Upload folder using huggingface_hub (part 24)

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+{"episode_index":129,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":857,"success":true,"robot_type":"ur5e"}
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+{"episode_index":172,"tasks":["Pick up beaker b from home. Shake the current contents of beaker b once. Place beaker b at inspection platform."],"length":859,"success":true,"robot_type":"ur5e"}

ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/resolved_config.yaml

@@ -0,0 +1,231 @@
+name: fast_2beaker_dual_target_s03_psl_gqr_00020
+task_type: workflow
+controller_type: workflow
+mode: collect
+usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd
+max_episodes: 100
+infer:
+  type: local
+  obs_names:
+    camera_1_rgb: camera_1_rgb
+    camera_2_rgb: camera_2_rgb
+  policy_model_path: ''
+  policy_config_path: ''
+  normalizer_path: ''
+  host: 127.0.0.1
+  port: 8000
+  n_obs_steps: 1
+  timeout: 30
+  max_retries: 3
+task:
+  max_steps: 14000
+workflow:
+  table_prim_path: /World/table
+  language_instruction: Pick up beaker b from home. Shake the current contents of
+    beaker b once. Place beaker b at inspection platform.
+  layout_id: layout_00020
+  reproducibility:
+    enabled: true
+    layout_id: layout_00020
+    action_seed: 5991770722474229261
+    step_seeds:
+    - 3028738977928516977
+    - 5597848014300184368
+    - 589239366799290088
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.2173
+      - 0.2173
+      'y':
+      - -0.0872
+      - -0.0872
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.3384
+      - 0.3384
+      'y':
+      - 0.0853
+      - 0.0853
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: inspection_platform
+    path: /World/target_plat
+    position_range:
+      x:
+      - 0.3546
+      - 0.3546
+      'y':
+      - 0.2356
+      - 0.2356
+      z:
+      - 0.0
+      - 0.0
+    role: placement_target
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.2464
+      - 0.2464
+      'y':
+      - -0.3357
+      - -0.3357
+      z:
+      - 0.0
+      - 0.0
+  - name: heater_platform
+    path: /World/heat_device/heat_device/heat_device/plat
+    parent_object: heat_device
+    role: placement_target
+  steps:
+  - skill: pick
+    target_object: beaker_b
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.01
+      - 0.04
+      - 0.04
+      - 0.006
+      - 0.04
+      pre_offset_x: 0.05
+      pre_offset_z: 0.05
+      after_offset_z: 0.3
+      gripper_distances: 0.019
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: true
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params:
+        smooth_close: true
+  - skill: shake
+    target_object: beaker_b
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      shake_distance: 0.08
+      shake_center_offset_z: 0.0
+      fallback_height_offset: 0.23
+      events_dt:
+      - 0.04
+      - 0.018
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.015
+      position_only: true
+      position_threshold: 0.04
+  - skill: place
+    target_object: inspection_platform
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.01
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.2
+      place_offset_z: 0.05
+      target_z_offset: 0.0
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      position_threshold: 0.015
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.04
+cameras:
+- prim_path: /World/Camera1
+  name: camera_1
+  translation:
+  - 2.129903
+  - 0.0
+  - 2.075001
+  resolution:
+  - 512
+  - 512
+  focal_length: 3.5
+  orientation:
+  - 0.61237
+  - 0.35355
+  - 0.35355
+  - 0.61237
+  image_type: rgb
+- prim_path: /World/Camera2
+  name: camera_2
+  translation:
+  - 0.1
+  - 0.0
+  - 2.65
+  resolution:
+  - 512
+  - 512
+  focal_length: 2.825
+  orientation:
+  - 0.70711
+  - 0
+  - 0
+  - -0.70711
+  image_type: rgb
+- prim_path: /World/Camera3
+  name: camera_3
+  translation:
+  - 0.2
+  - -3.01678
+  - 1.16281
+  resolution:
+  - 512
+  - 512
+  focal_length: 4
+  orientation:
+  - 0.7681
+  - 0.63858
+  - -0.03028
+  - -0.03642
+  image_type: rgb
+  track_end_effector: true
+robot:
+  type: ur5e
+  position:
+  - -0.27
+  - 0.0
+  - 0.71
+collector:
+  type: default
+  compression: gzip
+multi_run:
+  run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020
+motion_controller: ik_servo
+max_consecutive_failures: 20
+video:
+  playback_speed: 1
+  render_every_n_steps: 3

ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_101_success.json

@@ -0,0 +1,686 @@
+{
+  "episode": 101,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3663531172821718,
+              0.08724441601340771,
+              1.0468290099219375
+            ],
+            "current_z": 1.0468290099219375,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.19024244290872716,
+            "gripper_z": 1.0474526663244794,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3615284413228964,
+              0.08254251856785605,
+              1.0474526663244794
+            ],
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+              0.004824675959275382,
+              0.0047018974455516616,
+              -0.0006236564025419167
+            ],
+            "object_to_gripper_xy": 0.006736864085054342,
+            "object_to_gripper_z": -0.0006236564025419167,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3663531172821718,
+              0.0629567975808988,
+              1.0468290099219375
+            ],
+            "finger_b": [
+              0.35477679401385703,
+              0.08724441601340771,
+              1.0468290099219375
+            ],
+            "finger_midpoint": [
+              0.3605649556480144,
+              0.07510060679715325,
+              1.0468290099219375
+            ],
+            "object_minus_finger_midpoint": [
+              0.005788161634157407,
+              0.012143809216254464,
+              0.0
+            ],
+            "finger_gap": 0.026905383653381947,
+            "fingertip_max_gap": 0.09251732596533171,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013452691826690993,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0468290099219375,
+            "object_top_z": 1.092801184110416,
+            "finger_top_clearance": 0.04597217418847843,
+            "fingertip_min_top_clearance": 0.01379165225654353,
+            "object_projection_between_fingers": 0.8148759198930372,
+            "object_to_finger_line_xy": 0.010450002349506077,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04875866298266586,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0575753888351982,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 218,
+            "max_stable_success_frames": 218,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/target_beaker/mesh"
+                }
+              ],
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+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
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+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
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+        "target": "beaker_b",
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+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
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+      "skill": "shake",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_b",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
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+              1.2386490988985934
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+              1.2378830647842798
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+            "held_grasp_size_source": "beaker_b_local_size",
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+            "held_grasp_z_skew_max": 0.08,
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+            "held_grasp_local_up_axis": [
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+              0.01588762649975639
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+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038576118972963236,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.045200224965810776,
+            "held_grasp_top_clearance": 0.03221273728381753,
+            "held_grasp_min_top_clearance": 0.013560067489743232
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_b",
+              "held_object": "beaker_b",
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
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+                "panda_leftfinger",
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+                "ridgebase_festo",
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+                "wrist_2_joint",
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+                  "b": "/World/target_beaker/mesh"
+                },
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+                "fr3_joint5",
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+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
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+                "gripper",
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+                "panda_joint3",
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+                "right_inner_finger",
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+                "robotiq_2f85",
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+                "shoulder_pan_joint",
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+                "ur5e",
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+                "wrist_2_joint",
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+  }
+}

ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_102_success.json

@@ -0,0 +1,686 @@
+{
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+                  "b": "/World/target_beaker/mesh"
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+}

ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_103_success.json

@@ -0,0 +1,686 @@
+{
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+  }
+}

ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_104_success.json

@@ -0,0 +1,686 @@
+{
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+  }
+}

ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_105_success.json

@@ -0,0 +1,686 @@
+{
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+  }
+}

ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_106_success.json

@@ -0,0 +1,686 @@
+{
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+                  "b": "/World/target_beaker/mesh"
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+                "fr3_leftfinger",
+                "fr3_rightfinger",
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+                "gripper",
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+  }
+}

ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_107_success.json

@@ -0,0 +1,686 @@
+{
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+}

ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_108_success.json

@@ -0,0 +1,686 @@
+{
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+}

ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_10_success.json

@@ -0,0 +1,686 @@
+{
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+}

ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_110_success.json

@@ -0,0 +1,686 @@
+{
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+  }
+}

ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_113_success.json

@@ -0,0 +1,686 @@
+{
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+}

ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_114_success.json

@@ -0,0 +1,686 @@
+{
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+  "success": true,
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+}

ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_115_success.json

@@ -0,0 +1,686 @@
+{
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+}

ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_116_success.json

@@ -0,0 +1,686 @@
+{
+  "episode": 116,
+  "success": true,
+  "passed_steps": 3,
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+}

ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_117_success.json

@@ -0,0 +1,686 @@
+{
+  "episode": 117,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+}

ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_119_success.json

@@ -0,0 +1,686 @@
+{
+  "episode": 119,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
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+}

ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_11_success.json

@@ -0,0 +1,686 @@
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+}

ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_120_success.json

@@ -0,0 +1,686 @@
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+}

ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_gqr_00020/results/episode_121_success.json

@@ -0,0 +1,686 @@
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+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
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+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
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+            },
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+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
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+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5991770722474229261,
+    "physical_seed": 1018468742626781814,
+    "layout_id": "layout_00020",
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+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "aafcfc9ba8d7a41337554a13c52318051e81d6990265f40cb16ef498de45b25f",
+    "visual_seed": 2658587314908429815,
+    "episode_index": 121,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
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+    ],
+    "runtime_workflow_digest": "0df0832a8ab078a1f9a0be85023017d67bea9262047123192ae38f70e9ddccf6"
+  }
+}