3,
122
+ "spots": [
123
+ {
124
+ "aim": [
125
+ 0.556,
126
+ 0.398
127
+ ],
128
+ "dist": 1.496,
129
+ "tilt_deg": 29.2,
130
+ "cone_deg": 23.8,
131
+ "softness": 0.4,
132
+ "radius": 0.029,
133
+ "brightness": 1.08,
134
+ "kelvin": 3729
135
+ },
136
+ {
137
+ "aim": [
138
+ 0.219,
139
+ 0.272
140
+ ],
141
+ "dist": 0.954,
142
+ "tilt_deg": 13.8,
143
+ "cone_deg": 8.0,
144
+ "softness": 0.57,
145
+ "radius": 0.031,
146
+ "brightness": 1.6,
147
+ "kelvin": 5941
148
+ },
149
+ {
150
+ "aim": [
151
+ 0.341,
152
+ 0.098
153
+ ],
154
+ "dist": 1.437,
155
+ "tilt_deg": 7.7,
156
+ "cone_deg": 10.3,
157
+ "softness": 0.29,
158
+ "radius": 0.012,
159
+ "brightness": 1.3,
160
+ "kelvin": 5483
161
+ }
162
+ ]
163
+ }
164
+ },
165
+ "start_pose": {
166
+ "arm_offset_deg": {
167
+ "l": [],
168
+ "r": []
169
+ },
170
+ "joints": [],
171
+ "gripper_open": 0.1801,
172
+ "gripper_close": 0.8253
173
+ },
174
+ "pair_key": [
175
+ 40009,
176
+ 2,
177
+ 12
178
+ ],
179
+ "length": 231,
180
+ "fps": 15
181
+ }
abl_visual_p009/episode_0029/meta.json ADDED
@@ -0,0 +1,169 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 29,
3
+ "success": true,
4
+ "arm": "l",
5
+ "cube_init_xy_yaw": [
6
+ 0.422513484954834,
7
+ 0.442399263381958,
8
+ 42.98288345336914
9
+ ],
10
+ "cube_settled_pos": [
11
+ 0.4225139617919922,
12
+ 0.4423990249633789,
13
+ 0.7628949880599976
14
+ ],
15
+ "cube_lift": 0.07928061485290527,
16
+ "gripper_joint1_end": 0.6846943497657776,
17
+ "final_phase": "done",
18
+ "table_top_z": 0.742894868850708,
19
+ "program_sha": "9f1c8b2d6170",
20
+ "program_result": {
21
+ "success": true,
22
+ "status": "OK",
23
+ "ticks": 128
24
+ },
25
+ "params": {
26
+ "PREGRASP": 0.07158999145030975,
27
+ "LIFT": 0.08570951968431473,
28
+ "CLOSE_DELAY_S": 0.4285874664783478,
29
+ "RATE": 0.7816535830497742,
30
+ "VIA_XY": 0.00613151490688324,
31
+ "VIA_Z": 0.025962045416235924,
32
+ "TILT_DEG": 0.0,
33
+ "AZIMUTH_DEG": 0.0
34
+ },
35
+ "skills": [
36
+ {
37
+ "success": true,
38
+ "status": "OK",
39
+ "tag": "reach",
40
+ "err_mm": 0.3,
41
+ "err_deg": 0.1,
42
+ "ticks": 59
43
+ },
44
+ {
45
+ "success": true,
46
+ "status": "OK",
47
+ "tag": "approach",
48
+ "err_mm": 7.4,
49
+ "err_deg": 0.1,
50
+ "ticks": 23
51
+ },
52
+ {
53
+ "success": true,
54
+ "status": "OK",
55
+ "tag": "close",
56
+ "finger_q": 0.6846
57
+ },
58
+ {
59
+ "success": true,
60
+ "status": "OK",
61
+ "tag": "lift",
62
+ "err_mm": 2.2,
63
+ "err_deg": 0.1,
64
+ "ticks": 18
65
+ }
66
+ ],
67
+ "dr": {
68
+ "backdrop": {
69
+ "mode": "texture",
70
+ "floor": "Tiles143",
71
+ "walls": "Rubber004",
72
+ "tile_m": 0.687
73
+ },
74
+ "table": {
75
+ "mode": "nominal"
76
+ },
77
+ "lights": {
78
+ "mode": "random",
79
+ "ceiling": [
80
+ {
81
+ "pos": [
82
+ 2.983,
83
+ -0.545,
84
+ 2.318
85
+ ],
86
+ "intensity_scale": 0.388,
87
+ "kelvin": 3589
88
+ },
89
+ {
90
+ "pos": [
91
+ 1.284,
92
+ 0.948,
93
+ 2.201
94
+ ],
95
+ "intensity_scale": 0.301,
96
+ "kelvin": 4579
97
+ }
98
+ ],
99
+ "level": 0.301,
100
+ "dome": {
101
+ "intensity_scale": 0.352,
102
+ "kelvin": 6092
103
+ }
104
+ },
105
+ "cube": {
106
+ "mode": "nominal"
107
+ },
108
+ "spots": {
109
+ "count": 3,
110
+ "spots": [
111
+ {
112
+ "aim": [
113
+ 0.198,
114
+ 0.006
115
+ ],
116
+ "dist": 1.253,
117
+ "tilt_deg": 31.2,
118
+ "cone_deg": 24.2,
119
+ "softness": 0.52,
120
+ "radius": 0.032,
121
+ "brightness": 1.97,
122
+ "kelvin": 4834
123
+ },
124
+ {
125
+ "aim": [
126
+ 0.747,
127
+ 0.096
128
+ ],
129
+ "dist": 1.547,
130
+ "tilt_deg": 34.6,
131
+ "cone_deg": 24.3,
132
+ "softness": 0.1,
133
+ "radius": 0.049,
134
+ "brightness": 0.66,
135
+ "kelvin": 4889
136
+ },
137
+ {
138
+ "aim": [
139
+ 0.446,
140
+ 0.117
141
+ ],
142
+ "dist": 1.324,
143
+ "tilt_deg": 9.5,
144
+ "cone_deg": 21.9,
145
+ "softness": 0.34,
146
+ "radius": 0.041,
147
+ "brightness": 1.8,
148
+ "kelvin": 3965
149
+ }
150
+ ]
151
+ }
152
+ },
153
+ "start_pose": {
154
+ "arm_offset_deg": {
155
+ "l": [],
156
+ "r": []
157
+ },
158
+ "joints": [],
159
+ "gripper_open": 0.2379,
160
+ "gripper_close": 0.7671
161
+ },
162
+ "pair_key": [
163
+ 40009,
164
+ 2,
165
+ 13
166
+ ],
167
+ "length": 128,
168
+ "fps": 15
169
+ }
abl_visual_p009/episode_0030/meta.json ADDED
@@ -0,0 +1,155 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 30,
3
+ "success": true,
4
+ "arm": "l",
5
+ "cube_init_xy_yaw": [
6
+ 0.31404680013656616,
7
+ 0.009328082203865051,
8
+ 10.025077819824219
9
+ ],
10
+ "cube_settled_pos": [
11
+ 0.31404685974121094,
12
+ 0.009327888488769531,
13
+ 0.7628949880599976
14
+ ],
15
+ "cube_lift": 0.1256769299507141,
16
+ "gripper_joint1_end": 0.6859874725341797,
17
+ "final_phase": "done",
18
+ "table_top_z": 0.742894868850708,
19
+ "program_sha": "9f1c8b2d6170",
20
+ "program_result": {
21
+ "success": true,
22
+ "status": "OK",
23
+ "ticks": 143
24
+ },
25
+ "params": {
26
+ "PREGRASP": 0.09522099792957306,
27
+ "LIFT": 0.12857189774513245,
28
+ "CLOSE_DELAY_S": 0.011735089123249054,
29
+ "RATE": 0.9353660345077515,
30
+ "VIA_XY": 0.011962197721004486,
31
+ "VIA_Z": 0.027315689250826836,
32
+ "TILT_DEG": 0.0,
33
+ "AZIMUTH_DEG": 0.0
34
+ },
35
+ "skills": [
36
+ {
37
+ "success": true,
38
+ "status": "OK",
39
+ "tag": "reach",
40
+ "err_mm": 1.9,
41
+ "err_deg": 0.1,
42
+ "ticks": 70
43
+ },
44
+ {
45
+ "success": true,
46
+ "status": "OK",
47
+ "tag": "approach",
48
+ "err_mm": 1.4,
49
+ "err_deg": 0.0,
50
+ "ticks": 28
51
+ },
52
+ {
53
+ "success": true,
54
+ "status": "OK",
55
+ "tag": "close",
56
+ "finger_q": 0.6859
57
+ },
58
+ {
59
+ "success": true,
60
+ "status": "OK",
61
+ "tag": "lift",
62
+ "err_mm": 2.9,
63
+ "err_deg": 0.1,
64
+ "ticks": 21
65
+ }
66
+ ],
67
+ "dr": {
68
+ "backdrop": {
69
+ "mode": "texture",
70
+ "floor": "Plaster003",
71
+ "walls": "Paper001",
72
+ "tile_m": 1.154
73
+ },
74
+ "table": {
75
+ "mode": "colour",
76
+ "rgb": [
77
+ 0.048,
78
+ 0.047,
79
+ 0.053
80
+ ],
81
+ "roughness": 0.457
82
+ },
83
+ "lights": {
84
+ "mode": "random",
85
+ "ceiling": [
86
+ {
87
+ "pos": [
88
+ 2.941,
89
+ -0.869,
90
+ 3.144
91
+ ],
92
+ "intensity_scale": 0.806,
93
+ "kelvin": 4312
94
+ },
95
+ {
96
+ "pos": [
97
+ 1.199,
98
+ 0.935,
99
+ 2.688
100
+ ],
101
+ "intensity_scale": 0.949,
102
+ "kelvin": 5612
103
+ }
104
+ ],
105
+ "level": 0.708,
106
+ "dome": {
107
+ "intensity_scale": 0.352,
108
+ "kelvin": 6092
109
+ }
110
+ },
111
+ "cube": {
112
+ "mode": "random",
113
+ "rgb": [
114
+ 0.32,
115
+ 0.637,
116
+ 0.0
117
+ ],
118
+ "roughness": 0.618
119
+ },
120
+ "spots": {
121
+ "count": 1,
122
+ "spots": [
123
+ {
124
+ "aim": [
125
+ 0.726,
126
+ 0.255
127
+ ],
128
+ "dist": 0.818,
129
+ "tilt_deg": 4.4,
130
+ "cone_deg": 19.7,
131
+ "softness": 0.45,
132
+ "radius": 0.043,
133
+ "brightness": 1.3,
134
+ "kelvin": 3971
135
+ }
136
+ ]
137
+ }
138
+ },
139
+ "start_pose": {
140
+ "arm_offset_deg": {
141
+ "l": [],
142
+ "r": []
143
+ },
144
+ "joints": [],
145
+ "gripper_open": 0.2361,
146
+ "gripper_close": 0.7837
147
+ },
148
+ "pair_key": [
149
+ 40009,
150
+ 2,
151
+ 14
152
+ ],
153
+ "length": 143,
154
+ "fps": 15
155
+ }
abl_visual_p009/episode_0031/meta.json ADDED
@@ -0,0 +1,167 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 31,
3
+ "success": true,
4
+ "arm": "l",
5
+ "cube_init_xy_yaw": [
6
+ 0.31759360432624817,
7
+ 0.46670979261398315,
8
+ 39.3741569519043
9
+ ],
10
+ "cube_settled_pos": [
11
+ 0.3175935745239258,
12
+ 0.46671009063720703,
13
+ 0.7628949880599976
14
+ ],
15
+ "cube_lift": 0.10801053047180176,
16
+ "gripper_joint1_end": 0.6825751662254333,
17
+ "final_phase": "done",
18
+ "table_top_z": 0.742894868850708,
19
+ "program_sha": "9f1c8b2d6170",
20
+ "program_result": {
21
+ "success": true,
22
+ "status": "OK",
23
+ "ticks": 166
24
+ },
25
+ "params": {
26
+ "PREGRASP": 0.06612806767225266,
27
+ "LIFT": 0.11043552309274673,
28
+ "CLOSE_DELAY_S": 0.005559328943490982,
29
+ "RATE": 1.0912361145019531,
30
+ "VIA_XY": -0.02762480452656746,
31
+ "VIA_Z": 0.029499728232622147,
32
+ "TILT_DEG": 0.0,
33
+ "AZIMUTH_DEG": 0.0
34
+ },
35
+ "skills": [
36
+ {
37
+ "success": true,
38
+ "status": "OK",
39
+ "tag": "reach",
40
+ "err_mm": 1.5,
41
+ "err_deg": 0.0,
42
+ "ticks": 82
43
+ },
44
+ {
45
+ "success": true,
46
+ "status": "OK",
47
+ "tag": "approach",
48
+ "err_mm": 0.9,
49
+ "err_deg": 0.0,
50
+ "ticks": 33
51
+ },
52
+ {
53
+ "success": true,
54
+ "status": "OK",
55
+ "tag": "close",
56
+ "finger_q": 0.6824
57
+ },
58
+ {
59
+ "success": true,
60
+ "status": "OK",
61
+ "tag": "lift",
62
+ "err_mm": 2.7,
63
+ "err_deg": 0.1,
64
+ "ticks": 25
65
+ }
66
+ ],
67
+ "dr": {
68
+ "backdrop": {
69
+ "mode": "real",
70
+ "variant": "right_arm_left"
71
+ },
72
+ "table": {
73
+ "mode": "nominal"
74
+ },
75
+ "lights": {
76
+ "mode": "random",
77
+ "ceiling": [
78
+ {
79
+ "pos": [
80
+ 2.315,
81
+ -1.244,
82
+ 2.263
83
+ ],
84
+ "intensity_scale": 1.294,
85
+ "kelvin": 5372
86
+ },
87
+ {
88
+ "pos": [
89
+ 0.64,
90
+ 1.765,
91
+ 3.151
92
+ ],
93
+ "intensity_scale": 0.957,
94
+ "kelvin": 5373
95
+ }
96
+ ],
97
+ "level": 1.218,
98
+ "dome": {
99
+ "intensity_scale": 0.352,
100
+ "kelvin": 6092
101
+ }
102
+ },
103
+ "cube": {
104
+ "mode": "nominal"
105
+ },
106
+ "spots": {
107
+ "count": 3,
108
+ "spots": [
109
+ {
110
+ "aim": [
111
+ 0.309,
112
+ 0.07
113
+ ],
114
+ "dist": 1.136,
115
+ "tilt_deg": 9.0,
116
+ "cone_deg": 20.9,
117
+ "softness": 0.54,
118
+ "radius": 0.014,
119
+ "brightness": 1.71,
120
+ "kelvin": 3196
121
+ },
122
+ {
123
+ "aim": [
124
+ 0.548,
125
+ 0.51
126
+ ],
127
+ "dist": 1.582,
128
+ "tilt_deg": 4.3,
129
+ "cone_deg": 22.4,
130
+ "softness": 0.09,
131
+ "radius": 0.01,
132
+ "brightness": 0.55,
133
+ "kelvin": 3985
134
+ },
135
+ {
136
+ "aim": [
137
+ 0.194,
138
+ 0.234
139
+ ],
140
+ "dist": 1.0,
141
+ "tilt_deg": 8.8,
142
+ "cone_deg": 9.9,
143
+ "softness": 0.37,
144
+ "radius": 0.013,
145
+ "brightness": 0.95,
146
+ "kelvin": 5569
147
+ }
148
+ ]
149
+ }
150
+ },
151
+ "start_pose": {
152
+ "arm_offset_deg": {
153
+ "l": [],
154
+ "r": []
155
+ },
156
+ "joints": [],
157
+ "gripper_open": 0.2522,
158
+ "gripper_close": 0.7571
159
+ },
160
+ "pair_key": [
161
+ 40009,
162
+ 2,
163
+ 15
164
+ ],
165
+ "length": 166,
166
+ "fps": 15
167
+ }
abl_visual_p009/episode_0032/meta.json ADDED
@@ -0,0 +1,147 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 32,
3
+ "success": true,
4
+ "arm": "l",
5
+ "cube_init_xy_yaw": [
6
+ 0.37803971767425537,
7
+ 0.5308296084403992,
8
+ 42.37388229370117
9
+ ],
10
+ "cube_settled_pos": [
11
+ 0.3780393600463867,
12
+ 0.5308294296264648,
13
+ 0.7628948092460632
14
+ ],
15
+ "cube_lift": 0.10942864418029785,
16
+ "gripper_joint1_end": 0.6928591132164001,
17
+ "final_phase": "done",
18
+ "table_top_z": 0.742894868850708,
19
+ "program_sha": "9f1c8b2d6170",
20
+ "program_result": {
21
+ "success": true,
22
+ "status": "OK",
23
+ "ticks": 183
24
+ },
25
+ "params": {
26
+ "PREGRASP": 0.08,
27
+ "LIFT": 0.12,
28
+ "CLOSE_DELAY_S": 0.0,
29
+ "RATE": 1.0,
30
+ "VIA_XY": 0.0,
31
+ "VIA_Z": 0.0,
32
+ "TILT_DEG": 0.0,
33
+ "AZIMUTH_DEG": 0.0
34
+ },
35
+ "skills": [
36
+ {
37
+ "success": true,
38
+ "status": "OK",
39
+ "tag": "reach",
40
+ "err_mm": 0.4,
41
+ "err_deg": 0.0,
42
+ "ticks": 75
43
+ },
44
+ {
45
+ "success": false,
46
+ "status": "NOT_CONVERGED",
47
+ "tag": "approach",
48
+ "err_mm": 16.0,
49
+ "err_deg": 0.1,
50
+ "ticks": 60
51
+ },
52
+ {
53
+ "success": true,
54
+ "status": "OK",
55
+ "tag": "close",
56
+ "finger_q": 0.6929
57
+ },
58
+ {
59
+ "success": true,
60
+ "status": "OK",
61
+ "tag": "lift",
62
+ "err_mm": 2.1,
63
+ "err_deg": 0.0,
64
+ "ticks": 22
65
+ }
66
+ ],
67
+ "dr": {
68
+ "backdrop": {
69
+ "mode": "real",
70
+ "variant": "right_armx2_right"
71
+ },
72
+ "table": {
73
+ "mode": "nominal"
74
+ },
75
+ "lights": {
76
+ "mode": "random",
77
+ "ceiling": [
78
+ {
79
+ "pos": [
80
+ 3.26,
81
+ -0.447,
82
+ 2.492
83
+ ],
84
+ "intensity_scale": 0.157,
85
+ "kelvin": 6874
86
+ },
87
+ {
88
+ "pos": [
89
+ 0.228,
90
+ 1.329,
91
+ 3.364
92
+ ],
93
+ "intensity_scale": 0.219,
94
+ "kelvin": 5692
95
+ }
96
+ ],
97
+ "level": 0.167,
98
+ "dome": {
99
+ "intensity_scale": 0.381,
100
+ "kelvin": 4535
101
+ }
102
+ },
103
+ "cube": {
104
+ "mode": "random",
105
+ "rgb": [
106
+ 0.292,
107
+ 0.45,
108
+ 0.0
109
+ ],
110
+ "roughness": 0.345
111
+ },
112
+ "spots": {
113
+ "count": 1,
114
+ "spots": [
115
+ {
116
+ "aim": [
117
+ 0.699,
118
+ 0.196
119
+ ],
120
+ "dist": 0.831,
121
+ "tilt_deg": 14.3,
122
+ "cone_deg": 13.8,
123
+ "softness": 0.39,
124
+ "radius": 0.026,
125
+ "brightness": 0.56,
126
+ "kelvin": 6090
127
+ }
128
+ ]
129
+ }
130
+ },
131
+ "start_pose": {
132
+ "arm_offset_deg": {
133
+ "l": [],
134
+ "r": []
135
+ },
136
+ "joints": [],
137
+ "gripper_open": 0.1776,
138
+ "gripper_close": 0.812
139
+ },
140
+ "pair_key": [
141
+ 40009,
142
+ 3,
143
+ 0
144
+ ],
145
+ "length": 183,
146
+ "fps": 15
147
+ }
abl_visual_p009/episode_0033/meta.json ADDED
@@ -0,0 +1,157 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 33,
3
+ "success": false,
4
+ "arm": "l",
5
+ "cube_init_xy_yaw": [
6
+ 0.3704381585121155,
7
+ -0.029629871249198914,
8
+ 30.441612243652344
9
+ ],
10
+ "cube_settled_pos": [
11
+ 0.3704385757446289,
12
+ -0.02962970733642578,
13
+ 0.762894868850708
14
+ ],
15
+ "cube_lift": -2.980232238769531e-07,
16
+ "gripper_joint1_end": 0.8138737678527832,
17
+ "final_phase": "done",
18
+ "table_top_z": 0.742894868850708,
19
+ "program_sha": "9f1c8b2d6170",
20
+ "program_result": {
21
+ "success": false,
22
+ "status": "GRASP_LOST",
23
+ "ticks": 195
24
+ },
25
+ "params": {
26
+ "PREGRASP": 0.05112305283546448,
27
+ "LIFT": 0.12009060382843018,
28
+ "CLOSE_DELAY_S": 0.39743921160697937,
29
+ "RATE": 0.8400685787200928,
30
+ "VIA_XY": 0.02940647304058075,
31
+ "VIA_Z": 0.00769379548728466,
32
+ "TILT_DEG": 0.0,
33
+ "AZIMUTH_DEG": 0.0
34
+ },
35
+ "skills": [
36
+ {
37
+ "success": false,
38
+ "status": "NOT_CONVERGED",
39
+ "tag": "reach",
40
+ "err_mm": 81.8,
41
+ "err_deg": 2.5,
42
+ "ticks": 93
43
+ },
44
+ {
45
+ "success": false,
46
+ "status": "NOT_CONVERGED",
47
+ "tag": "approach",
48
+ "err_mm": 66.8,
49
+ "err_deg": 15.1,
50
+ "ticks": 55
51
+ },
52
+ {
53
+ "success": false,
54
+ "status": "GRASP_NOT_ESTABLISHED",
55
+ "tag": "close",
56
+ "finger_q": 0.8222
57
+ },
58
+ {
59
+ "success": true,
60
+ "status": "OK",
61
+ "tag": "lift",
62
+ "err_mm": 2.3,
63
+ "err_deg": 0.1,
64
+ "ticks": 19
65
+ }
66
+ ],
67
+ "dr": {
68
+ "backdrop": {
69
+ "mode": "texture",
70
+ "floor": "Fabric061",
71
+ "walls": "Tiles107",
72
+ "tile_m": 0.538
73
+ },
74
+ "table": {
75
+ "mode": "texture",
76
+ "texture": "Carpet012",
77
+ "tile_m": 1.095,
78
+ "angle_deg": 62.7
79
+ },
80
+ "lights": {
81
+ "mode": "nominal",
82
+ "dome": {
83
+ "intensity_scale": 0.381,
84
+ "kelvin": 4535
85
+ }
86
+ },
87
+ "cube": {
88
+ "mode": "random",
89
+ "rgb": [
90
+ 0.138,
91
+ 0.568,
92
+ 0.0
93
+ ],
94
+ "roughness": 0.4
95
+ },
96
+ "spots": {
97
+ "count": 3,
98
+ "spots": [
99
+ {
100
+ "aim": [
101
+ 0.447,
102
+ -0.141
103
+ ],
104
+ "dist": 1.007,
105
+ "tilt_deg": 33.6,
106
+ "cone_deg": 16.4,
107
+ "softness": 0.39,
108
+ "radius": 0.031,
109
+ "brightness": 1.38,
110
+ "kelvin": 5542
111
+ },
112
+ {
113
+ "aim": [
114
+ 0.338,
115
+ 0.108
116
+ ],
117
+ "dist": 1.216,
118
+ "tilt_deg": 14.3,
119
+ "cone_deg": 24.8,
120
+ "softness": 0.23,
121
+ "radius": 0.033,
122
+ "brightness": 0.36,
123
+ "kelvin": 4791
124
+ },
125
+ {
126
+ "aim": [
127
+ 0.654,
128
+ -0.069
129
+ ],
130
+ "dist": 1.481,
131
+ "tilt_deg": 8.9,
132
+ "cone_deg": 18.5,
133
+ "softness": 0.26,
134
+ "radius": 0.038,
135
+ "brightness": 0.35,
136
+ "kelvin": 6233
137
+ }
138
+ ]
139
+ }
140
+ },
141
+ "start_pose": {
142
+ "arm_offset_deg": {
143
+ "l": [],
144
+ "r": []
145
+ },
146
+ "joints": [],
147
+ "gripper_open": 0.1838,
148
+ "gripper_close": 0.8139
149
+ },
150
+ "pair_key": [
151
+ 40009,
152
+ 3,
153
+ 1
154
+ ],
155
+ "length": 195,
156
+ "fps": 15
157
+ }
abl_visual_p009/episode_0034/meta.json ADDED
@@ -0,0 +1,135 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 34,
3
+ "success": true,
4
+ "arm": "l",
5
+ "cube_init_xy_yaw": [
6
+ 0.43626803159713745,
7
+ 0.39424997568130493,
8
+ 31.4417667388916
9
+ ],
10
+ "cube_settled_pos": [
11
+ 0.4362678527832031,
12
+ 0.39424991607666016,
13
+ 0.7628947496414185
14
+ ],
15
+ "cube_lift": 0.12516295909881592,
16
+ "gripper_joint1_end": 0.6884976625442505,
17
+ "final_phase": "done",
18
+ "table_top_z": 0.742894868850708,
19
+ "program_sha": "9f1c8b2d6170",
20
+ "program_result": {
21
+ "success": true,
22
+ "status": "OK",
23
+ "ticks": 153
24
+ },
25
+ "params": {
26
+ "PREGRASP": 0.051778774708509445,
27
+ "LIFT": 0.13089177012443542,
28
+ "CLOSE_DELAY_S": 0.3033677041530609,
29
+ "RATE": 0.9799338579177856,
30
+ "VIA_XY": 0.01853106915950775,
31
+ "VIA_Z": 0.05427878722548485,
32
+ "TILT_DEG": 0.0,
33
+ "AZIMUTH_DEG": 0.0
34
+ },
35
+ "skills": [
36
+ {
37
+ "success": true,
38
+ "status": "OK",
39
+ "tag": "reach",
40
+ "err_mm": 0.7,
41
+ "err_deg": 0.1,
42
+ "ticks": 73
43
+ },
44
+ {
45
+ "success": true,
46
+ "status": "OK",
47
+ "tag": "approach",
48
+ "err_mm": 5.4,
49
+ "err_deg": 0.1,
50
+ "ticks": 29
51
+ },
52
+ {
53
+ "success": true,
54
+ "status": "OK",
55
+ "tag": "close",
56
+ "finger_q": 0.6884
57
+ },
58
+ {
59
+ "success": true,
60
+ "status": "OK",
61
+ "tag": "lift",
62
+ "err_mm": 2.4,
63
+ "err_deg": 0.0,
64
+ "ticks": 22
65
+ }
66
+ ],
67
+ "dr": {
68
+ "backdrop": {
69
+ "mode": "texture",
70
+ "floor": "Marble012",
71
+ "walls": "Tiles140",
72
+ "tile_m": 0.842
73
+ },
74
+ "table": {
75
+ "mode": "nominal"
76
+ },
77
+ "lights": {
78
+ "mode": "random",
79
+ "ceiling": [
80
+ {
81
+ "pos": [
82
+ 3.081,
83
+ -0.672,
84
+ 2.384
85
+ ],
86
+ "intensity_scale": 2.035,
87
+ "kelvin": 6195
88
+ },
89
+ {
90
+ "pos": [
91
+ 1.634,
92
+ 0.279,
93
+ 2.738
94
+ ],
95
+ "intensity_scale": 1.524,
96
+ "kelvin": 6033
97
+ }
98
+ ],
99
+ "level": 1.588,
100
+ "dome": {
101
+ "intensity_scale": 0.381,
102
+ "kelvin": 4535
103
+ }
104
+ },
105
+ "cube": {
106
+ "mode": "random",
107
+ "rgb": [
108
+ 0.686,
109
+ 0.745,
110
+ 0.0
111
+ ],
112
+ "roughness": 0.472
113
+ },
114
+ "spots": {
115
+ "count": 0,
116
+ "spots": []
117
+ }
118
+ },
119
+ "start_pose": {
120
+ "arm_offset_deg": {
121
+ "l": [],
122
+ "r": []
123
+ },
124
+ "joints": [],
125
+ "gripper_open": 0.2371,
126
+ "gripper_close": 0.7981
127
+ },
128
+ "pair_key": [
129
+ 40009,
130
+ 3,
131
+ 2
132
+ ],
133
+ "length": 153,
134
+ "fps": 15
135
+ }
abl_visual_p009/episode_0035/meta.json ADDED
@@ -0,0 +1,136 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 35,
3
+ "success": true,
4
+ "arm": "l",
5
+ "cube_init_xy_yaw": [
6
+ 0.4677038788795471,
7
+ 0.28448039293289185,
8
+ 31.125350952148438
9
+ ],
10
+ "cube_settled_pos": [
11
+ 0.46770381927490234,
12
+ 0.28447914123535156,
13
+ 0.7628946900367737
14
+ ],
15
+ "cube_lift": 0.0796499252319336,
16
+ "gripper_joint1_end": 0.6887962222099304,
17
+ "final_phase": "done",
18
+ "table_top_z": 0.742894868850708,
19
+ "program_sha": "9f1c8b2d6170",
20
+ "program_result": {
21
+ "success": true,
22
+ "status": "OK",
23
+ "ticks": 178
24
+ },
25
+ "params": {
26
+ "PREGRASP": 0.06201114505529404,
27
+ "LIFT": 0.08398643136024475,
28
+ "CLOSE_DELAY_S": 0.04494071751832962,
29
+ "RATE": 1.1770962476730347,
30
+ "VIA_XY": 0.02000322937965393,
31
+ "VIA_Z": 0.012637283653020859,
32
+ "TILT_DEG": 0.0,
33
+ "AZIMUTH_DEG": 0.0
34
+ },
35
+ "skills": [
36
+ {
37
+ "success": true,
38
+ "status": "OK",
39
+ "tag": "reach",
40
+ "err_mm": 0.5,
41
+ "err_deg": 0.0,
42
+ "ticks": 88
43
+ },
44
+ {
45
+ "success": true,
46
+ "status": "OK",
47
+ "tag": "approach",
48
+ "err_mm": 4.7,
49
+ "err_deg": 0.1,
50
+ "ticks": 35
51
+ },
52
+ {
53
+ "success": true,
54
+ "status": "OK",
55
+ "tag": "close",
56
+ "finger_q": 0.6887
57
+ },
58
+ {
59
+ "success": true,
60
+ "status": "OK",
61
+ "tag": "lift",
62
+ "err_mm": 1.3,
63
+ "err_deg": 0.0,
64
+ "ticks": 26
65
+ }
66
+ ],
67
+ "dr": {
68
+ "backdrop": {
69
+ "mode": "real",
70
+ "variant": "handover_left"
71
+ },
72
+ "table": {
73
+ "mode": "texture",
74
+ "texture": "Onyx015",
75
+ "tile_m": 1.101,
76
+ "angle_deg": 269.8
77
+ },
78
+ "lights": {
79
+ "mode": "random",
80
+ "ceiling": [
81
+ {
82
+ "pos": [
83
+ 3.396,
84
+ -0.733,
85
+ 3.093
86
+ ],
87
+ "intensity_scale": 0.226,
88
+ "kelvin": 3518
89
+ },
90
+ {
91
+ "pos": [
92
+ 1.073,
93
+ 0.676,
94
+ 3.007
95
+ ],
96
+ "intensity_scale": 0.15,
97
+ "kelvin": 6258
98
+ }
99
+ ],
100
+ "level": 0.214,
101
+ "dome": {
102
+ "intensity_scale": 0.381,
103
+ "kelvin": 4535
104
+ }
105
+ },
106
+ "cube": {
107
+ "mode": "random",
108
+ "rgb": [
109
+ 0.687,
110
+ 0.618,
111
+ 0.0
112
+ ],
113
+ "roughness": 0.411
114
+ },
115
+ "spots": {
116
+ "count": 0,
117
+ "spots": []
118
+ }
119
+ },
120
+ "start_pose": {
121
+ "arm_offset_deg": {
122
+ "l": [],
123
+ "r": []
124
+ },
125
+ "joints": [],
126
+ "gripper_open": 0.1871,
127
+ "gripper_close": 0.8016
128
+ },
129
+ "pair_key": [
130
+ 40009,
131
+ 3,
132
+ 3
133
+ ],
134
+ "length": 178,
135
+ "fps": 15
136
+ }
abl_visual_p009/episode_0036/meta.json ADDED
@@ -0,0 +1,176 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 36,
3
+ "success": true,
4
+ "arm": "l",
5
+ "cube_init_xy_yaw": [
6
+ 0.40764087438583374,
7
+ 0.28296947479248047,
8
+ 23.009967803955078
9
+ ],
10
+ "cube_settled_pos": [
11
+ 0.4076409339904785,
12
+ 0.28296947479248047,
13
+ 0.7628947496414185
14
+ ],
15
+ "cube_lift": 0.12170618772506714,
16
+ "gripper_joint1_end": 0.6882526278495789,
17
+ "final_phase": "done",
18
+ "table_top_z": 0.742894868850708,
19
+ "program_sha": "9f1c8b2d6170",
20
+ "program_result": {
21
+ "success": true,
22
+ "status": "OK",
23
+ "ticks": 188
24
+ },
25
+ "params": {
26
+ "PREGRASP": 0.08181504905223846,
27
+ "LIFT": 0.12376262247562408,
28
+ "CLOSE_DELAY_S": 6.996915908530354e-05,
29
+ "RATE": 1.252971887588501,
30
+ "VIA_XY": -0.02086624689400196,
31
+ "VIA_Z": 0.0221735630184412,
32
+ "TILT_DEG": 0.0,
33
+ "AZIMUTH_DEG": 0.0
34
+ },
35
+ "skills": [
36
+ {
37
+ "success": true,
38
+ "status": "OK",
39
+ "tag": "reach",
40
+ "err_mm": 1.3,
41
+ "err_deg": 0.0,
42
+ "ticks": 94
43
+ },
44
+ {
45
+ "success": true,
46
+ "status": "OK",
47
+ "tag": "approach",
48
+ "err_mm": 0.7,
49
+ "err_deg": 0.0,
50
+ "ticks": 38
51
+ },
52
+ {
53
+ "success": true,
54
+ "status": "OK",
55
+ "tag": "close",
56
+ "finger_q": 0.6882
57
+ },
58
+ {
59
+ "success": true,
60
+ "status": "OK",
61
+ "tag": "lift",
62
+ "err_mm": 2.1,
63
+ "err_deg": 0.1,
64
+ "ticks": 28
65
+ }
66
+ ],
67
+ "dr": {
68
+ "backdrop": {
69
+ "mode": "real",
70
+ "variant": "left_arm_left"
71
+ },
72
+ "table": {
73
+ "mode": "texture",
74
+ "texture": "WoodFloor040",
75
+ "tile_m": 0.534,
76
+ "angle_deg": 242.1
77
+ },
78
+ "lights": {
79
+ "mode": "random",
80
+ "ceiling": [
81
+ {
82
+ "pos": [
83
+ 2.26,
84
+ -1.105,
85
+ 2.864
86
+ ],
87
+ "intensity_scale": 0.127,
88
+ "kelvin": 4937
89
+ },
90
+ {
91
+ "pos": [
92
+ 1.051,
93
+ 1.696,
94
+ 2.538
95
+ ],
96
+ "intensity_scale": 0.147,
97
+ "kelvin": 5538
98
+ }
99
+ ],
100
+ "level": 0.17,
101
+ "dome": {
102
+ "intensity_scale": 0.381,
103
+ "kelvin": 4535
104
+ }
105
+ },
106
+ "cube": {
107
+ "mode": "random",
108
+ "rgb": [
109
+ 0.216,
110
+ 0.445,
111
+ 0.004
112
+ ],
113
+ "roughness": 0.381
114
+ },
115
+ "spots": {
116
+ "count": 3,
117
+ "spots": [
118
+ {
119
+ "aim": [
120
+ 0.738,
121
+ 0.285
122
+ ],
123
+ "dist": 1.057,
124
+ "tilt_deg": 29.0,
125
+ "cone_deg": 18.6,
126
+ "softness": 0.32,
127
+ "radius": 0.018,
128
+ "brightness": 0.31,
129
+ "kelvin": 3342
130
+ },
131
+ {
132
+ "aim": [
133
+ 0.322,
134
+ 0.049
135
+ ],
136
+ "dist": 1.424,
137
+ "tilt_deg": 13.9,
138
+ "cone_deg": 18.8,
139
+ "softness": 0.52,
140
+ "radius": 0.022,
141
+ "brightness": 1.31,
142
+ "kelvin": 5453
143
+ },
144
+ {
145
+ "aim": [
146
+ 0.475,
147
+ -0.045
148
+ ],
149
+ "dist": 0.713,
150
+ "tilt_deg": 29.1,
151
+ "cone_deg": 11.1,
152
+ "softness": 0.08,
153
+ "radius": 0.017,
154
+ "brightness": 1.3,
155
+ "kelvin": 3078
156
+ }
157
+ ]
158
+ }
159
+ },
160
+ "start_pose": {
161
+ "arm_offset_deg": {
162
+ "l": [],
163
+ "r": []
164
+ },
165
+ "joints": [],
166
+ "gripper_open": 0.2304,
167
+ "gripper_close": 0.8018
168
+ },
169
+ "pair_key": [
170
+ 40009,
171
+ 3,
172
+ 4
173
+ ],
174
+ "length": 188,
175
+ "fps": 15
176
+ }
abl_visual_p009/episode_0037/meta.json ADDED
@@ -0,0 +1,176 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 37,
3
+ "success": true,
4
+ "arm": "l",
5
+ "cube_init_xy_yaw": [
6
+ 0.3473140597343445,
7
+ 0.12447139620780945,
8
+ -39.08632278442383
9
+ ],
10
+ "cube_settled_pos": [
11
+ 0.34731388092041016,
12
+ 0.12447118759155273,
13
+ 0.7628949284553528
14
+ ],
15
+ "cube_lift": 0.09390908479690552,
16
+ "gripper_joint1_end": 0.6869548559188843,
17
+ "final_phase": "done",
18
+ "table_top_z": 0.742894868850708,
19
+ "program_sha": "9f1c8b2d6170",
20
+ "program_result": {
21
+ "success": true,
22
+ "status": "OK",
23
+ "ticks": 154
24
+ },
25
+ "params": {
26
+ "PREGRASP": 0.06046454235911369,
27
+ "LIFT": 0.09592093527317047,
28
+ "CLOSE_DELAY_S": 0.27564865350723267,
29
+ "RATE": 0.9875429272651672,
30
+ "VIA_XY": -0.016584280878305435,
31
+ "VIA_Z": 0.012838638387620449,
32
+ "TILT_DEG": 0.0,
33
+ "AZIMUTH_DEG": 0.0
34
+ },
35
+ "skills": [
36
+ {
37
+ "success": true,
38
+ "status": "OK",
39
+ "tag": "reach",
40
+ "err_mm": 0.9,
41
+ "err_deg": 0.0,
42
+ "ticks": 74
43
+ },
44
+ {
45
+ "success": true,
46
+ "status": "OK",
47
+ "tag": "approach",
48
+ "err_mm": 0.6,
49
+ "err_deg": 0.0,
50
+ "ticks": 30
51
+ },
52
+ {
53
+ "success": true,
54
+ "status": "OK",
55
+ "tag": "close",
56
+ "finger_q": 0.6869
57
+ },
58
+ {
59
+ "success": true,
60
+ "status": "OK",
61
+ "tag": "lift",
62
+ "err_mm": 1.7,
63
+ "err_deg": 0.1,
64
+ "ticks": 22
65
+ }
66
+ ],
67
+ "dr": {
68
+ "backdrop": {
69
+ "mode": "real",
70
+ "variant": "right_arm_left"
71
+ },
72
+ "table": {
73
+ "mode": "texture",
74
+ "texture": "Fabric030",
75
+ "tile_m": 0.934,
76
+ "angle_deg": 172.1
77
+ },
78
+ "lights": {
79
+ "mode": "random",
80
+ "ceiling": [
81
+ {
82
+ "pos": [
83
+ 3.555,
84
+ -0.949,
85
+ 2.538
86
+ ],
87
+ "intensity_scale": 2.646,
88
+ "kelvin": 4287
89
+ },
90
+ {
91
+ "pos": [
92
+ 1.72,
93
+ 0.324,
94
+ 3.362
95
+ ],
96
+ "intensity_scale": 2.65,
97
+ "kelvin": 3939
98
+ }
99
+ ],
100
+ "level": 2.135,
101
+ "dome": {
102
+ "intensity_scale": 0.381,
103
+ "kelvin": 4535
104
+ }
105
+ },
106
+ "cube": {
107
+ "mode": "random",
108
+ "rgb": [
109
+ 0.441,
110
+ 0.74,
111
+ 0.0
112
+ ],
113
+ "roughness": 0.78
114
+ },
115
+ "spots": {
116
+ "count": 3,
117
+ "spots": [
118
+ {
119
+ "aim": [
120
+ 0.721,
121
+ 0.157
122
+ ],
123
+ "dist": 0.856,
124
+ "tilt_deg": 12.4,
125
+ "cone_deg": 9.3,
126
+ "softness": 0.44,
127
+ "radius": 0.041,
128
+ "brightness": 1.08,
129
+ "kelvin": 3675
130
+ },
131
+ {
132
+ "aim": [
133
+ 0.325,
134
+ -0.102
135
+ ],
136
+ "dist": 1.458,
137
+ "tilt_deg": 2.2,
138
+ "cone_deg": 17.7,
139
+ "softness": 0.14,
140
+ "radius": 0.027,
141
+ "brightness": 0.24,
142
+ "kelvin": 4688
143
+ },
144
+ {
145
+ "aim": [
146
+ 0.436,
147
+ 0.006
148
+ ],
149
+ "dist": 1.193,
150
+ "tilt_deg": 24.0,
151
+ "cone_deg": 17.9,
152
+ "softness": 0.49,
153
+ "radius": 0.03,
154
+ "brightness": 1.85,
155
+ "kelvin": 6188
156
+ }
157
+ ]
158
+ }
159
+ },
160
+ "start_pose": {
161
+ "arm_offset_deg": {
162
+ "l": [],
163
+ "r": []
164
+ },
165
+ "joints": [],
166
+ "gripper_open": 0.1808,
167
+ "gripper_close": 0.7919
168
+ },
169
+ "pair_key": [
170
+ 40009,
171
+ 3,
172
+ 5
173
+ ],
174
+ "length": 154,
175
+ "fps": 15
176
+ }
abl_visual_p009/episode_0038/meta.json ADDED
@@ -0,0 +1,168 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 38,
3
+ "success": true,
4
+ "arm": "l",
5
+ "cube_init_xy_yaw": [
6
+ 0.3464049994945526,
7
+ 0.5378223657608032,
8
+ 41.87358093261719
9
+ ],
10
+ "cube_settled_pos": [
11
+ 0.346405029296875,
12
+ 0.5378222465515137,
13
+ 0.7628948092460632
14
+ ],
15
+ "cube_lift": 0.11881005764007568,
16
+ "gripper_joint1_end": 0.691343367099762,
17
+ "final_phase": "done",
18
+ "table_top_z": 0.742894868850708,
19
+ "program_sha": "9f1c8b2d6170",
20
+ "program_result": {
21
+ "success": true,
22
+ "status": "OK",
23
+ "ticks": 173
24
+ },
25
+ "params": {
26
+ "PREGRASP": 0.0682162195444107,
27
+ "LIFT": 0.12352464348077774,
28
+ "CLOSE_DELAY_S": 0.46486595273017883,
29
+ "RATE": 1.0944303274154663,
30
+ "VIA_XY": -0.008023276925086975,
31
+ "VIA_Z": 0.01043010875582695,
32
+ "TILT_DEG": 0.0,
33
+ "AZIMUTH_DEG": 0.0
34
+ },
35
+ "skills": [
36
+ {
37
+ "success": true,
38
+ "status": "OK",
39
+ "tag": "reach",
40
+ "err_mm": 0.4,
41
+ "err_deg": 0.0,
42
+ "ticks": 82
43
+ },
44
+ {
45
+ "success": true,
46
+ "status": "OK",
47
+ "tag": "approach",
48
+ "err_mm": 4.2,
49
+ "err_deg": 0.1,
50
+ "ticks": 33
51
+ },
52
+ {
53
+ "success": true,
54
+ "status": "OK",
55
+ "tag": "close",
56
+ "finger_q": 0.6912
57
+ },
58
+ {
59
+ "success": true,
60
+ "status": "OK",
61
+ "tag": "lift",
62
+ "err_mm": 2.4,
63
+ "err_deg": 0.1,
64
+ "ticks": 25
65
+ }
66
+ ],
67
+ "dr": {
68
+ "backdrop": {
69
+ "mode": "texture",
70
+ "floor": "Leather038",
71
+ "walls": "Terrazzo013",
72
+ "tile_m": 0.856
73
+ },
74
+ "table": {
75
+ "mode": "colour",
76
+ "rgb": [
77
+ 0.085,
78
+ 0.055,
79
+ 0.07
80
+ ],
81
+ "roughness": 0.121
82
+ },
83
+ "lights": {
84
+ "mode": "random",
85
+ "ceiling": [
86
+ {
87
+ "pos": [
88
+ 3.567,
89
+ -0.404,
90
+ 2.443
91
+ ],
92
+ "intensity_scale": 0.469,
93
+ "kelvin": 5583
94
+ },
95
+ {
96
+ "pos": [
97
+ 1.685,
98
+ 1.501,
99
+ 2.327
100
+ ],
101
+ "intensity_scale": 0.586,
102
+ "kelvin": 4885
103
+ }
104
+ ],
105
+ "level": 0.499,
106
+ "dome": {
107
+ "intensity_scale": 0.381,
108
+ "kelvin": 4535
109
+ }
110
+ },
111
+ "cube": {
112
+ "mode": "random",
113
+ "rgb": [
114
+ 0.164,
115
+ 0.527,
116
+ 0.004
117
+ ],
118
+ "roughness": 0.693
119
+ },
120
+ "spots": {
121
+ "count": 2,
122
+ "spots": [
123
+ {
124
+ "aim": [
125
+ 0.276,
126
+ -0.011
127
+ ],
128
+ "dist": 1.14,
129
+ "tilt_deg": 34.0,
130
+ "cone_deg": 17.8,
131
+ "softness": 0.44,
132
+ "radius": 0.022,
133
+ "brightness": 1.07,
134
+ "kelvin": 4062
135
+ },
136
+ {
137
+ "aim": [
138
+ 0.544,
139
+ 0.004
140
+ ],
141
+ "dist": 0.736,
142
+ "tilt_deg": 26.3,
143
+ "cone_deg": 19.5,
144
+ "softness": 0.1,
145
+ "radius": 0.053,
146
+ "brightness": 1.97,
147
+ "kelvin": 5990
148
+ }
149
+ ]
150
+ }
151
+ },
152
+ "start_pose": {
153
+ "arm_offset_deg": {
154
+ "l": [],
155
+ "r": []
156
+ },
157
+ "joints": [],
158
+ "gripper_open": 0.185,
159
+ "gripper_close": 0.8186
160
+ },
161
+ "pair_key": [
162
+ 40009,
163
+ 3,
164
+ 6
165
+ ],
166
+ "length": 173,
167
+ "fps": 15
168
+ }
abl_visual_p009/episode_0039/meta.json ADDED
@@ -0,0 +1,132 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 39,
3
+ "success": true,
4
+ "arm": "l",
5
+ "cube_init_xy_yaw": [
6
+ 0.2980734407901764,
7
+ -0.00494665652513504,
8
+ -7.9182538986206055
9
+ ],
10
+ "cube_settled_pos": [
11
+ 0.29807329177856445,
12
+ -0.004946708679199219,
13
+ 0.762894868850708
14
+ ],
15
+ "cube_lift": 0.1037900447845459,
16
+ "gripper_joint1_end": 0.6850234866142273,
17
+ "final_phase": "done",
18
+ "table_top_z": 0.742894868850708,
19
+ "program_sha": "9f1c8b2d6170",
20
+ "program_result": {
21
+ "success": true,
22
+ "status": "OK",
23
+ "ticks": 159
24
+ },
25
+ "params": {
26
+ "PREGRASP": 0.08523544669151306,
27
+ "LIFT": 0.10603825747966766,
28
+ "CLOSE_DELAY_S": 0.08786110579967499,
29
+ "RATE": 1.0409455299377441,
30
+ "VIA_XY": 0.01110054925084114,
31
+ "VIA_Z": 0.003240540623664856,
32
+ "TILT_DEG": 0.0,
33
+ "AZIMUTH_DEG": 0.0
34
+ },
35
+ "skills": [
36
+ {
37
+ "success": true,
38
+ "status": "OK",
39
+ "tag": "reach",
40
+ "err_mm": 1.6,
41
+ "err_deg": 0.0,
42
+ "ticks": 78
43
+ },
44
+ {
45
+ "success": true,
46
+ "status": "OK",
47
+ "tag": "approach",
48
+ "err_mm": 1.2,
49
+ "err_deg": 0.0,
50
+ "ticks": 31
51
+ },
52
+ {
53
+ "success": true,
54
+ "status": "OK",
55
+ "tag": "close",
56
+ "finger_q": 0.6849
57
+ },
58
+ {
59
+ "success": true,
60
+ "status": "OK",
61
+ "tag": "lift",
62
+ "err_mm": 2.2,
63
+ "err_deg": 0.1,
64
+ "ticks": 23
65
+ }
66
+ ],
67
+ "dr": {
68
+ "backdrop": {
69
+ "mode": "texture",
70
+ "floor": "Concrete047A",
71
+ "walls": "Bricks113A",
72
+ "tile_m": 0.944
73
+ },
74
+ "table": {
75
+ "mode": "texture",
76
+ "texture": "Bricks108A",
77
+ "tile_m": 1.073,
78
+ "angle_deg": 124.9
79
+ },
80
+ "lights": {
81
+ "mode": "random",
82
+ "ceiling": [
83
+ {
84
+ "pos": [
85
+ 3.512,
86
+ -1.496,
87
+ 2.368
88
+ ],
89
+ "intensity_scale": 0.211,
90
+ "kelvin": 5697
91
+ },
92
+ {
93
+ "pos": [
94
+ 1.018,
95
+ 0.553,
96
+ 2.773
97
+ ],
98
+ "intensity_scale": 0.328,
99
+ "kelvin": 5362
100
+ }
101
+ ],
102
+ "level": 0.277,
103
+ "dome": {
104
+ "intensity_scale": 0.381,
105
+ "kelvin": 4535
106
+ }
107
+ },
108
+ "cube": {
109
+ "mode": "nominal"
110
+ },
111
+ "spots": {
112
+ "count": 0,
113
+ "spots": []
114
+ }
115
+ },
116
+ "start_pose": {
117
+ "arm_offset_deg": {
118
+ "l": [],
119
+ "r": []
120
+ },
121
+ "joints": [],
122
+ "gripper_open": 0.2097,
123
+ "gripper_close": 0.7765
124
+ },
125
+ "pair_key": [
126
+ 40009,
127
+ 3,
128
+ 7
129
+ ],
130
+ "length": 159,
131
+ "fps": 15
132
+ }
abl_visual_p009/episode_0040/meta.json ADDED
@@ -0,0 +1,172 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 40,
3
+ "success": true,
4
+ "arm": "l",
5
+ "cube_init_xy_yaw": [
6
+ 0.4179452359676361,
7
+ 0.41377872228622437,
8
+ -18.18385887145996
9
+ ],
10
+ "cube_settled_pos": [
11
+ 0.41794538497924805,
12
+ 0.41377830505371094,
13
+ 0.762894868850708
14
+ ],
15
+ "cube_lift": 0.09956854581832886,
16
+ "gripper_joint1_end": 0.6849911212921143,
17
+ "final_phase": "done",
18
+ "table_top_z": 0.742894868850708,
19
+ "program_sha": "9f1c8b2d6170",
20
+ "program_result": {
21
+ "success": true,
22
+ "status": "OK",
23
+ "ticks": 124
24
+ },
25
+ "params": {
26
+ "PREGRASP": 0.058546558022499084,
27
+ "LIFT": 0.10296310484409332,
28
+ "CLOSE_DELAY_S": 0.27197131514549255,
29
+ "RATE": 0.7679308652877808,
30
+ "VIA_XY": -0.01521654799580574,
31
+ "VIA_Z": 0.05016425997018814,
32
+ "TILT_DEG": 0.0,
33
+ "AZIMUTH_DEG": 0.0
34
+ },
35
+ "skills": [
36
+ {
37
+ "success": true,
38
+ "status": "OK",
39
+ "tag": "reach",
40
+ "err_mm": 0.8,
41
+ "err_deg": 0.0,
42
+ "ticks": 58
43
+ },
44
+ {
45
+ "success": true,
46
+ "status": "OK",
47
+ "tag": "approach",
48
+ "err_mm": 2.3,
49
+ "err_deg": 0.0,
50
+ "ticks": 23
51
+ },
52
+ {
53
+ "success": true,
54
+ "status": "OK",
55
+ "tag": "close",
56
+ "finger_q": 0.685
57
+ },
58
+ {
59
+ "success": true,
60
+ "status": "OK",
61
+ "tag": "lift",
62
+ "err_mm": 2.4,
63
+ "err_deg": 0.1,
64
+ "ticks": 17
65
+ }
66
+ ],
67
+ "dr": {
68
+ "backdrop": {
69
+ "mode": "texture",
70
+ "floor": "Tiles043",
71
+ "walls": "Marble016",
72
+ "tile_m": 1.392
73
+ },
74
+ "table": {
75
+ "mode": "texture",
76
+ "texture": "PaintedPlaster017",
77
+ "tile_m": 0.457,
78
+ "angle_deg": 341.1
79
+ },
80
+ "lights": {
81
+ "mode": "random",
82
+ "ceiling": [
83
+ {
84
+ "pos": [
85
+ 3.495,
86
+ -1.338,
87
+ 2.219
88
+ ],
89
+ "intensity_scale": 1.47,
90
+ "kelvin": 4568
91
+ },
92
+ {
93
+ "pos": [
94
+ 0.191,
95
+ 1.579,
96
+ 2.601
97
+ ],
98
+ "intensity_scale": 2.697,
99
+ "kelvin": 3811
100
+ }
101
+ ],
102
+ "level": 1.987,
103
+ "dome": {
104
+ "intensity_scale": 0.381,
105
+ "kelvin": 4535
106
+ }
107
+ },
108
+ "cube": {
109
+ "mode": "nominal"
110
+ },
111
+ "spots": {
112
+ "count": 3,
113
+ "spots": [
114
+ {
115
+ "aim": [
116
+ 0.471,
117
+ 0.424
118
+ ],
119
+ "dist": 0.769,
120
+ "tilt_deg": 8.6,
121
+ "cone_deg": 21.7,
122
+ "softness": 0.54,
123
+ "radius": 0.04,
124
+ "brightness": 1.18,
125
+ "kelvin": 3472
126
+ },
127
+ {
128
+ "aim": [
129
+ 0.569,
130
+ 0.168
131
+ ],
132
+ "dist": 1.462,
133
+ "tilt_deg": 28.3,
134
+ "cone_deg": 14.0,
135
+ "softness": 0.58,
136
+ "radius": 0.051,
137
+ "brightness": 0.45,
138
+ "kelvin": 3546
139
+ },
140
+ {
141
+ "aim": [
142
+ 0.199,
143
+ 0.214
144
+ ],
145
+ "dist": 0.89,
146
+ "tilt_deg": 12.1,
147
+ "cone_deg": 8.4,
148
+ "softness": 0.59,
149
+ "radius": 0.035,
150
+ "brightness": 0.85,
151
+ "kelvin": 3022
152
+ }
153
+ ]
154
+ }
155
+ },
156
+ "start_pose": {
157
+ "arm_offset_deg": {
158
+ "l": [],
159
+ "r": []
160
+ },
161
+ "joints": [],
162
+ "gripper_open": 0.1779,
163
+ "gripper_close": 0.774
164
+ },
165
+ "pair_key": [
166
+ 40009,
167
+ 3,
168
+ 8
169
+ ],
170
+ "length": 124,
171
+ "fps": 15
172
+ }
abl_visual_p009/episode_0042/meta.json ADDED
@@ -0,0 +1,175 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 42,
3
+ "success": true,
4
+ "arm": "l",
5
+ "cube_init_xy_yaw": [
6
+ 0.36112090945243835,
7
+ 0.290943443775177,
8
+ 6.330447673797607
9
+ ],
10
+ "cube_settled_pos": [
11
+ 0.36112070083618164,
12
+ 0.29094409942626953,
13
+ 0.7628948092460632
14
+ ],
15
+ "cube_lift": 0.11452406644821167,
16
+ "gripper_joint1_end": 0.6916075348854065,
17
+ "final_phase": "done",
18
+ "table_top_z": 0.742894868850708,
19
+ "program_sha": "9f1c8b2d6170",
20
+ "program_result": {
21
+ "success": true,
22
+ "status": "OK",
23
+ "ticks": 121
24
+ },
25
+ "params": {
26
+ "PREGRASP": 0.05410073325037956,
27
+ "LIFT": 0.11750949174165726,
28
+ "CLOSE_DELAY_S": 0.04496985673904419,
29
+ "RATE": 0.7738680839538574,
30
+ "VIA_XY": 0.03234831243753433,
31
+ "VIA_Z": 0.009976040571928024,
32
+ "TILT_DEG": 0.0,
33
+ "AZIMUTH_DEG": 0.0
34
+ },
35
+ "skills": [
36
+ {
37
+ "success": true,
38
+ "status": "OK",
39
+ "tag": "reach",
40
+ "err_mm": 1.4,
41
+ "err_deg": 0.1,
42
+ "ticks": 58
43
+ },
44
+ {
45
+ "success": true,
46
+ "status": "OK",
47
+ "tag": "approach",
48
+ "err_mm": 1.0,
49
+ "err_deg": 0.0,
50
+ "ticks": 23
51
+ },
52
+ {
53
+ "success": true,
54
+ "status": "OK",
55
+ "tag": "close",
56
+ "finger_q": 0.6915
57
+ },
58
+ {
59
+ "success": true,
60
+ "status": "OK",
61
+ "tag": "lift",
62
+ "err_mm": 3.2,
63
+ "err_deg": 0.1,
64
+ "ticks": 17
65
+ }
66
+ ],
67
+ "dr": {
68
+ "backdrop": {
69
+ "mode": "texture",
70
+ "floor": "WoodFloor041",
71
+ "walls": "Fabric066",
72
+ "tile_m": 1.196
73
+ },
74
+ "table": {
75
+ "mode": "nominal"
76
+ },
77
+ "lights": {
78
+ "mode": "random",
79
+ "ceiling": [
80
+ {
81
+ "pos": [
82
+ 2.945,
83
+ -1.239,
84
+ 3.325
85
+ ],
86
+ "intensity_scale": 1.129,
87
+ "kelvin": 6642
88
+ },
89
+ {
90
+ "pos": [
91
+ 0.713,
92
+ 1.569,
93
+ 2.57
94
+ ],
95
+ "intensity_scale": 0.848,
96
+ "kelvin": 4930
97
+ }
98
+ ],
99
+ "level": 0.87,
100
+ "dome": {
101
+ "intensity_scale": 0.381,
102
+ "kelvin": 4535
103
+ }
104
+ },
105
+ "cube": {
106
+ "mode": "random",
107
+ "rgb": [
108
+ 0.103,
109
+ 0.442,
110
+ 0.0
111
+ ],
112
+ "roughness": 0.734
113
+ },
114
+ "spots": {
115
+ "count": 3,
116
+ "spots": [
117
+ {
118
+ "aim": [
119
+ 0.378,
120
+ -0.124
121
+ ],
122
+ "dist": 1.045,
123
+ "tilt_deg": 22.9,
124
+ "cone_deg": 22.5,
125
+ "softness": 0.18,
126
+ "radius": 0.025,
127
+ "brightness": 1.94,
128
+ "kelvin": 5040
129
+ },
130
+ {
131
+ "aim": [
132
+ 0.4,
133
+ 0.374
134
+ ],
135
+ "dist": 0.989,
136
+ "tilt_deg": 21.0,
137
+ "cone_deg": 14.7,
138
+ "softness": 0.17,
139
+ "radius": 0.05,
140
+ "brightness": 0.95,
141
+ "kelvin": 3874
142
+ },
143
+ {
144
+ "aim": [
145
+ 0.548,
146
+ -0.04
147
+ ],
148
+ "dist": 1.526,
149
+ "tilt_deg": 20.2,
150
+ "cone_deg": 19.7,
151
+ "softness": 0.38,
152
+ "radius": 0.058,
153
+ "brightness": 1.85,
154
+ "kelvin": 3130
155
+ }
156
+ ]
157
+ }
158
+ },
159
+ "start_pose": {
160
+ "arm_offset_deg": {
161
+ "l": [],
162
+ "r": []
163
+ },
164
+ "joints": [],
165
+ "gripper_open": 0.2225,
166
+ "gripper_close": 0.8283
167
+ },
168
+ "pair_key": [
169
+ 40009,
170
+ 3,
171
+ 10
172
+ ],
173
+ "length": 121,
174
+ "fps": 15
175
+ }
abl_visual_p009/episode_0044/meta.json ADDED
@@ -0,0 +1,166 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 44,
3
+ "success": true,
4
+ "arm": "l",
5
+ "cube_init_xy_yaw": [
6
+ 0.4073795676231384,
7
+ 0.09294888377189636,
8
+ -38.97953414916992
9
+ ],
10
+ "cube_settled_pos": [
11
+ 0.407379150390625,
12
+ 0.09294891357421875,
13
+ 0.7628948092460632
14
+ ],
15
+ "cube_lift": 0.089083731174469,
16
+ "gripper_joint1_end": 0.6830893754959106,
17
+ "final_phase": "done",
18
+ "table_top_z": 0.742894868850708,
19
+ "program_sha": "9f1c8b2d6170",
20
+ "program_result": {
21
+ "success": true,
22
+ "status": "OK",
23
+ "ticks": 125
24
+ },
25
+ "params": {
26
+ "PREGRASP": 0.1060163602232933,
27
+ "LIFT": 0.09201588481664658,
28
+ "CLOSE_DELAY_S": 0.2843928933143616,
29
+ "RATE": 0.7786130905151367,
30
+ "VIA_XY": 0.0232216939330101,
31
+ "VIA_Z": 0.05924182012677193,
32
+ "TILT_DEG": 0.0,
33
+ "AZIMUTH_DEG": 0.0
34
+ },
35
+ "skills": [
36
+ {
37
+ "success": true,
38
+ "status": "OK",
39
+ "tag": "reach",
40
+ "err_mm": 0.7,
41
+ "err_deg": 0.0,
42
+ "ticks": 58
43
+ },
44
+ {
45
+ "success": true,
46
+ "status": "OK",
47
+ "tag": "approach",
48
+ "err_mm": 2.3,
49
+ "err_deg": 0.0,
50
+ "ticks": 23
51
+ },
52
+ {
53
+ "success": true,
54
+ "status": "OK",
55
+ "tag": "close",
56
+ "finger_q": 0.683
57
+ },
58
+ {
59
+ "success": true,
60
+ "status": "OK",
61
+ "tag": "lift",
62
+ "err_mm": 1.7,
63
+ "err_deg": 0.0,
64
+ "ticks": 18
65
+ }
66
+ ],
67
+ "dr": {
68
+ "backdrop": {
69
+ "mode": "real",
70
+ "variant": "handover_right"
71
+ },
72
+ "table": {
73
+ "mode": "colour",
74
+ "rgb": [
75
+ 0.037,
76
+ 0.039,
77
+ 0.03
78
+ ],
79
+ "roughness": 0.365
80
+ },
81
+ "lights": {
82
+ "mode": "random",
83
+ "ceiling": [
84
+ {
85
+ "pos": [
86
+ 2.639,
87
+ -0.85,
88
+ 2.708
89
+ ],
90
+ "intensity_scale": 0.193,
91
+ "kelvin": 5497
92
+ },
93
+ {
94
+ "pos": [
95
+ 0.548,
96
+ 0.985,
97
+ 3.071
98
+ ],
99
+ "intensity_scale": 0.349,
100
+ "kelvin": 5560
101
+ }
102
+ ],
103
+ "level": 0.267,
104
+ "dome": {
105
+ "intensity_scale": 0.381,
106
+ "kelvin": 4535
107
+ }
108
+ },
109
+ "cube": {
110
+ "mode": "random",
111
+ "rgb": [
112
+ 0.154,
113
+ 0.665,
114
+ 0.0
115
+ ],
116
+ "roughness": 0.379
117
+ },
118
+ "spots": {
119
+ "count": 2,
120
+ "spots": [
121
+ {
122
+ "aim": [
123
+ 0.495,
124
+ -0.055
125
+ ],
126
+ "dist": 1.282,
127
+ "tilt_deg": 9.1,
128
+ "cone_deg": 13.1,
129
+ "softness": 0.5,
130
+ "radius": 0.05,
131
+ "brightness": 1.08,
132
+ "kelvin": 6370
133
+ },
134
+ {
135
+ "aim": [
136
+ 0.538,
137
+ 0.23
138
+ ],
139
+ "dist": 1.322,
140
+ "tilt_deg": 5.1,
141
+ "cone_deg": 15.6,
142
+ "softness": 0.6,
143
+ "radius": 0.036,
144
+ "brightness": 1.7,
145
+ "kelvin": 4401
146
+ }
147
+ ]
148
+ }
149
+ },
150
+ "start_pose": {
151
+ "arm_offset_deg": {
152
+ "l": [],
153
+ "r": []
154
+ },
155
+ "joints": [],
156
+ "gripper_open": 0.2182,
157
+ "gripper_close": 0.7592
158
+ },
159
+ "pair_key": [
160
+ 40009,
161
+ 3,
162
+ 12
163
+ ],
164
+ "length": 125,
165
+ "fps": 15
166
+ }
abl_visual_p009/episode_0046/meta.json ADDED
@@ -0,0 +1,152 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 46,
3
+ "success": true,
4
+ "arm": "l",
5
+ "cube_init_xy_yaw": [
6
+ 0.3701522648334503,
7
+ 0.2881523370742798,
8
+ 44.53993606567383
9
+ ],
10
+ "cube_settled_pos": [
11
+ 0.37015247344970703,
12
+ 0.28815221786499023,
13
+ 0.7628949284553528
14
+ ],
15
+ "cube_lift": 0.10352253913879395,
16
+ "gripper_joint1_end": 0.6875028014183044,
17
+ "final_phase": "done",
18
+ "table_top_z": 0.742894868850708,
19
+ "program_sha": "9f1c8b2d6170",
20
+ "program_result": {
21
+ "success": true,
22
+ "status": "OK",
23
+ "ticks": 188
24
+ },
25
+ "params": {
26
+ "PREGRASP": 0.06874196231365204,
27
+ "LIFT": 0.10525409132242203,
28
+ "CLOSE_DELAY_S": 0.46346330642700195,
29
+ "RATE": 1.1987063884735107,
30
+ "VIA_XY": 0.03578004986047745,
31
+ "VIA_Z": 0.04726215451955795,
32
+ "TILT_DEG": 0.0,
33
+ "AZIMUTH_DEG": 0.0
34
+ },
35
+ "skills": [
36
+ {
37
+ "success": true,
38
+ "status": "OK",
39
+ "tag": "reach",
40
+ "err_mm": 1.7,
41
+ "err_deg": 0.1,
42
+ "ticks": 90
43
+ },
44
+ {
45
+ "success": true,
46
+ "status": "OK",
47
+ "tag": "approach",
48
+ "err_mm": 1.2,
49
+ "err_deg": 0.0,
50
+ "ticks": 36
51
+ },
52
+ {
53
+ "success": true,
54
+ "status": "OK",
55
+ "tag": "close",
56
+ "finger_q": 0.6875
57
+ },
58
+ {
59
+ "success": true,
60
+ "status": "OK",
61
+ "tag": "lift",
62
+ "err_mm": 2.3,
63
+ "err_deg": 0.1,
64
+ "ticks": 27
65
+ }
66
+ ],
67
+ "dr": {
68
+ "backdrop": {
69
+ "mode": "texture",
70
+ "floor": "Tiles107",
71
+ "walls": "Fabric028",
72
+ "tile_m": 1.699
73
+ },
74
+ "table": {
75
+ "mode": "texture",
76
+ "texture": "Leather030",
77
+ "tile_m": 0.561,
78
+ "angle_deg": 53.2
79
+ },
80
+ "lights": {
81
+ "mode": "random",
82
+ "ceiling": [
83
+ {
84
+ "pos": [
85
+ 2.054,
86
+ -0.338,
87
+ 2.435
88
+ ],
89
+ "intensity_scale": 0.324,
90
+ "kelvin": 5151
91
+ },
92
+ {
93
+ "pos": [
94
+ 1.508,
95
+ 1.658,
96
+ 2.792
97
+ ],
98
+ "intensity_scale": 0.244,
99
+ "kelvin": 6383
100
+ }
101
+ ],
102
+ "level": 0.261,
103
+ "dome": {
104
+ "intensity_scale": 0.381,
105
+ "kelvin": 4535
106
+ }
107
+ },
108
+ "cube": {
109
+ "mode": "random",
110
+ "rgb": [
111
+ 0.216,
112
+ 0.72,
113
+ 0.004
114
+ ],
115
+ "roughness": 0.784
116
+ },
117
+ "spots": {
118
+ "count": 1,
119
+ "spots": [
120
+ {
121
+ "aim": [
122
+ 0.728,
123
+ 0.124
124
+ ],
125
+ "dist": 0.926,
126
+ "tilt_deg": 24.5,
127
+ "cone_deg": 21.2,
128
+ "softness": 0.28,
129
+ "radius": 0.034,
130
+ "brightness": 1.39,
131
+ "kelvin": 5923
132
+ }
133
+ ]
134
+ }
135
+ },
136
+ "start_pose": {
137
+ "arm_offset_deg": {
138
+ "l": [],
139
+ "r": []
140
+ },
141
+ "joints": [],
142
+ "gripper_open": 0.2279,
143
+ "gripper_close": 0.7972
144
+ },
145
+ "pair_key": [
146
+ 40009,
147
+ 3,
148
+ 14
149
+ ],
150
+ "length": 188,
151
+ "fps": 15
152
+ }
abl_visual_p009/episode_0047/meta.json ADDED
@@ -0,0 +1,149 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 47,
3
+ "success": true,
4
+ "arm": "l",
5
+ "cube_init_xy_yaw": [
6
+ 0.32090041041374207,
7
+ 0.4260987639427185,
8
+ 39.95670700073242
9
+ ],
10
+ "cube_settled_pos": [
11
+ 0.32089996337890625,
12
+ 0.4260988235473633,
13
+ 0.7628947496414185
14
+ ],
15
+ "cube_lift": 0.1124994158744812,
16
+ "gripper_joint1_end": 0.687774658203125,
17
+ "final_phase": "done",
18
+ "table_top_z": 0.742894868850708,
19
+ "program_sha": "9f1c8b2d6170",
20
+ "program_result": {
21
+ "success": true,
22
+ "status": "OK",
23
+ "ticks": 140
24
+ },
25
+ "params": {
26
+ "PREGRASP": 0.09543435275554657,
27
+ "LIFT": 0.11563637852668762,
28
+ "CLOSE_DELAY_S": 0.258028507232666,
29
+ "RATE": 0.8781468868255615,
30
+ "VIA_XY": 0.000692073255777359,
31
+ "VIA_Z": 0.03800740838050842,
32
+ "TILT_DEG": 0.0,
33
+ "AZIMUTH_DEG": 0.0
34
+ },
35
+ "skills": [
36
+ {
37
+ "success": true,
38
+ "status": "OK",
39
+ "tag": "reach",
40
+ "err_mm": 1.8,
41
+ "err_deg": 0.1,
42
+ "ticks": 66
43
+ },
44
+ {
45
+ "success": true,
46
+ "status": "OK",
47
+ "tag": "approach",
48
+ "err_mm": 1.3,
49
+ "err_deg": 0.1,
50
+ "ticks": 26
51
+ },
52
+ {
53
+ "success": true,
54
+ "status": "OK",
55
+ "tag": "close",
56
+ "finger_q": 0.6876
57
+ },
58
+ {
59
+ "success": true,
60
+ "status": "OK",
61
+ "tag": "lift",
62
+ "err_mm": 3.3,
63
+ "err_deg": 0.1,
64
+ "ticks": 20
65
+ }
66
+ ],
67
+ "dr": {
68
+ "backdrop": {
69
+ "mode": "texture",
70
+ "floor": "WoodFloor040",
71
+ "walls": "Rubber004",
72
+ "tile_m": 1.558
73
+ },
74
+ "table": {
75
+ "mode": "colour",
76
+ "rgb": [
77
+ 0.128,
78
+ 0.095,
79
+ 0.199
80
+ ],
81
+ "roughness": 0.377
82
+ },
83
+ "lights": {
84
+ "mode": "random",
85
+ "ceiling": [
86
+ {
87
+ "pos": [
88
+ 2.422,
89
+ -0.787,
90
+ 3.01
91
+ ],
92
+ "intensity_scale": 0.826,
93
+ "kelvin": 4689
94
+ },
95
+ {
96
+ "pos": [
97
+ 0.529,
98
+ 1.69,
99
+ 3.024
100
+ ],
101
+ "intensity_scale": 0.492,
102
+ "kelvin": 6085
103
+ }
104
+ ],
105
+ "level": 0.674,
106
+ "dome": {
107
+ "intensity_scale": 0.381,
108
+ "kelvin": 4535
109
+ }
110
+ },
111
+ "cube": {
112
+ "mode": "nominal"
113
+ },
114
+ "spots": {
115
+ "count": 1,
116
+ "spots": [
117
+ {
118
+ "aim": [
119
+ 0.353,
120
+ 0.031
121
+ ],
122
+ "dist": 1.373,
123
+ "tilt_deg": 25.1,
124
+ "cone_deg": 10.7,
125
+ "softness": 0.23,
126
+ "radius": 0.051,
127
+ "brightness": 0.55,
128
+ "kelvin": 3750
129
+ }
130
+ ]
131
+ }
132
+ },
133
+ "start_pose": {
134
+ "arm_offset_deg": {
135
+ "l": [],
136
+ "r": []
137
+ },
138
+ "joints": [],
139
+ "gripper_open": 0.1694,
140
+ "gripper_close": 0.7979
141
+ },
142
+ "pair_key": [
143
+ 40009,
144
+ 3,
145
+ 15
146
+ ],
147
+ "length": 140,
148
+ "fps": 15
149
+ }
abl_visual_p009/episode_0048/meta.json ADDED
@@ -0,0 +1,171 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 48,
3
+ "success": true,
4
+ "arm": "l",
5
+ "cube_init_xy_yaw": [
6
+ 0.2930257320404053,
7
+ 0.48255205154418945,
8
+ -9.016098022460938
9
+ ],
10
+ "cube_settled_pos": [
11
+ 0.2930259704589844,
12
+ 0.48255157470703125,
13
+ 0.762894868850708
14
+ ],
15
+ "cube_lift": 0.1168939471244812,
16
+ "gripper_joint1_end": 0.6908692717552185,
17
+ "final_phase": "done",
18
+ "table_top_z": 0.742894868850708,
19
+ "program_sha": "9f1c8b2d6170",
20
+ "program_result": {
21
+ "success": true,
22
+ "status": "OK",
23
+ "ticks": 153
24
+ },
25
+ "params": {
26
+ "PREGRASP": 0.08,
27
+ "LIFT": 0.12,
28
+ "CLOSE_DELAY_S": 0.0,
29
+ "RATE": 1.0,
30
+ "VIA_XY": 0.0,
31
+ "VIA_Z": 0.0,
32
+ "TILT_DEG": 0.0,
33
+ "AZIMUTH_DEG": 0.0
34
+ },
35
+ "skills": [
36
+ {
37
+ "success": true,
38
+ "status": "OK",
39
+ "tag": "reach",
40
+ "err_mm": 1.4,
41
+ "err_deg": 0.0,
42
+ "ticks": 75
43
+ },
44
+ {
45
+ "success": true,
46
+ "status": "OK",
47
+ "tag": "approach",
48
+ "err_mm": 0.8,
49
+ "err_deg": 0.0,
50
+ "ticks": 30
51
+ },
52
+ {
53
+ "success": true,
54
+ "status": "OK",
55
+ "tag": "close",
56
+ "finger_q": 0.6907
57
+ },
58
+ {
59
+ "success": true,
60
+ "status": "OK",
61
+ "tag": "lift",
62
+ "err_mm": 2.8,
63
+ "err_deg": 0.1,
64
+ "ticks": 22
65
+ }
66
+ ],
67
+ "dr": {
68
+ "backdrop": {
69
+ "mode": "texture",
70
+ "floor": "Plaster007",
71
+ "walls": "Fabric061",
72
+ "tile_m": 1.381
73
+ },
74
+ "table": {
75
+ "mode": "texture",
76
+ "texture": "Tiles138",
77
+ "tile_m": 0.504,
78
+ "angle_deg": 14.1
79
+ },
80
+ "lights": {
81
+ "mode": "random",
82
+ "ceiling": [
83
+ {
84
+ "pos": [
85
+ 2.501,
86
+ -1.722,
87
+ 2.558
88
+ ],
89
+ "intensity_scale": 0.478,
90
+ "kelvin": 4169
91
+ },
92
+ {
93
+ "pos": [
94
+ 0.445,
95
+ 0.839,
96
+ 2.837
97
+ ],
98
+ "intensity_scale": 0.705,
99
+ "kelvin": 6660
100
+ }
101
+ ],
102
+ "level": 0.606,
103
+ "dome": {
104
+ "mode": "nominal"
105
+ }
106
+ },
107
+ "cube": {
108
+ "mode": "nominal"
109
+ },
110
+ "spots": {
111
+ "count": 3,
112
+ "spots": [
113
+ {
114
+ "aim": [
115
+ 0.654,
116
+ 0.301
117
+ ],
118
+ "dist": 0.669,
119
+ "tilt_deg": 33.5,
120
+ "cone_deg": 10.3,
121
+ "softness": 0.16,
122
+ "radius": 0.012,
123
+ "brightness": 1.48,
124
+ "kelvin": 5771
125
+ },
126
+ {
127
+ "aim": [
128
+ 0.427,
129
+ 0.258
130
+ ],
131
+ "dist": 1.119,
132
+ "tilt_deg": 28.8,
133
+ "cone_deg": 9.6,
134
+ "softness": 0.19,
135
+ "radius": 0.032,
136
+ "brightness": 1.9,
137
+ "kelvin": 6209
138
+ },
139
+ {
140
+ "aim": [
141
+ 0.355,
142
+ 0.471
143
+ ],
144
+ "dist": 1.008,
145
+ "tilt_deg": 28.9,
146
+ "cone_deg": 14.8,
147
+ "softness": 0.35,
148
+ "radius": 0.025,
149
+ "brightness": 1.13,
150
+ "kelvin": 3242
151
+ }
152
+ ]
153
+ }
154
+ },
155
+ "start_pose": {
156
+ "arm_offset_deg": {
157
+ "l": [],
158
+ "r": []
159
+ },
160
+ "joints": [],
161
+ "gripper_open": 0.201,
162
+ "gripper_close": 0.8217
163
+ },
164
+ "pair_key": [
165
+ 40009,
166
+ 4,
167
+ 0
168
+ ],
169
+ "length": 153,
170
+ "fps": 15
171
+ }
abl_visual_p009/episode_0049/meta.json ADDED
@@ -0,0 +1,149 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 49,
3
+ "success": true,
4
+ "arm": "l",
5
+ "cube_init_xy_yaw": [
6
+ 0.28560885787010193,
7
+ 0.36483341455459595,
8
+ 37.36415481567383
9
+ ],
10
+ "cube_settled_pos": [
11
+ 0.28560924530029297,
12
+ 0.36483335494995117,
13
+ 0.7628948092460632
14
+ ],
15
+ "cube_lift": 0.1466057300567627,
16
+ "gripper_joint1_end": 0.6883337497711182,
17
+ "final_phase": "done",
18
+ "table_top_z": 0.742894868850708,
19
+ "program_sha": "9f1c8b2d6170",
20
+ "program_result": {
21
+ "success": true,
22
+ "status": "OK",
23
+ "ticks": 151
24
+ },
25
+ "params": {
26
+ "PREGRASP": 0.07586552202701569,
27
+ "LIFT": 0.14929966628551483,
28
+ "CLOSE_DELAY_S": 0.2445848435163498,
29
+ "RATE": 0.9661325812339783,
30
+ "VIA_XY": -0.03287910670042038,
31
+ "VIA_Z": 0.03680293634533882,
32
+ "TILT_DEG": 0.0,
33
+ "AZIMUTH_DEG": 0.0
34
+ },
35
+ "skills": [
36
+ {
37
+ "success": true,
38
+ "status": "OK",
39
+ "tag": "reach",
40
+ "err_mm": 1.9,
41
+ "err_deg": 0.1,
42
+ "ticks": 72
43
+ },
44
+ {
45
+ "success": true,
46
+ "status": "OK",
47
+ "tag": "approach",
48
+ "err_mm": 1.5,
49
+ "err_deg": 0.0,
50
+ "ticks": 29
51
+ },
52
+ {
53
+ "success": true,
54
+ "status": "OK",
55
+ "tag": "close",
56
+ "finger_q": 0.6883
57
+ },
58
+ {
59
+ "success": true,
60
+ "status": "OK",
61
+ "tag": "lift",
62
+ "err_mm": 3.6,
63
+ "err_deg": 0.1,
64
+ "ticks": 22
65
+ }
66
+ ],
67
+ "dr": {
68
+ "backdrop": {
69
+ "mode": "real",
70
+ "variant": "left_arm_left"
71
+ },
72
+ "table": {
73
+ "mode": "texture",
74
+ "texture": "Marble016",
75
+ "tile_m": 0.357,
76
+ "angle_deg": 159.4
77
+ },
78
+ "lights": {
79
+ "mode": "random",
80
+ "ceiling": [
81
+ {
82
+ "pos": [
83
+ 3.12,
84
+ -0.932,
85
+ 2.947
86
+ ],
87
+ "intensity_scale": 1.561,
88
+ "kelvin": 3698
89
+ },
90
+ {
91
+ "pos": [
92
+ 0.544,
93
+ 0.959,
94
+ 2.692
95
+ ],
96
+ "intensity_scale": 1.625,
97
+ "kelvin": 6146
98
+ }
99
+ ],
100
+ "level": 1.254,
101
+ "dome": {
102
+ "mode": "nominal"
103
+ }
104
+ },
105
+ "cube": {
106
+ "mode": "random",
107
+ "rgb": [
108
+ 0.478,
109
+ 0.75,
110
+ 0.001
111
+ ],
112
+ "roughness": 0.753
113
+ },
114
+ "spots": {
115
+ "count": 1,
116
+ "spots": [
117
+ {
118
+ "aim": [
119
+ 0.453,
120
+ -0.096
121
+ ],
122
+ "dist": 1.362,
123
+ "tilt_deg": 24.6,
124
+ "cone_deg": 20.4,
125
+ "softness": 0.25,
126
+ "radius": 0.057,
127
+ "brightness": 1.43,
128
+ "kelvin": 4853
129
+ }
130
+ ]
131
+ }
132
+ },
133
+ "start_pose": {
134
+ "arm_offset_deg": {
135
+ "l": [],
136
+ "r": []
137
+ },
138
+ "joints": [],
139
+ "gripper_open": 0.228,
140
+ "gripper_close": 0.8032
141
+ },
142
+ "pair_key": [
143
+ 40009,
144
+ 4,
145
+ 1
146
+ ],
147
+ "length": 151,
148
+ "fps": 15
149
+ }
abl_visual_p009/episode_0050/meta.json ADDED
@@ -0,0 +1,152 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 50,
3
+ "success": true,
4
+ "arm": "l",
5
+ "cube_init_xy_yaw": [
6
+ 0.4613017737865448,
7
+ 0.2997693419456482,
8
+ 18.112442016601562
9
+ ],
10
+ "cube_settled_pos": [
11
+ 0.4613018035888672,
12
+ 0.29976940155029297,
13
+ 0.762894868850708
14
+ ],
15
+ "cube_lift": 0.08163118362426758,
16
+ "gripper_joint1_end": 0.684280514717102,
17
+ "final_phase": "done",
18
+ "table_top_z": 0.742894868850708,
19
+ "program_sha": "9f1c8b2d6170",
20
+ "program_result": {
21
+ "success": true,
22
+ "status": "OK",
23
+ "ticks": 198
24
+ },
25
+ "params": {
26
+ "PREGRASP": 0.10909853875637054,
27
+ "LIFT": 0.0869375467300415,
28
+ "CLOSE_DELAY_S": 0.0942646786570549,
29
+ "RATE": 1.3127269744873047,
30
+ "VIA_XY": 0.009159963577985764,
31
+ "VIA_Z": 0.0039252047426998615,
32
+ "TILT_DEG": 0.0,
33
+ "AZIMUTH_DEG": 0.0
34
+ },
35
+ "skills": [
36
+ {
37
+ "success": true,
38
+ "status": "OK",
39
+ "tag": "reach",
40
+ "err_mm": 0.7,
41
+ "err_deg": 0.0,
42
+ "ticks": 98
43
+ },
44
+ {
45
+ "success": true,
46
+ "status": "OK",
47
+ "tag": "approach",
48
+ "err_mm": 6.2,
49
+ "err_deg": 0.1,
50
+ "ticks": 39
51
+ },
52
+ {
53
+ "success": true,
54
+ "status": "OK",
55
+ "tag": "close",
56
+ "finger_q": 0.6842
57
+ },
58
+ {
59
+ "success": true,
60
+ "status": "OK",
61
+ "tag": "lift",
62
+ "err_mm": 1.1,
63
+ "err_deg": 0.0,
64
+ "ticks": 30
65
+ }
66
+ ],
67
+ "dr": {
68
+ "backdrop": {
69
+ "mode": "off"
70
+ },
71
+ "table": {
72
+ "mode": "nominal"
73
+ },
74
+ "lights": {
75
+ "mode": "random",
76
+ "ceiling": [
77
+ {
78
+ "pos": [
79
+ 2.891,
80
+ -0.53,
81
+ 2.238
82
+ ],
83
+ "intensity_scale": 1.183,
84
+ "kelvin": 6234
85
+ },
86
+ {
87
+ "pos": [
88
+ 0.761,
89
+ 1.333,
90
+ 2.576
91
+ ],
92
+ "intensity_scale": 1.205,
93
+ "kelvin": 6139
94
+ }
95
+ ],
96
+ "level": 1.278,
97
+ "dome": {
98
+ "mode": "nominal"
99
+ }
100
+ },
101
+ "cube": {
102
+ "mode": "nominal"
103
+ },
104
+ "spots": {
105
+ "count": 2,
106
+ "spots": [
107
+ {
108
+ "aim": [
109
+ 0.185,
110
+ 0.421
111
+ ],
112
+ "dist": 1.219,
113
+ "tilt_deg": 3.5,
114
+ "cone_deg": 13.8,
115
+ "softness": 0.49,
116
+ "radius": 0.037,
117
+ "brightness": 0.97,
118
+ "kelvin": 3759
119
+ },
120
+ {
121
+ "aim": [
122
+ 0.692,
123
+ 0.355
124
+ ],
125
+ "dist": 1.339,
126
+ "tilt_deg": 25.5,
127
+ "cone_deg": 18.9,
128
+ "softness": 0.23,
129
+ "radius": 0.036,
130
+ "brightness": 0.86,
131
+ "kelvin": 5706
132
+ }
133
+ ]
134
+ }
135
+ },
136
+ "start_pose": {
137
+ "arm_offset_deg": {
138
+ "l": [],
139
+ "r": []
140
+ },
141
+ "joints": [],
142
+ "gripper_open": 0.1984,
143
+ "gripper_close": 0.7648
144
+ },
145
+ "pair_key": [
146
+ 40009,
147
+ 4,
148
+ 2
149
+ ],
150
+ "length": 198,
151
+ "fps": 15
152
+ }
abl_visual_p012/episode_0000/meta.json ADDED
@@ -0,0 +1,117 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 0,
3
+ "success": true,
4
+ "arm": "l",
5
+ "cube_init_xy_yaw": [
6
+ 0.289338082075119,
7
+ 0.5808137655258179,
8
+ 2.5148983001708984
9
+ ],
10
+ "cube_settled_pos": [
11
+ 0.2893381118774414,
12
+ 0.5808134078979492,
13
+ 0.7628949284553528
14
+ ],
15
+ "cube_lift": 0.1166873574256897,
16
+ "gripper_joint1_end": 0.6869281530380249,
17
+ "final_phase": "done",
18
+ "table_top_z": 0.742894868850708,
19
+ "program_sha": "9f1c8b2d6170",
20
+ "program_result": {
21
+ "success": true,
22
+ "status": "OK",
23
+ "ticks": 153
24
+ },
25
+ "params": {
26
+ "PREGRASP": 0.08,
27
+ "LIFT": 0.12,
28
+ "CLOSE_DELAY_S": 0.0,
29
+ "RATE": 1.0,
30
+ "VIA_XY": 0.0,
31
+ "VIA_Z": 0.0,
32
+ "TILT_DEG": 0.0,
33
+ "AZIMUTH_DEG": 0.0
34
+ },
35
+ "skills": [
36
+ {
37
+ "success": true,
38
+ "status": "OK",
39
+ "tag": "reach",
40
+ "err_mm": 1.0,
41
+ "err_deg": 0.0,
42
+ "ticks": 75
43
+ },
44
+ {
45
+ "success": true,
46
+ "status": "OK",
47
+ "tag": "approach",
48
+ "err_mm": 1.5,
49
+ "err_deg": 0.1,
50
+ "ticks": 30
51
+ },
52
+ {
53
+ "success": true,
54
+ "status": "OK",
55
+ "tag": "close",
56
+ "finger_q": 0.6867
57
+ },
58
+ {
59
+ "success": true,
60
+ "status": "OK",
61
+ "tag": "lift",
62
+ "err_mm": 2.7,
63
+ "err_deg": 0.1,
64
+ "ticks": 22
65
+ }
66
+ ],
67
+ "dr": {
68
+ "backdrop": {
69
+ "mode": "texture",
70
+ "floor": "Road012A",
71
+ "walls": "Marble016",
72
+ "tile_m": 1.1
73
+ },
74
+ "table": {
75
+ "mode": "texture",
76
+ "texture": "Bricks105",
77
+ "tile_m": 0.3,
78
+ "angle_deg": 282.0
79
+ },
80
+ "lights": {
81
+ "mode": "nominal",
82
+ "dome": {
83
+ "intensity_scale": 2.409,
84
+ "kelvin": 4899
85
+ }
86
+ },
87
+ "cube": {
88
+ "mode": "random",
89
+ "rgb": [
90
+ 0.399,
91
+ 0.499,
92
+ 0.0
93
+ ],
94
+ "roughness": 0.604
95
+ },
96
+ "spots": {
97
+ "count": 0,
98
+ "spots": []
99
+ }
100
+ },
101
+ "start_pose": {
102
+ "arm_offset_deg": {
103
+ "l": [],
104
+ "r": []
105
+ },
106
+ "joints": [],
107
+ "gripper_open": 0.2161,
108
+ "gripper_close": 0.79
109
+ },
110
+ "pair_key": [
111
+ 40012,
112
+ 1,
113
+ 0
114
+ ],
115
+ "length": 153,
116
+ "fps": 15
117
+ }
abl_visual_p012/episode_0001/meta.json ADDED
@@ -0,0 +1,138 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 1,
3
+ "success": true,
4
+ "arm": "l",
5
+ "cube_init_xy_yaw": [
6
+ 0.34941762685775757,
7
+ 0.45526212453842163,
8
+ 25.584068298339844
9
+ ],
10
+ "cube_settled_pos": [
11
+ 0.34941768646240234,
12
+ 0.4552621841430664,
13
+ 0.7628948092460632
14
+ ],
15
+ "cube_lift": 0.12433183193206787,
16
+ "gripper_joint1_end": 0.6914281249046326,
17
+ "final_phase": "done",
18
+ "table_top_z": 0.742894868850708,
19
+ "program_sha": "9f1c8b2d6170",
20
+ "program_result": {
21
+ "success": true,
22
+ "status": "OK",
23
+ "ticks": 199
24
+ },
25
+ "params": {
26
+ "PREGRASP": 0.1022770032286644,
27
+ "LIFT": 0.1274176836013794,
28
+ "CLOSE_DELAY_S": 0.07465190440416336,
29
+ "RATE": 1.3133492469787598,
30
+ "VIA_XY": -0.029146593064069748,
31
+ "VIA_Z": 0.04090304672718048,
32
+ "TILT_DEG": 0.0,
33
+ "AZIMUTH_DEG": 0.0
34
+ },
35
+ "skills": [
36
+ {
37
+ "success": true,
38
+ "status": "OK",
39
+ "tag": "reach",
40
+ "err_mm": 1.5,
41
+ "err_deg": 0.1,
42
+ "ticks": 99
43
+ },
44
+ {
45
+ "success": true,
46
+ "status": "OK",
47
+ "tag": "approach",
48
+ "err_mm": 0.7,
49
+ "err_deg": 0.0,
50
+ "ticks": 39
51
+ },
52
+ {
53
+ "success": true,
54
+ "status": "OK",
55
+ "tag": "close",
56
+ "finger_q": 0.6914
57
+ },
58
+ {
59
+ "success": true,
60
+ "status": "OK",
61
+ "tag": "lift",
62
+ "err_mm": 2.2,
63
+ "err_deg": 0.1,
64
+ "ticks": 30
65
+ }
66
+ ],
67
+ "dr": {
68
+ "backdrop": {
69
+ "mode": "off"
70
+ },
71
+ "table": {
72
+ "mode": "nominal"
73
+ },
74
+ "lights": {
75
+ "mode": "nominal",
76
+ "dome": {
77
+ "intensity_scale": 2.409,
78
+ "kelvin": 4899
79
+ }
80
+ },
81
+ "cube": {
82
+ "mode": "random",
83
+ "rgb": [
84
+ 0.424,
85
+ 0.519,
86
+ 0.0
87
+ ],
88
+ "roughness": 0.441
89
+ },
90
+ "spots": {
91
+ "count": 2,
92
+ "spots": [
93
+ {
94
+ "aim": [
95
+ 0.162,
96
+ 0.486
97
+ ],
98
+ "dist": 0.618,
99
+ "tilt_deg": 17.0,
100
+ "cone_deg": 18.2,
101
+ "softness": 0.29,
102
+ "radius": 0.012,
103
+ "brightness": 1.27,
104
+ "kelvin": 4373
105
+ },
106
+ {
107
+ "aim": [
108
+ 0.718,
109
+ 0.057
110
+ ],
111
+ "dist": 1.131,
112
+ "tilt_deg": 22.6,
113
+ "cone_deg": 10.8,
114
+ "softness": 0.51,
115
+ "radius": 0.05,
116
+ "brightness": 0.98,
117
+ "kelvin": 6351
118
+ }
119
+ ]
120
+ }
121
+ },
122
+ "start_pose": {
123
+ "arm_offset_deg": {
124
+ "l": [],
125
+ "r": []
126
+ },
127
+ "joints": [],
128
+ "gripper_open": 0.1952,
129
+ "gripper_close": 0.8235
130
+ },
131
+ "pair_key": [
132
+ 40012,
133
+ 1,
134
+ 1
135
+ ],
136
+ "length": 199,
137
+ "fps": 15
138
+ }
abl_visual_p012/episode_0002/meta.json ADDED
@@ -0,0 +1,159 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 2,
3
+ "success": true,
4
+ "arm": "l",
5
+ "cube_init_xy_yaw": [
6
+ 0.32557952404022217,
7
+ 0.0639762282371521,
8
+ -28.273176193237305
9
+ ],
10
+ "cube_settled_pos": [
11
+ 0.3255796432495117,
12
+ 0.06397628784179688,
13
+ 0.7628948092460632
14
+ ],
15
+ "cube_lift": 0.112934410572052,
16
+ "gripper_joint1_end": 0.6829574704170227,
17
+ "final_phase": "done",
18
+ "table_top_z": 0.742894868850708,
19
+ "program_sha": "9f1c8b2d6170",
20
+ "program_result": {
21
+ "success": true,
22
+ "status": "OK",
23
+ "ticks": 160
24
+ },
25
+ "params": {
26
+ "PREGRASP": 0.07457857578992844,
27
+ "LIFT": 0.11544160544872284,
28
+ "CLOSE_DELAY_S": 0.4260885715484619,
29
+ "RATE": 1.0028165578842163,
30
+ "VIA_XY": 0.039809323847293854,
31
+ "VIA_Z": 0.03166002035140991,
32
+ "TILT_DEG": 0.0,
33
+ "AZIMUTH_DEG": 0.0
34
+ },
35
+ "skills": [
36
+ {
37
+ "success": true,
38
+ "status": "OK",
39
+ "tag": "reach",
40
+ "err_mm": 1.2,
41
+ "err_deg": 0.0,
42
+ "ticks": 75
43
+ },
44
+ {
45
+ "success": true,
46
+ "status": "OK",
47
+ "tag": "approach",
48
+ "err_mm": 0.8,
49
+ "err_deg": 0.0,
50
+ "ticks": 30
51
+ },
52
+ {
53
+ "success": true,
54
+ "status": "OK",
55
+ "tag": "close",
56
+ "finger_q": 0.6829
57
+ },
58
+ {
59
+ "success": true,
60
+ "status": "OK",
61
+ "tag": "lift",
62
+ "err_mm": 2.0,
63
+ "err_deg": 0.1,
64
+ "ticks": 23
65
+ }
66
+ ],
67
+ "dr": {
68
+ "backdrop": {
69
+ "mode": "off"
70
+ },
71
+ "table": {
72
+ "mode": "nominal"
73
+ },
74
+ "lights": {
75
+ "mode": "random",
76
+ "ceiling": [
77
+ {
78
+ "pos": [
79
+ 3.107,
80
+ -1.113,
81
+ 2.57
82
+ ],
83
+ "intensity_scale": 0.481,
84
+ "kelvin": 4509
85
+ },
86
+ {
87
+ "pos": [
88
+ 1.379,
89
+ 1.482,
90
+ 2.665
91
+ ],
92
+ "intensity_scale": 0.731,
93
+ "kelvin": 5412
94
+ }
95
+ ],
96
+ "level": 0.525,
97
+ "dome": {
98
+ "intensity_scale": 2.409,
99
+ "kelvin": 4899
100
+ }
101
+ },
102
+ "cube": {
103
+ "mode": "random",
104
+ "rgb": [
105
+ 0.144,
106
+ 0.634,
107
+ 0.0
108
+ ],
109
+ "roughness": 0.358
110
+ },
111
+ "spots": {
112
+ "count": 2,
113
+ "spots": [
114
+ {
115
+ "aim": [
116
+ 0.306,
117
+ 0.273
118
+ ],
119
+ "dist": 0.635,
120
+ "tilt_deg": 11.8,
121
+ "cone_deg": 23.9,
122
+ "softness": 0.59,
123
+ "radius": 0.023,
124
+ "brightness": 1.06,
125
+ "kelvin": 6178
126
+ },
127
+ {
128
+ "aim": [
129
+ 0.174,
130
+ 0.451
131
+ ],
132
+ "dist": 0.818,
133
+ "tilt_deg": 9.0,
134
+ "cone_deg": 18.8,
135
+ "softness": 0.6,
136
+ "radius": 0.023,
137
+ "brightness": 0.85,
138
+ "kelvin": 3113
139
+ }
140
+ ]
141
+ }
142
+ },
143
+ "start_pose": {
144
+ "arm_offset_deg": {
145
+ "l": [],
146
+ "r": []
147
+ },
148
+ "joints": [],
149
+ "gripper_open": 0.1607,
150
+ "gripper_close": 0.7596
151
+ },
152
+ "pair_key": [
153
+ 40012,
154
+ 1,
155
+ 2
156
+ ],
157
+ "length": 160,
158
+ "fps": 15
159
+ }
abl_visual_p012/episode_0003/meta.json ADDED
@@ -0,0 +1,165 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 3,
3
+ "success": true,
4
+ "arm": "l",
5
+ "cube_init_xy_yaw": [
6
+ 0.4463953375816345,
7
+ 0.161882221698761,
8
+ -13.065959930419922
9
+ ],
10
+ "cube_settled_pos": [
11
+ 0.4463949203491211,
12
+ 0.1618824005126953,
13
+ 0.7628947496414185
14
+ ],
15
+ "cube_lift": 0.07810932397842407,
16
+ "gripper_joint1_end": 0.6915728449821472,
17
+ "final_phase": "done",
18
+ "table_top_z": 0.742894868850708,
19
+ "program_sha": "9f1c8b2d6170",
20
+ "program_result": {
21
+ "success": true,
22
+ "status": "OK",
23
+ "ticks": 189
24
+ },
25
+ "params": {
26
+ "PREGRASP": 0.0854073166847229,
27
+ "LIFT": 0.08139581233263016,
28
+ "CLOSE_DELAY_S": 0.08921433240175247,
29
+ "RATE": 1.2542240619659424,
30
+ "VIA_XY": 0.016852788627147675,
31
+ "VIA_Z": 0.05291593819856644,
32
+ "TILT_DEG": 0.0,
33
+ "AZIMUTH_DEG": 0.0
34
+ },
35
+ "skills": [
36
+ {
37
+ "success": true,
38
+ "status": "OK",
39
+ "tag": "reach",
40
+ "err_mm": 0.5,
41
+ "err_deg": 0.0,
42
+ "ticks": 94
43
+ },
44
+ {
45
+ "success": true,
46
+ "status": "OK",
47
+ "tag": "approach",
48
+ "err_mm": 2.9,
49
+ "err_deg": 0.0,
50
+ "ticks": 38
51
+ },
52
+ {
53
+ "success": true,
54
+ "status": "OK",
55
+ "tag": "close",
56
+ "finger_q": 0.6915
57
+ },
58
+ {
59
+ "success": true,
60
+ "status": "OK",
61
+ "tag": "lift",
62
+ "err_mm": 1.0,
63
+ "err_deg": 0.0,
64
+ "ticks": 28
65
+ }
66
+ ],
67
+ "dr": {
68
+ "backdrop": {
69
+ "mode": "texture",
70
+ "floor": "Fabric022",
71
+ "walls": "CorrugatedSteel009",
72
+ "tile_m": 0.519
73
+ },
74
+ "table": {
75
+ "mode": "texture",
76
+ "texture": "Fabric084",
77
+ "tile_m": 0.477,
78
+ "angle_deg": 323.9
79
+ },
80
+ "lights": {
81
+ "mode": "random",
82
+ "ceiling": [
83
+ {
84
+ "pos": [
85
+ 2.635,
86
+ -1.755,
87
+ 3.346
88
+ ],
89
+ "intensity_scale": 0.172,
90
+ "kelvin": 3510
91
+ },
92
+ {
93
+ "pos": [
94
+ 0.299,
95
+ 0.389,
96
+ 3.169
97
+ ],
98
+ "intensity_scale": 0.175,
99
+ "kelvin": 5558
100
+ }
101
+ ],
102
+ "level": 0.165,
103
+ "dome": {
104
+ "intensity_scale": 2.409,
105
+ "kelvin": 4899
106
+ }
107
+ },
108
+ "cube": {
109
+ "mode": "random",
110
+ "rgb": [
111
+ 0.505,
112
+ 0.496,
113
+ 0.003
114
+ ],
115
+ "roughness": 0.403
116
+ },
117
+ "spots": {
118
+ "count": 2,
119
+ "spots": [
120
+ {
121
+ "aim": [
122
+ 0.496,
123
+ 0.072
124
+ ],
125
+ "dist": 1.486,
126
+ "tilt_deg": 32.5,
127
+ "cone_deg": 9.6,
128
+ "softness": 0.42,
129
+ "radius": 0.031,
130
+ "brightness": 1.0,
131
+ "kelvin": 5616
132
+ },
133
+ {
134
+ "aim": [
135
+ 0.578,
136
+ 0.444
137
+ ],
138
+ "dist": 1.4,
139
+ "tilt_deg": 28.2,
140
+ "cone_deg": 23.2,
141
+ "softness": 0.44,
142
+ "radius": 0.035,
143
+ "brightness": 1.28,
144
+ "kelvin": 6122
145
+ }
146
+ ]
147
+ }
148
+ },
149
+ "start_pose": {
150
+ "arm_offset_deg": {
151
+ "l": [],
152
+ "r": []
153
+ },
154
+ "joints": [],
155
+ "gripper_open": 0.2133,
156
+ "gripper_close": 0.8227
157
+ },
158
+ "pair_key": [
159
+ 40012,
160
+ 1,
161
+ 3
162
+ ],
163
+ "length": 189,
164
+ "fps": 15
165
+ }
abl_visual_p012/episode_0004/meta.json ADDED
@@ -0,0 +1,141 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 4,
3
+ "success": true,
4
+ "arm": "l",
5
+ "cube_init_xy_yaw": [
6
+ 0.47661441564559937,
7
+ 0.3305848240852356,
8
+ 6.871594429016113
9
+ ],
10
+ "cube_settled_pos": [
11
+ 0.47661447525024414,
12
+ 0.3305845260620117,
13
+ 0.7628949284553528
14
+ ],
15
+ "cube_lift": 0.11685419082641602,
16
+ "gripper_joint1_end": 0.6945376992225647,
17
+ "final_phase": "done",
18
+ "table_top_z": 0.742894868850708,
19
+ "program_sha": "9f1c8b2d6170",
20
+ "program_result": {
21
+ "success": true,
22
+ "status": "OK",
23
+ "ticks": 162
24
+ },
25
+ "params": {
26
+ "PREGRASP": 0.08049674332141876,
27
+ "LIFT": 0.13072413206100464,
28
+ "CLOSE_DELAY_S": 0.2128354161977768,
29
+ "RATE": 0.8387092351913452,
30
+ "VIA_XY": -0.016136009246110916,
31
+ "VIA_Z": 0.04243568331003189,
32
+ "TILT_DEG": 0.0,
33
+ "AZIMUTH_DEG": 0.0
34
+ },
35
+ "skills": [
36
+ {
37
+ "success": true,
38
+ "status": "OK",
39
+ "tag": "reach",
40
+ "err_mm": 1.6,
41
+ "err_deg": 0.1,
42
+ "ticks": 63
43
+ },
44
+ {
45
+ "success": false,
46
+ "status": "NOT_CONVERGED",
47
+ "tag": "approach",
48
+ "err_mm": 22.1,
49
+ "err_deg": 0.2,
50
+ "ticks": 55
51
+ },
52
+ {
53
+ "success": true,
54
+ "status": "OK",
55
+ "tag": "close",
56
+ "finger_q": 0.6945
57
+ },
58
+ {
59
+ "success": true,
60
+ "status": "OK",
61
+ "tag": "lift",
62
+ "err_mm": 2.1,
63
+ "err_deg": 0.1,
64
+ "ticks": 19
65
+ }
66
+ ],
67
+ "dr": {
68
+ "backdrop": {
69
+ "mode": "real",
70
+ "variant": "right_armx2_left"
71
+ },
72
+ "table": {
73
+ "mode": "nominal"
74
+ },
75
+ "lights": {
76
+ "mode": "random",
77
+ "ceiling": [
78
+ {
79
+ "pos": [
80
+ 2.04,
81
+ -1.542,
82
+ 2.668
83
+ ],
84
+ "intensity_scale": 0.72,
85
+ "kelvin": 5312
86
+ },
87
+ {
88
+ "pos": [
89
+ 0.367,
90
+ 1.162,
91
+ 2.717
92
+ ],
93
+ "intensity_scale": 0.566,
94
+ "kelvin": 5217
95
+ }
96
+ ],
97
+ "level": 0.697,
98
+ "dome": {
99
+ "intensity_scale": 2.409,
100
+ "kelvin": 4899
101
+ }
102
+ },
103
+ "cube": {
104
+ "mode": "nominal"
105
+ },
106
+ "spots": {
107
+ "count": 1,
108
+ "spots": [
109
+ {
110
+ "aim": [
111
+ 0.423,
112
+ 0.056
113
+ ],
114
+ "dist": 1.25,
115
+ "tilt_deg": 4.4,
116
+ "cone_deg": 9.9,
117
+ "softness": 0.21,
118
+ "radius": 0.014,
119
+ "brightness": 0.74,
120
+ "kelvin": 4840
121
+ }
122
+ ]
123
+ }
124
+ },
125
+ "start_pose": {
126
+ "arm_offset_deg": {
127
+ "l": [],
128
+ "r": []
129
+ },
130
+ "joints": [],
131
+ "gripper_open": 0.239,
132
+ "gripper_close": 0.7973
133
+ },
134
+ "pair_key": [
135
+ 40012,
136
+ 1,
137
+ 4
138
+ ],
139
+ "length": 162,
140
+ "fps": 15
141
+ }
abl_visual_p012/episode_0005/meta.json ADDED
@@ -0,0 +1,114 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "episode": 5,
3
+ "success": true,
4
+ "arm": "l",
5
+ "cube_init_xy_yaw": [
6
+ 0.46714234352111816,
7
+ 0.1407073587179184,
8
+ 19.04112434387207
9
+ ],
10
+ "cube_settled_pos": [
11
+ 0.46714210510253906,
12
+ 0.14070749282836914,
13
+ 0.7628946304321289
14
+ ],
15
+ "cube_lift": 0.1149933934211731,
16
+ "gripper_joint1_end": 0.6865522861480713,
17
+ "final_phase": "done",
18
+ "table_top_z": 0.742894868850708,
19
+ "program_sha": "9f1c8b2d6170",
20
+ "program_result": {
21
+ "success": true,
22
+ "status": "OK",
23
+ "ticks": 136
24
+ },
25
+ "params": {
26
+ "PREGRASP": 0.1059889942407608,
27
+ "LIFT": 0.12063160538673401,
28
+ "CLOSE_DELAY_S": 0.07402700930833817,
29
+ "RATE": 0.8712540864944458,
30
+ "VIA_XY": -0.030276965349912643,
31
+ "VIA_Z": 0.0033706219401210546,
32
+ "TILT_DEG": 0.0,
33
+ "AZIMUTH_DEG": 0.0
34
+ },
35
+ "skills": [
36
+ {
37
+ "success": true,
38
+ "status": "OK",
39
+ "tag": "reach",
40
+ "err_mm": 0.9,
41
+ "err_deg": 0.1,
42
+ "ticks": 65
43
+ },
44
+ {
45
+ "success": true,
46
+ "status": "OK",
47
+ "tag": "approach",
48
+ "err_mm": 5.6,
49
+ "err_deg": 0.1,
50
+ "ticks": 26
51
+ },
52
+ {
53
+ "success": true,
54
+ "status": "OK",
55
+ "tag": "close",
56
+ "finger_q": 0.6864
57
+ },
58
+ {
59
+ "success": true,
60
+ "status": "OK",
61
+ "tag": "lift",
62
+ "err_mm": 2.4,
63
+ "err_deg": 0.1,
64
+ "ticks": 20
65
+ }
66
+ ],
67
+ "dr": {
68
+ "backdrop": {
69
+ "mode": "texture",
70
+ "floor": "Bricks113A",
71
+ "walls": "Tiles141",
72
+ "tile_m": 1.122
73
+ },
74
+ "table": {
75
+ "mode": "colour",
76
+ "rgb": [
77
+ 0.146,
78
+ 0.139,
79
+ 0.14
80
+ ],
81
+ "roughness": 0.6
82
+ },
83
+ "lights": {
84
+ "mode": "nominal",
85
+ "dome": {
86
+ "intensity_scale": 2.409,
87
+ "kelvin": 4899
88
+ }
89
+ },
90
+ "cube": {
91
+ "mode": "nominal"
92
+ },
93
+ "spots": {
94
+ "count": 0,
95
+ "spots": []
96
+ }
97
+ },
98
+ "start_pose": {
99
+ "arm_offset_deg": {
100
+ "l": [],
101
+ "r": []
102
+ },
103
+ "joints": [],
104
+ "gripper_open": 0.1767,
105
+ "gripper_close": 0.7823
106
+ },
107
+ "pair_key": [
108
+ 40012,
109
+ 1,
110
+ 5
111
+ ],
112
+ "length": 136,
113
+ "fps": 15
114
+ }