Updated results from tote picking

.gitattributes

@@ -35,3 +35,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *tfevents* filter=lfs diff=lfs merge=lfs -text
 experiment.mcap filter=lfs diff=lfs merge=lfs -text
 sim_recording.mcap filter=lfs diff=lfs merge=lfs -text
+sim_recording/sim_recording_0.mcap filter=lfs diff=lfs merge=lfs -text

sim_recording/metadata.yaml

@@ -0,0 +1,68 @@
+rosbag2_bagfile_information:
+  version: 5
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 16489282421
+  starting_time:
+    nanoseconds_since_epoch: 1776079110723897550
+  message_count: 4400
+  topics_with_message_count:
+    - topic_metadata:
+        name: /whole_body_controller_interface/robot_commands
+        type: hmnd_msgs/msg/WBCCommand
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 1\n  depth: 10\n  reliability: 1\n  durability: 2\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions: false"
+      message_count: 463
+    - topic_metadata:
+        name: /whole_body_controller_interface/pose_broadcaster/torso_link/pose
+        type: geometry_msgs/msg/PoseStamped
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 1\n  depth: 10\n  reliability: 1\n  durability: 2\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions: false"
+      message_count: 813
+    - topic_metadata:
+        name: /torso_ruckig_position_controller/commands
+        type: std_msgs/msg/Float64MultiArray
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 1\n  depth: 1\n  reliability: 1\n  durability: 2\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions: false"
+      message_count: 818
+    - topic_metadata:
+        name: /joint_states
+        type: sensor_msgs/msg/JointState
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 1\n  depth: 1\n  reliability: 1\n  durability: 2\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions: false"
+      message_count: 217
+    - topic_metadata:
+        name: /whole_body_controller_interface/pose_broadcaster/left_tcp_link/pose
+        type: geometry_msgs/msg/PoseStamped
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 1\n  depth: 10\n  reliability: 1\n  durability: 2\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions: false"
+      message_count: 813
+    - topic_metadata:
+        name: /impedance_forward_controller/commands
+        type: std_msgs/msg/Float64MultiArray
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 1\n  depth: 1\n  reliability: 1\n  durability: 2\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions: false"
+      message_count: 0
+    - topic_metadata:
+        name: /whole_body_controller_interface/pose_broadcaster/right_tcp_link/pose
+        type: geometry_msgs/msg/PoseStamped
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 1\n  depth: 10\n  reliability: 1\n  durability: 2\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions: false"
+      message_count: 813
+    - topic_metadata:
+        name: /gripper_forward_position_controller/commands
+        type: std_msgs/msg/Float64MultiArray
+        serialization_format: cdr
+        offered_qos_profiles: "- history: 1\n  depth: 10\n  reliability: 1\n  durability: 2\n  deadline:\n    sec: 9223372036\n    nsec: 854775807\n  lifespan:\n    sec: 9223372036\n    nsec: 854775807\n  liveliness: 1\n  liveliness_lease_duration:\n    sec: 9223372036\n    nsec: 854775807\n  avoid_ros_namespace_conventions: false"
+      message_count: 463
+  compression_format: ""
+  compression_mode: ""
+  relative_file_paths:
+    - sim_recording_0.mcap
+  files:
+    - path: sim_recording_0.mcap
+      starting_time:
+        nanoseconds_since_epoch: 1776079110723897550
+      duration:
+        nanoseconds: 16489282421
+      message_count: 4400

sim_recording/sim_recording_0.mcap

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:647a31e7efc1126b563ff32160ffb2de8afe04b7ee755f16d9cb33348a94bf1f
+size 1111027

sim_vs_expr.h5

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2d758a9a1b886a41aba096825b8d0df5a85e79eef96f411067ad4c9045cab681
-size 723558
+oid sha256:bec3e904897b673b77d14897ac8c35f40416f514cede50d6fd26d834a2a8f312
+size 727198