Upload folder using huggingface_hub (part 18)
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- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00013/results/episode_83_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00013/results/episode_84_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00013/results/episode_85_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00013/results/episode_86_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00013/results/episode_87_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00013/results/episode_88_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00013/results/episode_89_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00013/results/episode_8_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00013/results/episode_90_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00013/results/episode_91_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00013/results/episode_92_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00013/results/episode_93_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00013/results/episode_94_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00013/results/episode_95_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00013/results/episode_96_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00013/results/episode_97_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00013/results/episode_98_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00013/results/episode_99_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00013/results/episode_9_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00013/results/summary.json +9 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00014/dataset/episode_0000.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00014/dataset/episode_0001.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00014/dataset/episode_0002.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00014/dataset/episode_0003.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00014/dataset/episode_0004.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00014/dataset/episode_0007.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00014/dataset/episode_0008.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00014/dataset/episode_0009.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00014/dataset/episode_0010.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00014/dataset/episode_0011.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00014/dataset/episode_0012.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00014/dataset/episode_0013.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00014/dataset/episode_0015.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00014/dataset/episode_0016.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00014/dataset/episode_0018.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00014/dataset/episode_0019.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00014/dataset/episode_0020.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00014/dataset/episode_0021.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00014/dataset/episode_0022.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00014/dataset/episode_0024.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00014/dataset/episode_0025.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00014/dataset/episode_0026.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00014/dataset/episode_0027.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00014/dataset/episode_0028.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00014/dataset/episode_0029.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00014/dataset/episode_0030.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00014/dataset/episode_0031.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00014/dataset/episode_0032.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00014/dataset/episode_0033.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00014/dataset/episode_0035.h5 +3 -0
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00013/results/episode_83_success.json
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|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00013/results/episode_84_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"episode": 84,
|
| 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_b",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_b",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_b",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.1650941080898887,
|
| 26 |
+
0.2595440349059293,
|
| 27 |
+
1.0440158450664505
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0440158450664505,
|
| 30 |
+
"required_z": 0.8565865670132105,
|
| 31 |
+
"initial_z": 0.7565865670132105,
|
| 32 |
+
"lift_margin": 0.18742927805324006,
|
| 33 |
+
"gripper_z": 1.0497125313713278,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.16064499010685832,
|
| 38 |
+
0.2549499629647433,
|
| 39 |
+
1.0497125313713278
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004449117983030382,
|
| 43 |
+
0.004594071941185995,
|
| 44 |
+
-0.0056966863048772964
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006395322339625798,
|
| 47 |
+
"object_to_gripper_z": -0.0056966863048772964,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.1650941080898887,
|
| 51 |
+
0.23561015179415418,
|
| 52 |
+
1.0440158450664505
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.1535438867948338,
|
| 56 |
+
0.2595440349059293,
|
| 57 |
+
1.0440158450664505
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.15931899744236125,
|
| 61 |
+
0.24757709335004174,
|
| 62 |
+
1.0440158450664505
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005775110647527448,
|
| 66 |
+
0.011966941555887567,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.026575145771431895,
|
| 70 |
+
"fingertip_max_gap": 0.09260963419739138,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013287572885715948,
|
| 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": 1.0440158450664505,
|
| 78 |
+
"object_top_z": 1.0901533370479042,
|
| 79 |
+
"finger_top_clearance": 0.04613749198145367,
|
| 80 |
+
"fingertip_min_top_clearance": 0.013841247594436118,
|
| 81 |
+
"object_projection_between_fingers": 0.8111011563405276,
|
| 82 |
+
"object_to_finger_line_xy": 0.010402262654308856,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.04880481709869569,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 1.0970465746363551,
|
| 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_b",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_b"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/target_beaker"
|
| 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 |
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| 527 |
+
"target_object": "heater_platform",
|
| 528 |
+
"held_object": "beaker_b",
|
| 529 |
+
"allowed_objects": [
|
| 530 |
+
"beaker_b",
|
| 531 |
+
"heater_platform"
|
| 532 |
+
],
|
| 533 |
+
"allowed_object_paths": [
|
| 534 |
+
"/World/heat_device/heat_device/heat_device/plat",
|
| 535 |
+
"/World/target_beaker"
|
| 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 |
+
"passed": true,
|
| 630 |
+
"source_missing": false,
|
| 631 |
+
"forbidden": [],
|
| 632 |
+
"allowed": [],
|
| 633 |
+
"ignored": [],
|
| 634 |
+
"failed_keys": []
|
| 635 |
+
},
|
| 636 |
+
"failed_keys": []
|
| 637 |
+
}
|
| 638 |
+
},
|
| 639 |
+
"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": 84,
|
| 660 |
+
"reproducibility": {
|
| 661 |
+
"enabled": true,
|
| 662 |
+
"action_seed": 6120436585598675838,
|
| 663 |
+
"physical_seed": 1711303898980266923,
|
| 664 |
+
"layout_id": "layout_00013",
|
| 665 |
+
"step_seeds": [
|
| 666 |
+
5975741771095771893,
|
| 667 |
+
3504213630932996537,
|
| 668 |
+
7867242958540830227
|
| 669 |
+
],
|
| 670 |
+
"workflow_spec_digest": "eca1583e89560f107184a88cc7087e0683d48a8a46b1a38851ff42290d593b17",
|
| 671 |
+
"strict_task_state": false,
|
| 672 |
+
"allow_physical_randomization": true,
|
| 673 |
+
"seed_source": "workflow.reproducibility",
|
| 674 |
+
"task_island_state_digest": "1668cc5685288f1f78ff3ec66b7a690e5706705eeff7fd86e910da3b81cd27bd",
|
| 675 |
+
"visual_seed": 5734250562104346253,
|
| 676 |
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"episode_index": 84,
|
| 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": "52237915a39480d3676991d80d9b389a50cefb852eb5782cfbd38d53a43b2cdd"
|
| 685 |
+
}
|
| 686 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00013/results/episode_85_success.json
ADDED
|
@@ -0,0 +1,686 @@
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| 18 |
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|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00013/results/episode_86_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 86,
|
| 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_b",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_b",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_b",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.1665768449134804,
|
| 26 |
+
0.2598036595756517,
|
| 27 |
+
1.0426150786812567
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0426150786812567,
|
| 30 |
+
"required_z": 0.8565865074085657,
|
| 31 |
+
"initial_z": 0.7565865074085657,
|
| 32 |
+
"lift_margin": 0.186028571272691,
|
| 33 |
+
"gripper_z": 1.048157947017943,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.161979046801029,
|
| 38 |
+
0.2551767562103934,
|
| 39 |
+
1.048157947017943
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004597798112451396,
|
| 43 |
+
0.004626903365258339,
|
| 44 |
+
-0.0055428683366862685
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006522881436474264,
|
| 47 |
+
"object_to_gripper_z": -0.0055428683366862685,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.1665768449134804,
|
| 51 |
+
0.23568862494437198,
|
| 52 |
+
1.0426150786812567
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.15510832456133694,
|
| 56 |
+
0.2598036595756517,
|
| 57 |
+
1.0426150786812567
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.16084258473740867,
|
| 61 |
+
0.24774614226001185,
|
| 62 |
+
1.0426150786812567
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.0057342601760717316,
|
| 66 |
+
0.012057517315639865,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.026703218052050386,
|
| 70 |
+
"fingertip_max_gap": 0.09176086756251858,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013351609026025193,
|
| 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": 1.0426150786812567,
|
| 78 |
+
"object_top_z": 1.08845720829657,
|
| 79 |
+
"finger_top_clearance": 0.04584212961531331,
|
| 80 |
+
"fingertip_min_top_clearance": 0.013752638884593993,
|
| 81 |
+
"object_projection_between_fingers": 0.8155462134626089,
|
| 82 |
+
"object_to_finger_line_xy": 0.010356945178756849,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.048380433781259294,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 0.8202921684647011,
|
| 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": 205,
|
| 96 |
+
"max_stable_success_frames": 205,
|
| 97 |
+
"required_stable_lift_frames": 5
|
| 98 |
+
},
|
| 99 |
+
"failed_keys": [],
|
| 100 |
+
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|
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|
| 493 |
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|
| 494 |
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| 495 |
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| 496 |
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| 497 |
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|
| 498 |
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|
| 499 |
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|
| 500 |
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|
| 501 |
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"release_finger_gap_metric": "3d_contact_pad_distance",
|
| 502 |
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|
| 503 |
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|
| 504 |
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|
| 505 |
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| 506 |
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| 507 |
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| 508 |
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|
| 509 |
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| 510 |
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|
| 511 |
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| 512 |
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| 513 |
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| 514 |
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| 516 |
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|
| 517 |
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|
| 518 |
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|
| 519 |
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|
| 520 |
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},
|
| 521 |
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|
| 522 |
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|
| 523 |
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|
| 524 |
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|
| 525 |
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|
| 526 |
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"skill": "place",
|
| 527 |
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|
| 528 |
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|
| 529 |
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|
| 530 |
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"beaker_b",
|
| 531 |
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|
| 532 |
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],
|
| 533 |
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"allowed_object_paths": [
|
| 534 |
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"/World/heat_device/heat_device/heat_device/plat",
|
| 535 |
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"/World/target_beaker"
|
| 536 |
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],
|
| 537 |
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"allowed_prim_substrings": [],
|
| 538 |
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"robot_prim_substrings": [
|
| 539 |
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|
| 540 |
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"Robotiq_2F_85",
|
| 541 |
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"contact_sensor",
|
| 542 |
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"dummy_base_prismatic_x_joint",
|
| 543 |
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"dummy_base_prismatic_y_joint",
|
| 544 |
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"dummy_base_revolute_z_joint",
|
| 545 |
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"elbow_joint",
|
| 546 |
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"festo",
|
| 547 |
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"finger",
|
| 548 |
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"fr3",
|
| 549 |
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"fr3_duo_mobile",
|
| 550 |
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"fr3_joint1",
|
| 551 |
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|
| 552 |
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"fr3_joint3",
|
| 553 |
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"fr3_joint4",
|
| 554 |
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"fr3_joint5",
|
| 555 |
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"fr3_joint6",
|
| 556 |
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"fr3_joint7",
|
| 557 |
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|
| 558 |
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"fr3_rightfinger",
|
| 559 |
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|
| 560 |
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|
| 561 |
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|
| 562 |
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"gripper_center",
|
| 563 |
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"joint1",
|
| 564 |
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|
| 565 |
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|
| 566 |
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|
| 567 |
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"joint5",
|
| 568 |
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"joint6",
|
| 569 |
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"joint7",
|
| 570 |
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"left_inner_finger",
|
| 571 |
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"lift2",
|
| 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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"panda_joint5",
|
| 580 |
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"panda_joint6",
|
| 581 |
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"panda_joint7",
|
| 582 |
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"panda_leftfinger",
|
| 583 |
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"panda_leftfingertip",
|
| 584 |
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"panda_rightfinger",
|
| 585 |
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"panda_rightfingertip",
|
| 586 |
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"ridgebase",
|
| 587 |
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"ridgebase_festo",
|
| 588 |
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"ridgebase_fr3",
|
| 589 |
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"ridgebase_rizon4",
|
| 590 |
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"ridgebase_ur16e",
|
| 591 |
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"ridgebase_ur5e",
|
| 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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"shoulder_lift_joint",
|
| 597 |
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"shoulder_pan_joint",
|
| 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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"wrist_3_joint"
|
| 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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"wheel",
|
| 619 |
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"workbench"
|
| 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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|
| 630 |
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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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| 636 |
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| 637 |
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| 638 |
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|
| 640 |
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|
| 641 |
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|
| 642 |
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},
|
| 643 |
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"physical_semantics": {
|
| 644 |
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"skill": "place",
|
| 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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"physical_semantics": {
|
| 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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"h5_episode_index": 86,
|
| 660 |
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|
| 661 |
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|
| 662 |
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|
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|
| 677 |
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|
| 678 |
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|
| 679 |
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|
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|
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|
| 685 |
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}
|
| 686 |
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}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00013/results/episode_87_success.json
ADDED
|
@@ -0,0 +1,686 @@
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| 1 |
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{
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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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| 26 |
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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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| 38 |
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| 39 |
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| 49 |
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| 51 |
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| 111 |
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| 112 |
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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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| 118 |
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| 120 |
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| 121 |
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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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| 136 |
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| 137 |
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| 140 |
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| 146 |
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| 147 |
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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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| 154 |
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| 158 |
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| 159 |
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| 160 |
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| 161 |
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| 162 |
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| 163 |
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| 168 |
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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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| 179 |
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| 181 |
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| 182 |
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| 183 |
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| 188 |
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| 193 |
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| 195 |
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| 212 |
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+
7867242958540830227
|
| 669 |
+
],
|
| 670 |
+
"workflow_spec_digest": "eca1583e89560f107184a88cc7087e0683d48a8a46b1a38851ff42290d593b17",
|
| 671 |
+
"strict_task_state": false,
|
| 672 |
+
"allow_physical_randomization": true,
|
| 673 |
+
"seed_source": "workflow.reproducibility",
|
| 674 |
+
"task_island_state_digest": "b27597e8125311783ff81a6cc96cf8549fff385a2eb9e9732be4bf798ab29a56",
|
| 675 |
+
"visual_seed": 7435717316202979191,
|
| 676 |
+
"episode_index": 87,
|
| 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": "52237915a39480d3676991d80d9b389a50cefb852eb5782cfbd38d53a43b2cdd"
|
| 685 |
+
}
|
| 686 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00013/results/episode_88_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"episode": 88,
|
| 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_b",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_b",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_b",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.16509537139382882,
|
| 26 |
+
0.2653307862117356,
|
| 27 |
+
1.0447369976428778
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0447369976428778,
|
| 30 |
+
"required_z": 0.8565865670132103,
|
| 31 |
+
"initial_z": 0.7565865670132104,
|
| 32 |
+
"lift_margin": 0.1881504306296674,
|
| 33 |
+
"gripper_z": 1.0502754473743534,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.16061143233206526,
|
| 38 |
+
0.2607264314381241,
|
| 39 |
+
1.0502754473743534
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004483939061763559,
|
| 43 |
+
0.004604354773611541,
|
| 44 |
+
-0.005538449731475659
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006426958253395494,
|
| 47 |
+
"object_to_gripper_z": -0.005538449731475659,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.16509537139382882,
|
| 51 |
+
0.24132489881420882,
|
| 52 |
+
1.0447369976428778
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.15359497827486243,
|
| 56 |
+
0.2653307862117356,
|
| 57 |
+
1.0447369976428778
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.15934517483434563,
|
| 61 |
+
0.25332784251297225,
|
| 62 |
+
1.0447369976428778
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
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0.005750196559483195,
|
| 66 |
+
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| 571 |
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| 572 |
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| 603 |
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|
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}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00013/results/episode_89_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 89,
|
| 3 |
+
"success": true,
|
| 4 |
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"passed_steps": 3,
|
| 5 |
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"total_steps": 3,
|
| 6 |
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"step_accuracy": "3/3",
|
| 7 |
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"step_details": [
|
| 8 |
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{
|
| 9 |
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"step_index": 0,
|
| 10 |
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"skill": "pick",
|
| 11 |
+
"target": "beaker_b",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_b",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_b",
|
| 23 |
+
"active_arm": null,
|
| 24 |
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"object_position": [
|
| 25 |
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0.16118311642902014,
|
| 26 |
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0.2583817031383323,
|
| 27 |
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1.045529402575723
|
| 28 |
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],
|
| 29 |
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"current_z": 1.045529402575723,
|
| 30 |
+
"required_z": 0.8565865670132103,
|
| 31 |
+
"initial_z": 0.7565865670132104,
|
| 32 |
+
"lift_margin": 0.18894283556251257,
|
| 33 |
+
"gripper_z": 1.0511115928088968,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
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"virtual_attach_allowed": false,
|
| 36 |
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"gripper_position": [
|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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],
|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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],
|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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"finger_a": [
|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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],
|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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],
|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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],
|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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0.0
|
| 68 |
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],
|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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"require_object_upright": true,
|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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0.0,
|
| 92 |
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0.0,
|
| 93 |
+
1.0
|
| 94 |
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],
|
| 95 |
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"stable_success_frames": 209,
|
| 96 |
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"max_stable_success_frames": 209,
|
| 97 |
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|
| 98 |
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},
|
| 99 |
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"failed_keys": [],
|
| 100 |
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"failure_code": null,
|
| 101 |
+
"failure_messages": {},
|
| 102 |
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"safety": {
|
| 103 |
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"policy": {
|
| 104 |
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"skill": "pick",
|
| 105 |
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"target_object": "beaker_b",
|
| 106 |
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|
| 107 |
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"allowed_objects": [
|
| 108 |
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"beaker_b"
|
| 109 |
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],
|
| 110 |
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"allowed_object_paths": [
|
| 111 |
+
"/World/target_beaker"
|
| 112 |
+
],
|
| 113 |
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"allowed_prim_substrings": [],
|
| 114 |
+
"robot_prim_substrings": [
|
| 115 |
+
"Robotiq2F85",
|
| 116 |
+
"Robotiq_2F_85",
|
| 117 |
+
"contact_sensor",
|
| 118 |
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"dummy_base_prismatic_x_joint",
|
| 119 |
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"dummy_base_prismatic_y_joint",
|
| 120 |
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"dummy_base_revolute_z_joint",
|
| 121 |
+
"elbow_joint",
|
| 122 |
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"festo",
|
| 123 |
+
"finger",
|
| 124 |
+
"fr3",
|
| 125 |
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"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 |
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"gripper_center",
|
| 139 |
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"joint1",
|
| 140 |
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"joint2",
|
| 141 |
+
"joint3",
|
| 142 |
+
"joint4",
|
| 143 |
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"joint5",
|
| 144 |
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"joint6",
|
| 145 |
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"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 |
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"ridgebase_fr3",
|
| 165 |
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"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 |
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"wrist_1_joint",
|
| 181 |
+
"wrist_2_joint",
|
| 182 |
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"wrist_3_joint"
|
| 183 |
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],
|
| 184 |
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"ignored_prim_substrings": [
|
| 185 |
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"base_link",
|
| 186 |
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"caster",
|
| 187 |
+
"defaultgroundplane",
|
| 188 |
+
"desk",
|
| 189 |
+
"floor",
|
| 190 |
+
"ground",
|
| 191 |
+
"groundplane",
|
| 192 |
+
"link0",
|
| 193 |
+
"table",
|
| 194 |
+
"wheel",
|
| 195 |
+
"workbench"
|
| 196 |
+
],
|
| 197 |
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"enabled": true
|
| 198 |
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},
|
| 199 |
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"status": "active",
|
| 200 |
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"passed": true,
|
| 201 |
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"source_missing": false,
|
| 202 |
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"forbidden": [],
|
| 203 |
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"disturbances": [],
|
| 204 |
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"last_frame": {
|
| 205 |
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"passed": true,
|
| 206 |
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"source_missing": false,
|
| 207 |
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"forbidden": [],
|
| 208 |
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"allowed": [
|
| 209 |
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{
|
| 210 |
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"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/target_beaker/mesh"
|
| 212 |
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},
|
| 213 |
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{
|
| 214 |
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"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/target_beaker/mesh"
|
| 216 |
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}
|
| 217 |
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],
|
| 218 |
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"ignored": [],
|
| 219 |
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|
| 220 |
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},
|
| 221 |
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"failed_keys": []
|
| 222 |
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}
|
| 223 |
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},
|
| 224 |
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"gripper": null,
|
| 225 |
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"post_done_wait_frames": 0,
|
| 226 |
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"post_done_wait_exhausted": false
|
| 227 |
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},
|
| 228 |
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"physical_semantics": {
|
| 229 |
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"skill": "pick",
|
| 230 |
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"target": "beaker_b",
|
| 231 |
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"attach_used": false,
|
| 232 |
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|
| 233 |
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|
| 234 |
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"attach_allowed": false,
|
| 235 |
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"ordinary_object_physical_only": true
|
| 236 |
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}
|
| 237 |
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},
|
| 238 |
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{
|
| 239 |
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"step_index": 1,
|
| 240 |
+
"skill": "shake",
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|
| 626 |
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| 627 |
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| 628 |
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| 629 |
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|
| 630 |
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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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| 636 |
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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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| 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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| 663 |
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| 665 |
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| 671 |
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| 672 |
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| 673 |
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| 674 |
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|
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|
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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_brq_00013/results/episode_8_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 8,
|
| 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_b",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_b",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_b",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.1671308579378978,
|
| 26 |
+
0.262884746745017,
|
| 27 |
+
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|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00013/results/episode_90_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 90,
|
| 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_b",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_b",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_b",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.15918138806319118,
|
| 26 |
+
0.2585081637923379,
|
| 27 |
+
1.0452990427814985
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0452990427814985,
|
| 30 |
+
"required_z": 0.8565866266178551,
|
| 31 |
+
"initial_z": 0.7565866266178551,
|
| 32 |
+
"lift_margin": 0.18871241616364343,
|
| 33 |
+
"gripper_z": 1.050897194964811,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.15517759404292295,
|
| 38 |
+
0.25427490561241783,
|
| 39 |
+
1.050897194964811
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.0040037940202682365,
|
| 43 |
+
0.004233258179920041,
|
| 44 |
+
-0.005598152183312388
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.005826735052719973,
|
| 47 |
+
"object_to_gripper_z": -0.005598152183312388,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.15918138806319118,
|
| 51 |
+
0.23464978163863823,
|
| 52 |
+
1.0452990427814985
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.1484826125029272,
|
| 56 |
+
0.2585081637923379,
|
| 57 |
+
1.0452990427814985
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.1538320002830592,
|
| 61 |
+
0.24657897271548807,
|
| 62 |
+
1.0452990427814985
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.00534938778013197,
|
| 66 |
+
0.01192919107684981,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.026147393703405228,
|
| 70 |
+
"fingertip_max_gap": 0.0925146331787238,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013073696851702597,
|
| 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": 1.0452990427814985,
|
| 78 |
+
"object_top_z": 1.0914830490139535,
|
| 79 |
+
"finger_top_clearance": 0.046184006232455,
|
| 80 |
+
"fingertip_min_top_clearance": 0.013855201869736466,
|
| 81 |
+
"object_projection_between_fingers": 0.8325784564458706,
|
| 82 |
+
"object_to_finger_line_xy": 0.009762176635608528,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.0487573165893619,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 1.0152598152000365,
|
| 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": 208,
|
| 96 |
+
"max_stable_success_frames": 208,
|
| 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_b",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_b"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/target_beaker"
|
| 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",
|
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| 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 |
+
"passed": true,
|
| 630 |
+
"source_missing": false,
|
| 631 |
+
"forbidden": [],
|
| 632 |
+
"allowed": [],
|
| 633 |
+
"ignored": [],
|
| 634 |
+
"failed_keys": []
|
| 635 |
+
},
|
| 636 |
+
"failed_keys": []
|
| 637 |
+
}
|
| 638 |
+
},
|
| 639 |
+
"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": 90,
|
| 660 |
+
"reproducibility": {
|
| 661 |
+
"enabled": true,
|
| 662 |
+
"action_seed": 6120436585598675838,
|
| 663 |
+
"physical_seed": 1711303898980266923,
|
| 664 |
+
"layout_id": "layout_00013",
|
| 665 |
+
"step_seeds": [
|
| 666 |
+
5975741771095771893,
|
| 667 |
+
3504213630932996537,
|
| 668 |
+
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|
| 669 |
+
],
|
| 670 |
+
"workflow_spec_digest": "eca1583e89560f107184a88cc7087e0683d48a8a46b1a38851ff42290d593b17",
|
| 671 |
+
"strict_task_state": false,
|
| 672 |
+
"allow_physical_randomization": true,
|
| 673 |
+
"seed_source": "workflow.reproducibility",
|
| 674 |
+
"task_island_state_digest": "ee28d627035366f147c4b0162a4debbf19ae10673dbb2308ea181179f7381082",
|
| 675 |
+
"visual_seed": 2997648458315302972,
|
| 676 |
+
"episode_index": 90,
|
| 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": "52237915a39480d3676991d80d9b389a50cefb852eb5782cfbd38d53a43b2cdd"
|
| 685 |
+
}
|
| 686 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00013/results/episode_91_success.json
ADDED
|
@@ -0,0 +1,686 @@
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}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00013/results/episode_92_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 92,
|
| 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_b",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_b",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_b",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.1619902680561459,
|
| 26 |
+
0.25618643499992977,
|
| 27 |
+
1.0446453764816757
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0446453764816757,
|
| 30 |
+
"required_z": 0.8565865074085656,
|
| 31 |
+
"initial_z": 0.7565865074085656,
|
| 32 |
+
"lift_margin": 0.1880588690731101,
|
| 33 |
+
"gripper_z": 1.0501467298676284,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.15780093583392066,
|
| 38 |
+
0.25191937231872474,
|
| 39 |
+
1.0501467298676284
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004189332222225228,
|
| 43 |
+
0.004267062681205025,
|
| 44 |
+
-0.005501353385952701
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.005979826786246169,
|
| 47 |
+
"object_to_gripper_z": -0.005501353385952701,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.1619902680561459,
|
| 51 |
+
0.2320382339596411,
|
| 52 |
+
1.0446453764816757
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.15149406022785197,
|
| 56 |
+
0.25618643499992977,
|
| 57 |
+
1.0446453764816757
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.15674216414199893,
|
| 61 |
+
0.24411233447978542,
|
| 62 |
+
1.0446453764816757
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.0052481039141469565,
|
| 66 |
+
0.012074100520144349,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.02633070436309931,
|
| 70 |
+
"fingertip_max_gap": 0.09176140049005979,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.01316535218154967,
|
| 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": 1.0446453764816757,
|
| 78 |
+
"object_top_z": 1.0902627543409404,
|
| 79 |
+
"finger_top_clearance": 0.045617377859264785,
|
| 80 |
+
"fingertip_min_top_clearance": 0.013685213357779434,
|
| 81 |
+
"object_projection_between_fingers": 0.8410941488965098,
|
| 82 |
+
"object_to_finger_line_xy": 0.009626196599339991,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.0483807002450299,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 1.0894154274057708,
|
| 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": 207,
|
| 96 |
+
"max_stable_success_frames": 207,
|
| 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_b",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_b"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/target_beaker"
|
| 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 |
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| 535 |
+
"/World/target_beaker"
|
| 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 |
+
"passed": true,
|
| 630 |
+
"source_missing": false,
|
| 631 |
+
"forbidden": [],
|
| 632 |
+
"allowed": [],
|
| 633 |
+
"ignored": [],
|
| 634 |
+
"failed_keys": []
|
| 635 |
+
},
|
| 636 |
+
"failed_keys": []
|
| 637 |
+
}
|
| 638 |
+
},
|
| 639 |
+
"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": 92,
|
| 660 |
+
"reproducibility": {
|
| 661 |
+
"enabled": true,
|
| 662 |
+
"action_seed": 6120436585598675838,
|
| 663 |
+
"physical_seed": 1711303898980266923,
|
| 664 |
+
"layout_id": "layout_00013",
|
| 665 |
+
"step_seeds": [
|
| 666 |
+
5975741771095771893,
|
| 667 |
+
3504213630932996537,
|
| 668 |
+
7867242958540830227
|
| 669 |
+
],
|
| 670 |
+
"workflow_spec_digest": "eca1583e89560f107184a88cc7087e0683d48a8a46b1a38851ff42290d593b17",
|
| 671 |
+
"strict_task_state": false,
|
| 672 |
+
"allow_physical_randomization": true,
|
| 673 |
+
"seed_source": "workflow.reproducibility",
|
| 674 |
+
"task_island_state_digest": "e7b8f2bf9a320543358974fe30f73ae25a9081840251b94461a2e673843dce08",
|
| 675 |
+
"visual_seed": 5272035246810716711,
|
| 676 |
+
"episode_index": 92,
|
| 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 |
+
],
|
| 684 |
+
"runtime_workflow_digest": "52237915a39480d3676991d80d9b389a50cefb852eb5782cfbd38d53a43b2cdd"
|
| 685 |
+
}
|
| 686 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00013/results/episode_93_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00013/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_b",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_b",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_b",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.1627541959140133,
|
| 26 |
+
0.26404394747722804,
|
| 27 |
+
1.0441957330509979
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0441957330509979,
|
| 30 |
+
"required_z": 0.8565864478039208,
|
| 31 |
+
"initial_z": 0.7565864478039208,
|
| 32 |
+
"lift_margin": 0.1876092852470771,
|
| 33 |
+
"gripper_z": 1.0496599793149197,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.15809926950330058,
|
| 38 |
+
0.25956710088169527,
|
| 39 |
+
1.0496599793149197
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.0046549264107127175,
|
| 43 |
+
0.0044768465955327685,
|
| 44 |
+
-0.005464246263921835
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.0064583663049632084,
|
| 47 |
+
"object_to_gripper_z": -0.005464246263921835,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.1627541959140133,
|
| 51 |
+
0.23955836125129545,
|
| 52 |
+
1.0441957330509979
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.15195913386525925,
|
| 56 |
+
0.26404394747722804,
|
| 57 |
+
1.0441957330509979
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.1573566648896363,
|
| 61 |
+
0.25180115436426176,
|
| 62 |
+
1.0441957330509979
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005397531024377011,
|
| 66 |
+
0.012242793112966277,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.026759620652468702,
|
| 70 |
+
"fingertip_max_gap": 0.09154841787313253,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013379810326234332,
|
| 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": 1.0441957330509979,
|
| 78 |
+
"object_top_z": 1.0896303206421643,
|
| 79 |
+
"finger_top_clearance": 0.045434587591166364,
|
| 80 |
+
"fingertip_min_top_clearance": 0.013630376277349908,
|
| 81 |
+
"object_projection_between_fingers": 0.8372614729594834,
|
| 82 |
+
"object_to_finger_line_xy": 0.009877696924103237,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.04827420893656627,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 1.1550080611598872,
|
| 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": 206,
|
| 96 |
+
"max_stable_success_frames": 206,
|
| 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_b",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
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"require_object_upright": true,
|
| 498 |
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"object_upright_reference_source": "scene_initial",
|
| 499 |
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"release_fingertip_source": "active_contact_pad_positions",
|
| 500 |
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"release_finger_gap": 0.07552310573329998,
|
| 501 |
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"release_finger_gap_metric": "3d_contact_pad_distance",
|
| 502 |
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"release_fingertip_min_gap": 0.08749628521433671,
|
| 503 |
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"release_gap_margin": 0.02,
|
| 504 |
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"release_gap_missing_size": false,
|
| 505 |
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"release_min_pad_clearance": 0.15285239411029028,
|
| 506 |
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"release_required_pad_clearance": 0.053748142607168356,
|
| 507 |
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"release_pad_clearance_ok": true,
|
| 508 |
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|
| 509 |
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|
| 510 |
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"virtual_attach_allowed": false,
|
| 511 |
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"max_z": 0.9084375599031816,
|
| 512 |
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|
| 513 |
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|
| 514 |
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"object_max_tilt_deg": 12.0,
|
| 515 |
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|
| 516 |
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"object_upright_axis_local": null,
|
| 517 |
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"required_placed_release_frames": 2,
|
| 518 |
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"placed_release_frames": 150,
|
| 519 |
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"max_placed_release_frames": 150
|
| 520 |
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},
|
| 521 |
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"failed_keys": [],
|
| 522 |
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"failure_code": null,
|
| 523 |
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"failure_messages": {},
|
| 524 |
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"safety": {
|
| 525 |
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"policy": {
|
| 526 |
+
"skill": "place",
|
| 527 |
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"target_object": "heater_platform",
|
| 528 |
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"held_object": "beaker_b",
|
| 529 |
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"allowed_objects": [
|
| 530 |
+
"beaker_b",
|
| 531 |
+
"heater_platform"
|
| 532 |
+
],
|
| 533 |
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"allowed_object_paths": [
|
| 534 |
+
"/World/heat_device/heat_device/heat_device/plat",
|
| 535 |
+
"/World/target_beaker"
|
| 536 |
+
],
|
| 537 |
+
"allowed_prim_substrings": [],
|
| 538 |
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"robot_prim_substrings": [
|
| 539 |
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"Robotiq2F85",
|
| 540 |
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"Robotiq_2F_85",
|
| 541 |
+
"contact_sensor",
|
| 542 |
+
"dummy_base_prismatic_x_joint",
|
| 543 |
+
"dummy_base_prismatic_y_joint",
|
| 544 |
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"dummy_base_revolute_z_joint",
|
| 545 |
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"elbow_joint",
|
| 546 |
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"festo",
|
| 547 |
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"finger",
|
| 548 |
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"fr3",
|
| 549 |
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"fr3_duo_mobile",
|
| 550 |
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"fr3_joint1",
|
| 551 |
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"fr3_joint2",
|
| 552 |
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"fr3_joint3",
|
| 553 |
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"fr3_joint4",
|
| 554 |
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"fr3_joint5",
|
| 555 |
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"fr3_joint6",
|
| 556 |
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"fr3_joint7",
|
| 557 |
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"fr3_leftfinger",
|
| 558 |
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"fr3_rightfinger",
|
| 559 |
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"franka",
|
| 560 |
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"geometry",
|
| 561 |
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"gripper",
|
| 562 |
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"gripper_center",
|
| 563 |
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"joint1",
|
| 564 |
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"joint2",
|
| 565 |
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"joint3",
|
| 566 |
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"joint4",
|
| 567 |
+
"joint5",
|
| 568 |
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"joint6",
|
| 569 |
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"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 |
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"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 |
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"ridgebase_ur16e",
|
| 591 |
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"ridgebase_ur5e",
|
| 592 |
+
"right_inner_finger",
|
| 593 |
+
"rizon4",
|
| 594 |
+
"robot",
|
| 595 |
+
"robotiq_2f85",
|
| 596 |
+
"shoulder_lift_joint",
|
| 597 |
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"shoulder_pan_joint",
|
| 598 |
+
"split_aloha",
|
| 599 |
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"tool_center",
|
| 600 |
+
"ur16e",
|
| 601 |
+
"ur5e",
|
| 602 |
+
"visuals",
|
| 603 |
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"wrist",
|
| 604 |
+
"wrist_1_joint",
|
| 605 |
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"wrist_2_joint",
|
| 606 |
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"wrist_3_joint"
|
| 607 |
+
],
|
| 608 |
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"ignored_prim_substrings": [
|
| 609 |
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"base_link",
|
| 610 |
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"caster",
|
| 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 |
+
"table",
|
| 618 |
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"wheel",
|
| 619 |
+
"workbench"
|
| 620 |
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],
|
| 621 |
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"enabled": true
|
| 622 |
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},
|
| 623 |
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"status": "active",
|
| 624 |
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"passed": true,
|
| 625 |
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"source_missing": false,
|
| 626 |
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"forbidden": [],
|
| 627 |
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|
| 628 |
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"last_frame": {
|
| 629 |
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"passed": true,
|
| 630 |
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"source_missing": false,
|
| 631 |
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"forbidden": [],
|
| 632 |
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"allowed": [],
|
| 633 |
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|
| 634 |
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"failed_keys": []
|
| 635 |
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},
|
| 636 |
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"failed_keys": []
|
| 637 |
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}
|
| 638 |
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},
|
| 639 |
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"gripper": null,
|
| 640 |
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|
| 641 |
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"post_done_wait_exhausted": false
|
| 642 |
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},
|
| 643 |
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"physical_semantics": {
|
| 644 |
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"skill": "place",
|
| 645 |
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"target": "heater_platform",
|
| 646 |
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"attach_used": false,
|
| 647 |
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"attach_object": null,
|
| 648 |
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"attach_object_path": null,
|
| 649 |
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"attach_allowed": false,
|
| 650 |
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"ordinary_object_physical_only": true
|
| 651 |
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}
|
| 652 |
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}
|
| 653 |
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],
|
| 654 |
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"physical_semantics": {
|
| 655 |
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"attach_records": [],
|
| 656 |
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"ordinary_attach_violations": [],
|
| 657 |
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"forbidden_shortcuts_absent": true
|
| 658 |
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},
|
| 659 |
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"h5_episode_index": 94,
|
| 660 |
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"reproducibility": {
|
| 661 |
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"enabled": true,
|
| 662 |
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"action_seed": 6120436585598675838,
|
| 663 |
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|
| 664 |
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|
| 665 |
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|
| 666 |
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|
| 667 |
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|
| 668 |
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|
| 669 |
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|
| 670 |
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|
| 671 |
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|
| 672 |
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|
| 673 |
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|
| 674 |
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|
| 675 |
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|
| 676 |
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|
| 677 |
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|
| 678 |
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|
| 679 |
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|
| 680 |
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|
| 681 |
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|
| 682 |
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|
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|
| 684 |
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|
| 685 |
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}
|
| 686 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00013/results/episode_95_success.json
ADDED
|
@@ -0,0 +1,686 @@
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| 1 |
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{
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| 2 |
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| 3 |
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| 4 |
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| 5 |
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| 6 |
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| 8 |
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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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| 26 |
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| 29 |
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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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| 38 |
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| 39 |
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| 40 |
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| 42 |
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| 43 |
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| 49 |
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| 50 |
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| 51 |
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| 66 |
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| 67 |
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| 68 |
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| 92 |
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| 93 |
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| 98 |
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| 101 |
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| 102 |
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| 104 |
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| 110 |
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| 111 |
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| 112 |
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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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| 118 |
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| 119 |
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| 120 |
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| 121 |
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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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| 136 |
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| 137 |
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| 138 |
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| 139 |
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| 140 |
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| 141 |
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| 142 |
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| 143 |
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| 144 |
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| 145 |
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| 146 |
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| 147 |
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| 148 |
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| 149 |
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| 150 |
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"mobile_translate_y",
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| 151 |
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| 152 |
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| 153 |
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| 154 |
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| 155 |
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| 156 |
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| 157 |
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| 158 |
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| 159 |
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| 160 |
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| 161 |
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| 162 |
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| 163 |
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| 164 |
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| 165 |
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| 166 |
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| 167 |
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| 168 |
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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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"ur5e",
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| 178 |
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| 179 |
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| 180 |
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| 181 |
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| 182 |
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| 183 |
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| 185 |
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| 186 |
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| 187 |
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| 188 |
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| 189 |
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| 190 |
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| 191 |
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| 192 |
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| 193 |
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| 194 |
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| 195 |
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| 196 |
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],
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| 197 |
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| 198 |
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| 211 |
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| 212 |
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| 214 |
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"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
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| 216 |
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| 250 |
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| 253 |
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|
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|
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"allow_physical_randomization": true,
|
| 673 |
+
"seed_source": "workflow.reproducibility",
|
| 674 |
+
"task_island_state_digest": "79d886c8a95a9d7422be33cc620c83f3f52febdc1b32783350d4c2e75ed968bd",
|
| 675 |
+
"visual_seed": 703967957962608969,
|
| 676 |
+
"episode_index": 95,
|
| 677 |
+
"physical_randomization_enabled": true,
|
| 678 |
+
"motion_controller_type": "ik_servo",
|
| 679 |
+
"runtime_step_seeds": [
|
| 680 |
+
5975741771095771893,
|
| 681 |
+
3504213630932996537,
|
| 682 |
+
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|
| 683 |
+
],
|
| 684 |
+
"runtime_workflow_digest": "52237915a39480d3676991d80d9b389a50cefb852eb5782cfbd38d53a43b2cdd"
|
| 685 |
+
}
|
| 686 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00013/results/episode_96_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"episode": 96,
|
| 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_b",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_b",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_b",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.16886663637262267,
|
| 26 |
+
0.2588008434658125,
|
| 27 |
+
1.0437759757900222
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0437759757900222,
|
| 30 |
+
"required_z": 0.8565865074085656,
|
| 31 |
+
"initial_z": 0.7565865074085656,
|
| 32 |
+
"lift_margin": 0.18718946838145667,
|
| 33 |
+
"gripper_z": 1.04935903604964,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.16396955304415686,
|
| 38 |
+
0.25404093704544817,
|
| 39 |
+
1.04935903604964
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004897083328465807,
|
| 43 |
+
0.004759906420364335,
|
| 44 |
+
-0.005583060259617856
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006829211832749322,
|
| 47 |
+
"object_to_gripper_z": -0.005583060259617856,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.16886663637262267,
|
| 51 |
+
0.23438779915321867,
|
| 52 |
+
1.0437759757900222
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
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|
| 56 |
+
0.2588008434658125,
|
| 57 |
+
1.0437759757900222
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
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|
| 61 |
+
0.24659432130951559,
|
| 62 |
+
1.0437759757900222
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
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0.005788691232476939,
|
| 66 |
+
0.012206522156296917,
|
| 67 |
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0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.027019113926043004,
|
| 70 |
+
"fingertip_max_gap": 0.09103937841764934,
|
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|
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|
| 571 |
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| 572 |
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|
| 574 |
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|
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|
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| 596 |
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|
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| 602 |
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| 603 |
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|
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|
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}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00013/results/episode_97_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
| 1 |
+
{
|
| 2 |
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"episode": 97,
|
| 3 |
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"success": true,
|
| 4 |
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"passed_steps": 3,
|
| 5 |
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"total_steps": 3,
|
| 6 |
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"step_accuracy": "3/3",
|
| 7 |
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"step_details": [
|
| 8 |
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{
|
| 9 |
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"step_index": 0,
|
| 10 |
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"skill": "pick",
|
| 11 |
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"target": "beaker_b",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_b",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_b",
|
| 23 |
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"active_arm": null,
|
| 24 |
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"object_position": [
|
| 25 |
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|
| 26 |
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|
| 27 |
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|
| 28 |
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],
|
| 29 |
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"current_z": 1.0434803259779575,
|
| 30 |
+
"required_z": 0.8565865670132103,
|
| 31 |
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"initial_z": 0.7565865670132104,
|
| 32 |
+
"lift_margin": 0.18689375896474714,
|
| 33 |
+
"gripper_z": 1.0489092799654793,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
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"virtual_attach_allowed": false,
|
| 36 |
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"gripper_position": [
|
| 37 |
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|
| 38 |
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|
| 39 |
+
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|
| 40 |
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],
|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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],
|
| 46 |
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|
| 47 |
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|
| 48 |
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"fingertip_source": "active_contact_pad_positions",
|
| 49 |
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"finger_a": [
|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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],
|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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],
|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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],
|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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0.0
|
| 68 |
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],
|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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"require_object_upright": true,
|
| 87 |
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"object_upright_reference_source": "scene_initial",
|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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0.0,
|
| 92 |
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0.0,
|
| 93 |
+
1.0
|
| 94 |
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],
|
| 95 |
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"stable_success_frames": 208,
|
| 96 |
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"max_stable_success_frames": 208,
|
| 97 |
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|
| 98 |
+
},
|
| 99 |
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"failed_keys": [],
|
| 100 |
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"failure_code": null,
|
| 101 |
+
"failure_messages": {},
|
| 102 |
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"safety": {
|
| 103 |
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"policy": {
|
| 104 |
+
"skill": "pick",
|
| 105 |
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"target_object": "beaker_b",
|
| 106 |
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|
| 107 |
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"allowed_objects": [
|
| 108 |
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"beaker_b"
|
| 109 |
+
],
|
| 110 |
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"allowed_object_paths": [
|
| 111 |
+
"/World/target_beaker"
|
| 112 |
+
],
|
| 113 |
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"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 |
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"dummy_base_revolute_z_joint",
|
| 121 |
+
"elbow_joint",
|
| 122 |
+
"festo",
|
| 123 |
+
"finger",
|
| 124 |
+
"fr3",
|
| 125 |
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"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 |
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"joint1",
|
| 140 |
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"joint2",
|
| 141 |
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"joint3",
|
| 142 |
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"joint4",
|
| 143 |
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"joint5",
|
| 144 |
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"joint6",
|
| 145 |
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"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 |
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"ridgebase_rizon4",
|
| 166 |
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"ridgebase_ur16e",
|
| 167 |
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"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 |
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"wrist_1_joint",
|
| 181 |
+
"wrist_2_joint",
|
| 182 |
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"wrist_3_joint"
|
| 183 |
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],
|
| 184 |
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|
| 185 |
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"base_link",
|
| 186 |
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"caster",
|
| 187 |
+
"defaultgroundplane",
|
| 188 |
+
"desk",
|
| 189 |
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"floor",
|
| 190 |
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"ground",
|
| 191 |
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"groundplane",
|
| 192 |
+
"link0",
|
| 193 |
+
"table",
|
| 194 |
+
"wheel",
|
| 195 |
+
"workbench"
|
| 196 |
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],
|
| 197 |
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"enabled": true
|
| 198 |
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},
|
| 199 |
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"status": "active",
|
| 200 |
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"passed": true,
|
| 201 |
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"source_missing": false,
|
| 202 |
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|
| 203 |
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"disturbances": [],
|
| 204 |
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"last_frame": {
|
| 205 |
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"passed": true,
|
| 206 |
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"source_missing": false,
|
| 207 |
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"forbidden": [],
|
| 208 |
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"allowed": [
|
| 209 |
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{
|
| 210 |
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"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 |
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"b": "/World/target_beaker/mesh"
|
| 212 |
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},
|
| 213 |
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{
|
| 214 |
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"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 |
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"b": "/World/target_beaker/mesh"
|
| 216 |
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}
|
| 217 |
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],
|
| 218 |
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|
| 219 |
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|
| 220 |
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},
|
| 221 |
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"failed_keys": []
|
| 222 |
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}
|
| 223 |
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},
|
| 224 |
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"gripper": null,
|
| 225 |
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"post_done_wait_frames": 0,
|
| 226 |
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"post_done_wait_exhausted": false
|
| 227 |
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},
|
| 228 |
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"physical_semantics": {
|
| 229 |
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"skill": "pick",
|
| 230 |
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"target": "beaker_b",
|
| 231 |
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"attach_used": false,
|
| 232 |
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|
| 233 |
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|
| 234 |
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"attach_allowed": false,
|
| 235 |
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"ordinary_object_physical_only": true
|
| 236 |
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}
|
| 237 |
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},
|
| 238 |
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{
|
| 239 |
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"step_index": 1,
|
| 240 |
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"skill": "shake",
|
| 241 |
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"target": "beaker_b",
|
| 242 |
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"success": true,
|
| 243 |
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"reason": "executed",
|
| 244 |
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"debug": {
|
| 245 |
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| 630 |
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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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| 636 |
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| 637 |
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| 638 |
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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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| 663 |
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| 665 |
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| 671 |
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| 672 |
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|
| 673 |
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| 674 |
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|
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|
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| 679 |
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| 681 |
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|
| 685 |
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}
|
| 686 |
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}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00013/results/episode_98_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 98,
|
| 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_b",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_b",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_b",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.16188272287976466,
|
| 26 |
+
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|
| 27 |
+
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|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0449729632444884,
|
| 30 |
+
"required_z": 0.8565865074085656,
|
| 31 |
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|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00013/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_b",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_b",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_b",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.1647456165771624,
|
| 26 |
+
0.2569100948383011,
|
| 27 |
+
1.0433495698618056
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0433495698618056,
|
| 30 |
+
"required_z": 0.8565865670132103,
|
| 31 |
+
"initial_z": 0.7565865670132104,
|
| 32 |
+
"lift_margin": 0.18676300284859526,
|
| 33 |
+
"gripper_z": 1.0488547229355596,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.16043127738477458,
|
| 38 |
+
0.25255166137041546,
|
| 39 |
+
1.0488547229355596
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004314339192387828,
|
| 43 |
+
0.004358433467885614,
|
| 44 |
+
-0.005505153073753988
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.00613265562060671,
|
| 47 |
+
"object_to_gripper_z": -0.005505153073753988,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.1647456165771624,
|
| 51 |
+
0.23279960814256698,
|
| 52 |
+
1.0433495698618056
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.15396040238099126,
|
| 56 |
+
0.2569100948383011,
|
| 57 |
+
1.0433495698618056
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.15935300947907682,
|
| 61 |
+
0.244854851490434,
|
| 62 |
+
1.0433495698618056
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005392607098085589,
|
| 66 |
+
0.012055243347867062,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.02641280776370552,
|
| 70 |
+
"fingertip_max_gap": 0.09309500605684426,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013206403881852779,
|
| 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": 1.0433495698618056,
|
| 78 |
+
"object_top_z": 1.0896109478066167,
|
| 79 |
+
"finger_top_clearance": 0.04626137794481111,
|
| 80 |
+
"fingertip_min_top_clearance": 0.013878413383443367,
|
| 81 |
+
"object_projection_between_fingers": 0.8332643724879439,
|
| 82 |
+
"object_to_finger_line_xy": 0.009845101123431088,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.04904750302842213,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 1.4600579586050426,
|
| 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": 205,
|
| 96 |
+
"max_stable_success_frames": 205,
|
| 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_b",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_b"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/target_beaker"
|
| 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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"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 |
+
"passed": true,
|
| 630 |
+
"source_missing": false,
|
| 631 |
+
"forbidden": [],
|
| 632 |
+
"allowed": [],
|
| 633 |
+
"ignored": [],
|
| 634 |
+
"failed_keys": []
|
| 635 |
+
},
|
| 636 |
+
"failed_keys": []
|
| 637 |
+
}
|
| 638 |
+
},
|
| 639 |
+
"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": 99,
|
| 660 |
+
"reproducibility": {
|
| 661 |
+
"enabled": true,
|
| 662 |
+
"action_seed": 6120436585598675838,
|
| 663 |
+
"physical_seed": 1711303898980266923,
|
| 664 |
+
"layout_id": "layout_00013",
|
| 665 |
+
"step_seeds": [
|
| 666 |
+
5975741771095771893,
|
| 667 |
+
3504213630932996537,
|
| 668 |
+
7867242958540830227
|
| 669 |
+
],
|
| 670 |
+
"workflow_spec_digest": "eca1583e89560f107184a88cc7087e0683d48a8a46b1a38851ff42290d593b17",
|
| 671 |
+
"strict_task_state": false,
|
| 672 |
+
"allow_physical_randomization": true,
|
| 673 |
+
"seed_source": "workflow.reproducibility",
|
| 674 |
+
"task_island_state_digest": "c2f4d0931affc8e8620a90521413f6276edaa5edb66e20a9ac6a3ec6f2822a56",
|
| 675 |
+
"visual_seed": 6147177413587663751,
|
| 676 |
+
"episode_index": 99,
|
| 677 |
+
"physical_randomization_enabled": true,
|
| 678 |
+
"motion_controller_type": "ik_servo",
|
| 679 |
+
"runtime_step_seeds": [
|
| 680 |
+
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|
| 681 |
+
3504213630932996537,
|
| 682 |
+
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|
| 683 |
+
],
|
| 684 |
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"runtime_workflow_digest": "52237915a39480d3676991d80d9b389a50cefb852eb5782cfbd38d53a43b2cdd"
|
| 685 |
+
}
|
| 686 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_brq_00013/results/episode_9_success.json
ADDED
|
@@ -0,0 +1,686 @@
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