Upload folder using huggingface_hub (part 28)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00007/results/episode_8_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00007/results/episode_91_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00007/results/episode_93_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00007/results/episode_94_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00007/results/episode_96_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00007/results/episode_99_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00007/results/episode_9_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00007/results/summary.json +9 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00008/dataset/episode_0000.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00008/dataset/episode_0001.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00008/dataset/episode_0002.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00008/dataset/episode_0003.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00008/dataset/episode_0004.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00008/dataset/episode_0005.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00008/dataset/episode_0006.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00008/dataset/episode_0007.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00008/dataset/episode_0008.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00008/dataset/episode_0009.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00008/dataset/episode_0010.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00008/dataset/episode_0011.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00008/dataset/episode_0012.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00008/dataset/episode_0013.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00008/dataset/episode_0014.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00008/dataset/episode_0015.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00008/dataset/episode_0016.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00008/dataset/episode_0018.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00008/dataset/episode_0019.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00008/dataset/episode_0020.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00008/dataset/episode_0021.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00008/dataset/episode_0022.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00008/dataset/episode_0023.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00008/dataset/episode_0024.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00008/dataset/episode_0025.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00008/dataset/episode_0026.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00008/dataset/episode_0027.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00008/dataset/episode_0028.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00008/dataset/episode_0031.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00008/dataset/episode_0032.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00008/dataset/episode_0033.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00008/dataset/episode_0034.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00008/dataset/episode_0035.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00008/dataset/episode_0036.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00008/dataset/episode_0037.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00008/dataset/episode_0039.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00008/dataset/episode_0040.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00008/dataset/episode_0041.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00008/dataset/episode_0042.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00008/dataset/episode_0043.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00008/dataset/episode_0044.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00008/dataset/episode_0045.h5 +3 -0
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00007/results/episode_8_success.json
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|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00007/results/episode_91_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"episode": 91,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_a",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_a",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_a",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.3118671771895276,
|
| 26 |
+
-0.07311462316247738,
|
| 27 |
+
1.0500432979856984
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0500432979856984,
|
| 30 |
+
"required_z": 0.8611064484101214,
|
| 31 |
+
"initial_z": 0.7611064484101214,
|
| 32 |
+
"lift_margin": 0.188936849575577,
|
| 33 |
+
"gripper_z": 1.0535658667100873,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.30747667922376665,
|
| 38 |
+
-0.07758272587481682,
|
| 39 |
+
1.0535658667100873
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004390497965760964,
|
| 43 |
+
0.004468102712339439,
|
| 44 |
+
-0.0035225687243889414
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006264216969052575,
|
| 47 |
+
"object_to_gripper_z": -0.0035225687243889414,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.3118671771895276,
|
| 51 |
+
-0.09707362441044054,
|
| 52 |
+
1.0500432979856984
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.3006466585734067,
|
| 56 |
+
-0.07311462316247738,
|
| 57 |
+
1.0500432979856984
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.30625691788146714,
|
| 61 |
+
-0.08509412378645896,
|
| 62 |
+
1.0500432979856984
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005610259308060472,
|
| 66 |
+
0.011979500623981579,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.02645626161827509,
|
| 70 |
+
"fingertip_max_gap": 0.09314767817761091,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013228130809137555,
|
| 74 |
+
"object_to_finger_midpoint_z": 0.0,
|
| 75 |
+
"finger_midpoint_minus_object_z": 0.0,
|
| 76 |
+
"object_position_origin": "center",
|
| 77 |
+
"object_center_z_for_grasp": 1.0500432979856984,
|
| 78 |
+
"object_top_z": 1.1004822222334403,
|
| 79 |
+
"finger_top_clearance": 0.05043892424774188,
|
| 80 |
+
"fingertip_min_top_clearance": 0.015131677274322547,
|
| 81 |
+
"object_projection_between_fingers": 0.8201257864309169,
|
| 82 |
+
"object_to_finger_line_xy": 0.010161391031177806,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.04907383908880546,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 1.8384778569199949,
|
| 89 |
+
"object_max_tilt_deg": 15.0,
|
| 90 |
+
"object_upright_axis_local": [
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
1.0
|
| 94 |
+
],
|
| 95 |
+
"stable_success_frames": 210,
|
| 96 |
+
"max_stable_success_frames": 210,
|
| 97 |
+
"required_stable_lift_frames": 5
|
| 98 |
+
},
|
| 99 |
+
"failed_keys": [],
|
| 100 |
+
"failure_code": null,
|
| 101 |
+
"failure_messages": {},
|
| 102 |
+
"safety": {
|
| 103 |
+
"policy": {
|
| 104 |
+
"skill": "pick",
|
| 105 |
+
"target_object": "beaker_a",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_a"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/beaker_2"
|
| 112 |
+
],
|
| 113 |
+
"allowed_prim_substrings": [],
|
| 114 |
+
"robot_prim_substrings": [
|
| 115 |
+
"Robotiq2F85",
|
| 116 |
+
"Robotiq_2F_85",
|
| 117 |
+
"contact_sensor",
|
| 118 |
+
"dummy_base_prismatic_x_joint",
|
| 119 |
+
"dummy_base_prismatic_y_joint",
|
| 120 |
+
"dummy_base_revolute_z_joint",
|
| 121 |
+
"elbow_joint",
|
| 122 |
+
"festo",
|
| 123 |
+
"finger",
|
| 124 |
+
"fr3",
|
| 125 |
+
"fr3_duo_mobile",
|
| 126 |
+
"fr3_joint1",
|
| 127 |
+
"fr3_joint2",
|
| 128 |
+
"fr3_joint3",
|
| 129 |
+
"fr3_joint4",
|
| 130 |
+
"fr3_joint5",
|
| 131 |
+
"fr3_joint6",
|
| 132 |
+
"fr3_joint7",
|
| 133 |
+
"fr3_leftfinger",
|
| 134 |
+
"fr3_rightfinger",
|
| 135 |
+
"franka",
|
| 136 |
+
"geometry",
|
| 137 |
+
"gripper",
|
| 138 |
+
"gripper_center",
|
| 139 |
+
"joint1",
|
| 140 |
+
"joint2",
|
| 141 |
+
"joint3",
|
| 142 |
+
"joint4",
|
| 143 |
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"safety": {
|
| 525 |
+
"policy": {
|
| 526 |
+
"skill": "place",
|
| 527 |
+
"target_object": "heater_platform",
|
| 528 |
+
"held_object": "beaker_a",
|
| 529 |
+
"allowed_objects": [
|
| 530 |
+
"beaker_a",
|
| 531 |
+
"heater_platform"
|
| 532 |
+
],
|
| 533 |
+
"allowed_object_paths": [
|
| 534 |
+
"/World/beaker_2",
|
| 535 |
+
"/World/heat_device/heat_device/heat_device/plat"
|
| 536 |
+
],
|
| 537 |
+
"allowed_prim_substrings": [],
|
| 538 |
+
"robot_prim_substrings": [
|
| 539 |
+
"Robotiq2F85",
|
| 540 |
+
"Robotiq_2F_85",
|
| 541 |
+
"contact_sensor",
|
| 542 |
+
"dummy_base_prismatic_x_joint",
|
| 543 |
+
"dummy_base_prismatic_y_joint",
|
| 544 |
+
"dummy_base_revolute_z_joint",
|
| 545 |
+
"elbow_joint",
|
| 546 |
+
"festo",
|
| 547 |
+
"finger",
|
| 548 |
+
"fr3",
|
| 549 |
+
"fr3_duo_mobile",
|
| 550 |
+
"fr3_joint1",
|
| 551 |
+
"fr3_joint2",
|
| 552 |
+
"fr3_joint3",
|
| 553 |
+
"fr3_joint4",
|
| 554 |
+
"fr3_joint5",
|
| 555 |
+
"fr3_joint6",
|
| 556 |
+
"fr3_joint7",
|
| 557 |
+
"fr3_leftfinger",
|
| 558 |
+
"fr3_rightfinger",
|
| 559 |
+
"franka",
|
| 560 |
+
"geometry",
|
| 561 |
+
"gripper",
|
| 562 |
+
"gripper_center",
|
| 563 |
+
"joint1",
|
| 564 |
+
"joint2",
|
| 565 |
+
"joint3",
|
| 566 |
+
"joint4",
|
| 567 |
+
"joint5",
|
| 568 |
+
"joint6",
|
| 569 |
+
"joint7",
|
| 570 |
+
"left_inner_finger",
|
| 571 |
+
"lift2",
|
| 572 |
+
"mobile_rotate",
|
| 573 |
+
"mobile_translate_x",
|
| 574 |
+
"mobile_translate_y",
|
| 575 |
+
"panda_joint1",
|
| 576 |
+
"panda_joint2",
|
| 577 |
+
"panda_joint3",
|
| 578 |
+
"panda_joint4",
|
| 579 |
+
"panda_joint5",
|
| 580 |
+
"panda_joint6",
|
| 581 |
+
"panda_joint7",
|
| 582 |
+
"panda_leftfinger",
|
| 583 |
+
"panda_leftfingertip",
|
| 584 |
+
"panda_rightfinger",
|
| 585 |
+
"panda_rightfingertip",
|
| 586 |
+
"ridgebase",
|
| 587 |
+
"ridgebase_festo",
|
| 588 |
+
"ridgebase_fr3",
|
| 589 |
+
"ridgebase_rizon4",
|
| 590 |
+
"ridgebase_ur16e",
|
| 591 |
+
"ridgebase_ur5e",
|
| 592 |
+
"right_inner_finger",
|
| 593 |
+
"rizon4",
|
| 594 |
+
"robot",
|
| 595 |
+
"robotiq_2f85",
|
| 596 |
+
"shoulder_lift_joint",
|
| 597 |
+
"shoulder_pan_joint",
|
| 598 |
+
"split_aloha",
|
| 599 |
+
"tool_center",
|
| 600 |
+
"ur16e",
|
| 601 |
+
"ur5e",
|
| 602 |
+
"visuals",
|
| 603 |
+
"wrist",
|
| 604 |
+
"wrist_1_joint",
|
| 605 |
+
"wrist_2_joint",
|
| 606 |
+
"wrist_3_joint"
|
| 607 |
+
],
|
| 608 |
+
"ignored_prim_substrings": [
|
| 609 |
+
"base_link",
|
| 610 |
+
"caster",
|
| 611 |
+
"defaultgroundplane",
|
| 612 |
+
"desk",
|
| 613 |
+
"floor",
|
| 614 |
+
"ground",
|
| 615 |
+
"groundplane",
|
| 616 |
+
"link0",
|
| 617 |
+
"table",
|
| 618 |
+
"wheel",
|
| 619 |
+
"workbench"
|
| 620 |
+
],
|
| 621 |
+
"enabled": true
|
| 622 |
+
},
|
| 623 |
+
"status": "active",
|
| 624 |
+
"passed": true,
|
| 625 |
+
"source_missing": false,
|
| 626 |
+
"forbidden": [],
|
| 627 |
+
"disturbances": [],
|
| 628 |
+
"last_frame": {
|
| 629 |
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"passed": true,
|
| 630 |
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"source_missing": false,
|
| 631 |
+
"forbidden": [],
|
| 632 |
+
"allowed": [],
|
| 633 |
+
"ignored": [],
|
| 634 |
+
"failed_keys": []
|
| 635 |
+
},
|
| 636 |
+
"failed_keys": []
|
| 637 |
+
}
|
| 638 |
+
},
|
| 639 |
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"gripper": null,
|
| 640 |
+
"post_done_wait_frames": 0,
|
| 641 |
+
"post_done_wait_exhausted": false
|
| 642 |
+
},
|
| 643 |
+
"physical_semantics": {
|
| 644 |
+
"skill": "place",
|
| 645 |
+
"target": "heater_platform",
|
| 646 |
+
"attach_used": false,
|
| 647 |
+
"attach_object": null,
|
| 648 |
+
"attach_object_path": null,
|
| 649 |
+
"attach_allowed": false,
|
| 650 |
+
"ordinary_object_physical_only": true
|
| 651 |
+
}
|
| 652 |
+
}
|
| 653 |
+
],
|
| 654 |
+
"physical_semantics": {
|
| 655 |
+
"attach_records": [],
|
| 656 |
+
"ordinary_attach_violations": [],
|
| 657 |
+
"forbidden_shortcuts_absent": true
|
| 658 |
+
},
|
| 659 |
+
"h5_episode_index": 91,
|
| 660 |
+
"reproducibility": {
|
| 661 |
+
"enabled": true,
|
| 662 |
+
"action_seed": 6136293983304232058,
|
| 663 |
+
"physical_seed": 1319739820293695609,
|
| 664 |
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"layout_id": "layout_00007",
|
| 665 |
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"step_seeds": [
|
| 666 |
+
6016277329034288049,
|
| 667 |
+
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|
| 668 |
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|
| 669 |
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],
|
| 670 |
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"workflow_spec_digest": "4682515d0bbb844458e8d41d56c152de1eb2b3b436e69d362446b496844eedcb",
|
| 671 |
+
"strict_task_state": false,
|
| 672 |
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"allow_physical_randomization": true,
|
| 673 |
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"seed_source": "workflow.reproducibility",
|
| 674 |
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"task_island_state_digest": "c65fc6e62a4eaa2302917cfc9798bff1ff0272dd0e394137570c4b4be13e8868",
|
| 675 |
+
"visual_seed": 1276684361984276224,
|
| 676 |
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"episode_index": 91,
|
| 677 |
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"physical_randomization_enabled": true,
|
| 678 |
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"motion_controller_type": "ik_servo",
|
| 679 |
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"runtime_step_seeds": [
|
| 680 |
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|
| 681 |
+
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|
| 682 |
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|
| 683 |
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],
|
| 684 |
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"runtime_workflow_digest": "fce61cd1bd82eb12f998cf6b34e17de739707a4af577254a85976f34f12bbeca"
|
| 685 |
+
}
|
| 686 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00007/results/episode_93_success.json
ADDED
|
@@ -0,0 +1,686 @@
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| 1 |
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| 11 |
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| 12 |
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| 14 |
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| 16 |
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| 17 |
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| 18 |
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| 19 |
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| 20 |
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|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00007/results/episode_94_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 94,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_a",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_a",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_a",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.3141875089085867,
|
| 26 |
+
-0.07646123906452502,
|
| 27 |
+
1.0490075308009763
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0490075308009763,
|
| 30 |
+
"required_z": 0.8611064484101213,
|
| 31 |
+
"initial_z": 0.7611064484101213,
|
| 32 |
+
"lift_margin": 0.187901082390855,
|
| 33 |
+
"gripper_z": 1.0523540385454158,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.3097906591865618,
|
| 38 |
+
-0.08085825253850759,
|
| 39 |
+
1.0523540385454158
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.00439684972202492,
|
| 43 |
+
0.004397013473982567,
|
| 44 |
+
-0.003346507744439453
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006218200299801773,
|
| 47 |
+
"object_to_gripper_z": -0.003346507744439453,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.3141875089085867,
|
| 51 |
+
-0.10056728494699707,
|
| 52 |
+
1.0490075308009763
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.30324462801792096,
|
| 56 |
+
-0.07646123906452502,
|
| 57 |
+
1.0490075308009763
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.30871606846325383,
|
| 61 |
+
-0.08851426200576104,
|
| 62 |
+
1.0490075308009763
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005471440445332876,
|
| 66 |
+
0.012053022941236016,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.026473535658750706,
|
| 70 |
+
"fingertip_max_gap": 0.09362187430278104,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013236767829375346,
|
| 74 |
+
"object_to_finger_midpoint_z": 0.0,
|
| 75 |
+
"finger_midpoint_minus_object_z": 0.0,
|
| 76 |
+
"object_position_origin": "center",
|
| 77 |
+
"object_center_z_for_grasp": 1.0490075308009763,
|
| 78 |
+
"object_top_z": 1.0998072891605633,
|
| 79 |
+
"finger_top_clearance": 0.050799758359586944,
|
| 80 |
+
"fingertip_min_top_clearance": 0.0152399275078761,
|
| 81 |
+
"object_projection_between_fingers": 0.8291403745706342,
|
| 82 |
+
"object_to_finger_line_xy": 0.009964274973963306,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.049310937151390524,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 1.8089354358654022,
|
| 89 |
+
"object_max_tilt_deg": 15.0,
|
| 90 |
+
"object_upright_axis_local": [
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
1.0
|
| 94 |
+
],
|
| 95 |
+
"stable_success_frames": 209,
|
| 96 |
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| 489 |
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| 491 |
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| 499 |
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|
| 500 |
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| 501 |
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|
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|
| 525 |
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|
| 526 |
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|
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|
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|
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|
| 530 |
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"beaker_a",
|
| 531 |
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|
| 532 |
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],
|
| 533 |
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|
| 534 |
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|
| 535 |
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|
| 536 |
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],
|
| 537 |
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|
| 538 |
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|
| 539 |
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|
| 540 |
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|
| 541 |
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|
| 542 |
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|
| 543 |
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|
| 544 |
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|
| 545 |
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|
| 546 |
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|
| 547 |
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|
| 548 |
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|
| 549 |
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"fr3_duo_mobile",
|
| 550 |
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|
| 551 |
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|
| 552 |
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|
| 553 |
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|
| 554 |
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|
| 555 |
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|
| 556 |
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|
| 557 |
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|
| 558 |
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|
| 559 |
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|
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|
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|
| 562 |
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|
| 563 |
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|
| 564 |
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|
| 565 |
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|
| 566 |
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|
| 567 |
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|
| 568 |
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|
| 569 |
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|
| 570 |
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|
| 571 |
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|
| 572 |
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"mobile_rotate",
|
| 573 |
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"mobile_translate_x",
|
| 574 |
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"mobile_translate_y",
|
| 575 |
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"panda_joint1",
|
| 576 |
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"panda_joint2",
|
| 577 |
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"panda_joint3",
|
| 578 |
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"panda_joint4",
|
| 579 |
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|
| 580 |
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"panda_joint6",
|
| 581 |
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|
| 582 |
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"panda_leftfinger",
|
| 583 |
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|
| 584 |
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"panda_rightfinger",
|
| 585 |
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|
| 586 |
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|
| 587 |
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|
| 588 |
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|
| 589 |
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|
| 590 |
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|
| 591 |
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|
| 592 |
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"right_inner_finger",
|
| 593 |
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"rizon4",
|
| 594 |
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"robot",
|
| 595 |
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"robotiq_2f85",
|
| 596 |
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|
| 597 |
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|
| 598 |
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"split_aloha",
|
| 599 |
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"tool_center",
|
| 600 |
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"ur16e",
|
| 601 |
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"ur5e",
|
| 602 |
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"visuals",
|
| 603 |
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"wrist",
|
| 604 |
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"wrist_1_joint",
|
| 605 |
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"wrist_2_joint",
|
| 606 |
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|
| 607 |
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],
|
| 608 |
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|
| 609 |
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"base_link",
|
| 610 |
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|
| 611 |
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"defaultgroundplane",
|
| 612 |
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"desk",
|
| 613 |
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"floor",
|
| 614 |
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"ground",
|
| 615 |
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"groundplane",
|
| 616 |
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"link0",
|
| 617 |
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| 618 |
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|
| 619 |
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|
| 620 |
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| 621 |
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"enabled": true
|
| 622 |
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| 623 |
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| 624 |
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|
| 625 |
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| 626 |
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| 627 |
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| 628 |
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| 629 |
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| 631 |
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| 632 |
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| 633 |
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| 634 |
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| 635 |
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|
| 640 |
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|
| 641 |
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|
| 642 |
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|
| 643 |
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|
| 644 |
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|
| 645 |
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| 646 |
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|
| 647 |
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| 648 |
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| 649 |
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| 650 |
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|
| 651 |
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|
| 652 |
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|
| 653 |
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],
|
| 654 |
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|
| 655 |
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|
| 656 |
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|
| 657 |
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|
| 658 |
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|
| 659 |
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|
| 660 |
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|
| 661 |
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|
| 662 |
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|
| 677 |
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|
| 678 |
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|
| 679 |
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|
| 685 |
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}
|
| 686 |
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}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00007/results/episode_96_success.json
ADDED
|
@@ -0,0 +1,686 @@
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| 1 |
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| 2 |
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| 3 |
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| 4 |
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| 5 |
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| 9 |
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| 10 |
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| 11 |
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| 12 |
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| 13 |
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| 14 |
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| 15 |
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| 16 |
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| 17 |
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| 18 |
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| 19 |
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| 20 |
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| 21 |
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| 22 |
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| 23 |
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| 24 |
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| 25 |
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| 30 |
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| 31 |
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| 32 |
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| 33 |
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| 34 |
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| 35 |
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| 36 |
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| 37 |
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| 51 |
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| 111 |
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| 113 |
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| 114 |
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| 115 |
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| 116 |
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| 117 |
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| 122 |
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| 123 |
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| 124 |
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| 125 |
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| 126 |
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| 127 |
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| 128 |
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| 129 |
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| 130 |
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| 131 |
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| 132 |
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| 133 |
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| 134 |
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| 135 |
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| 148 |
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| 149 |
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| 150 |
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| 151 |
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| 152 |
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| 153 |
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| 159 |
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| 160 |
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| 161 |
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| 169 |
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| 170 |
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| 171 |
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| 172 |
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| 173 |
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| 174 |
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| 175 |
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| 176 |
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| 177 |
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| 178 |
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| 182 |
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| 183 |
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| 185 |
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| 188 |
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| 189 |
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| 192 |
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| 193 |
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"action_seed": 6136293983304232058,
|
| 663 |
+
"physical_seed": 1319739820293695609,
|
| 664 |
+
"layout_id": "layout_00007",
|
| 665 |
+
"step_seeds": [
|
| 666 |
+
6016277329034288049,
|
| 667 |
+
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|
| 668 |
+
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|
| 669 |
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],
|
| 670 |
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"workflow_spec_digest": "4682515d0bbb844458e8d41d56c152de1eb2b3b436e69d362446b496844eedcb",
|
| 671 |
+
"strict_task_state": false,
|
| 672 |
+
"allow_physical_randomization": true,
|
| 673 |
+
"seed_source": "workflow.reproducibility",
|
| 674 |
+
"task_island_state_digest": "82c0587d08f20896cbafbf758f4448d29ef5d98a7b26764c4e175676f3c8ec35",
|
| 675 |
+
"visual_seed": 3750084666042738609,
|
| 676 |
+
"episode_index": 96,
|
| 677 |
+
"physical_randomization_enabled": true,
|
| 678 |
+
"motion_controller_type": "ik_servo",
|
| 679 |
+
"runtime_step_seeds": [
|
| 680 |
+
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|
| 681 |
+
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|
| 682 |
+
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|
| 683 |
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],
|
| 684 |
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"runtime_workflow_digest": "fce61cd1bd82eb12f998cf6b34e17de739707a4af577254a85976f34f12bbeca"
|
| 685 |
+
}
|
| 686 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00007/results/episode_99_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 99,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_a",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_a",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_a",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.316799548434812,
|
| 26 |
+
-0.07583214959421869,
|
| 27 |
+
1.0487148838146143
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0487148838146143,
|
| 30 |
+
"required_z": 0.8611065676194106,
|
| 31 |
+
"initial_z": 0.7611065676194106,
|
| 32 |
+
"lift_margin": 0.18760831619520368,
|
| 33 |
+
"gripper_z": 1.0532703572459712,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.3119457886657332,
|
| 38 |
+
-0.08037945324987784,
|
| 39 |
+
1.0532703572459712
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004853759769078814,
|
| 43 |
+
0.0045473036556591545,
|
| 44 |
+
-0.004555473431356871
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006651086710658577,
|
| 47 |
+
"object_to_gripper_z": -0.004555473431356871,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.316799548434812,
|
| 51 |
+
-0.10035727071166194,
|
| 52 |
+
1.0487148838146143
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.3057664950990798,
|
| 56 |
+
-0.07583214959421869,
|
| 57 |
+
1.0487148838146143
|
| 58 |
+
],
|
| 59 |
+
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|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_jst_00007/results/episode_9_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 9,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_a",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_a",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_a",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.3133661489839526,
|
| 26 |
+
-0.07228804189272686,
|
| 27 |
+
1.0489991127096236
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0489991127096236,
|
| 30 |
+
"required_z": 0.8611065080147661,
|
| 31 |
+
"initial_z": 0.7611065080147661,
|
| 32 |
+
"lift_margin": 0.18789260469485758,
|
| 33 |
+
"gripper_z": 1.0522970216567546,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.30905530567736006,
|
| 38 |
+
-0.0767651996011665,
|
| 39 |
+
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|
| 40 |
+
],
|
| 41 |
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"object_minus_gripper": [
|
| 42 |
+
0.004310843306592538,
|
| 43 |
+
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|
| 44 |
+
-0.003297908947131001
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006215167830415695,
|
| 47 |
+
"object_to_gripper_z": -0.003297908947131001,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.3133661489839526,
|
| 51 |
+
-0.09609447119812815,
|
| 52 |
+
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|
| 53 |
+
],
|
| 54 |
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|
| 55 |
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|
| 56 |
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-0.07228804189272686,
|
| 57 |
+
1.0489991127096236
|
| 58 |
+
],
|
| 59 |
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"finger_midpoint": [
|
| 60 |
+
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|
| 61 |
+
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|
| 62 |
+
1.0489991127096236
|
| 63 |
+
],
|
| 64 |
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|
| 65 |
+
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|
| 66 |
+
0.011903214652700639,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
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"finger_gap": 0.02637566490630088,
|
| 70 |
+
"fingertip_max_gap": 0.09294107462916032,
|
| 71 |
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"finger_z_skew": 0.0,
|
| 72 |
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|
| 73 |
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|
| 74 |
+
"object_to_finger_midpoint_z": 0.0,
|
| 75 |
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"finger_midpoint_minus_object_z": 0.0,
|
| 76 |
+
"object_position_origin": "center",
|
| 77 |
+
"object_center_z_for_grasp": 1.0489991127096236,
|
| 78 |
+
"object_top_z": 1.0993662209893473,
|
| 79 |
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"finger_top_clearance": 0.05036710827972368,
|
| 80 |
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|
| 81 |
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"object_projection_between_fingers": 0.8146699344026276,
|
| 82 |
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"object_to_finger_line_xy": 0.010248662717288623,
|
| 83 |
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"fingertip_xy_max_dist": 0.055,
|
| 84 |
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"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.04897053731458016,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 1.7406961499250528,
|
| 89 |
+
"object_max_tilt_deg": 15.0,
|
| 90 |
+
"object_upright_axis_local": [
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
1.0
|
| 94 |
+
],
|
| 95 |
+
"stable_success_frames": 209,
|
| 96 |
+
"max_stable_success_frames": 209,
|
| 97 |
+
"required_stable_lift_frames": 5
|
| 98 |
+
},
|
| 99 |
+
"failed_keys": [],
|
| 100 |
+
"failure_code": null,
|
| 101 |
+
"failure_messages": {},
|
| 102 |
+
"safety": {
|
| 103 |
+
"policy": {
|
| 104 |
+
"skill": "pick",
|
| 105 |
+
"target_object": "beaker_a",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_a"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/beaker_2"
|
| 112 |
+
],
|
| 113 |
+
"allowed_prim_substrings": [],
|
| 114 |
+
"robot_prim_substrings": [
|
| 115 |
+
"Robotiq2F85",
|
| 116 |
+
"Robotiq_2F_85",
|
| 117 |
+
"contact_sensor",
|
| 118 |
+
"dummy_base_prismatic_x_joint",
|
| 119 |
+
"dummy_base_prismatic_y_joint",
|
| 120 |
+
"dummy_base_revolute_z_joint",
|
| 121 |
+
"elbow_joint",
|
| 122 |
+
"festo",
|
| 123 |
+
"finger",
|
| 124 |
+
"fr3",
|
| 125 |
+
"fr3_duo_mobile",
|
| 126 |
+
"fr3_joint1",
|
| 127 |
+
"fr3_joint2",
|
| 128 |
+
"fr3_joint3",
|
| 129 |
+
"fr3_joint4",
|
| 130 |
+
"fr3_joint5",
|
| 131 |
+
"fr3_joint6",
|
| 132 |
+
"fr3_joint7",
|
| 133 |
+
"fr3_leftfinger",
|
| 134 |
+
"fr3_rightfinger",
|
| 135 |
+
"franka",
|
| 136 |
+
"geometry",
|
| 137 |
+
"gripper",
|
| 138 |
+
"gripper_center",
|
| 139 |
+
"joint1",
|
| 140 |
+
"joint2",
|
| 141 |
+
"joint3",
|
| 142 |
+
"joint4",
|
| 143 |
+
"joint5",
|
| 144 |
+
"joint6",
|
| 145 |
+
"joint7",
|
| 146 |
+
"left_inner_finger",
|
| 147 |
+
"lift2",
|
| 148 |
+
"mobile_rotate",
|
| 149 |
+
"mobile_translate_x",
|
| 150 |
+
"mobile_translate_y",
|
| 151 |
+
"panda_joint1",
|
| 152 |
+
"panda_joint2",
|
| 153 |
+
"panda_joint3",
|
| 154 |
+
"panda_joint4",
|
| 155 |
+
"panda_joint5",
|
| 156 |
+
"panda_joint6",
|
| 157 |
+
"panda_joint7",
|
| 158 |
+
"panda_leftfinger",
|
| 159 |
+
"panda_leftfingertip",
|
| 160 |
+
"panda_rightfinger",
|
| 161 |
+
"panda_rightfingertip",
|
| 162 |
+
"ridgebase",
|
| 163 |
+
"ridgebase_festo",
|
| 164 |
+
"ridgebase_fr3",
|
| 165 |
+
"ridgebase_rizon4",
|
| 166 |
+
"ridgebase_ur16e",
|
| 167 |
+
"ridgebase_ur5e",
|
| 168 |
+
"right_inner_finger",
|
| 169 |
+
"rizon4",
|
| 170 |
+
"robot",
|
| 171 |
+
"robotiq_2f85",
|
| 172 |
+
"shoulder_lift_joint",
|
| 173 |
+
"shoulder_pan_joint",
|
| 174 |
+
"split_aloha",
|
| 175 |
+
"tool_center",
|
| 176 |
+
"ur16e",
|
| 177 |
+
"ur5e",
|
| 178 |
+
"visuals",
|
| 179 |
+
"wrist",
|
| 180 |
+
"wrist_1_joint",
|
| 181 |
+
"wrist_2_joint",
|
| 182 |
+
"wrist_3_joint"
|
| 183 |
+
],
|
| 184 |
+
"ignored_prim_substrings": [
|
| 185 |
+
"base_link",
|
| 186 |
+
"caster",
|
| 187 |
+
"defaultgroundplane",
|
| 188 |
+
"desk",
|
| 189 |
+
"floor",
|
| 190 |
+
"ground",
|
| 191 |
+
"groundplane",
|
| 192 |
+
"link0",
|
| 193 |
+
"table",
|
| 194 |
+
"wheel",
|
| 195 |
+
"workbench"
|
| 196 |
+
],
|
| 197 |
+
"enabled": true
|
| 198 |
+
},
|
| 199 |
+
"status": "active",
|
| 200 |
+
"passed": true,
|
| 201 |
+
"source_missing": false,
|
| 202 |
+
"forbidden": [],
|
| 203 |
+
"disturbances": [],
|
| 204 |
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"last_frame": {
|
| 205 |
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"passed": true,
|
| 206 |
+
"source_missing": false,
|
| 207 |
+
"forbidden": [],
|
| 208 |
+
"allowed": [
|
| 209 |
+
{
|
| 210 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 211 |
+
"b": "/World/beaker_2/mesh"
|
| 212 |
+
},
|
| 213 |
+
{
|
| 214 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 215 |
+
"b": "/World/beaker_2/mesh"
|
| 216 |
+
}
|
| 217 |
+
],
|
| 218 |
+
"ignored": [],
|
| 219 |
+
"failed_keys": []
|
| 220 |
+
},
|
| 221 |
+
"failed_keys": []
|
| 222 |
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}
|
| 223 |
+
},
|
| 224 |
+
"gripper": null,
|
| 225 |
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"post_done_wait_frames": 0,
|
| 226 |
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"post_done_wait_exhausted": false
|
| 227 |
+
},
|
| 228 |
+
"physical_semantics": {
|
| 229 |
+
"skill": "pick",
|
| 230 |
+
"target": "beaker_a",
|
| 231 |
+
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