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Add 150case_data_enhance_blender_franka_v2/replay_cases (3 cases)

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  1. 150case_data_enhance_blender_franka_v2/replay_cases/README.md +4 -1
  2. 150case_data_enhance_blender_franka_v2/replay_cases/draw_new_pilot0008/cam_high.mp4 +3 -0
  3. 150case_data_enhance_blender_franka_v2/replay_cases/draw_new_pilot0008/cam_left_wrist.mp4 +3 -0
  4. 150case_data_enhance_blender_franka_v2/replay_cases/draw_new_pilot0008/cam_right_wrist.mp4 +3 -0
  5. 150case_data_enhance_blender_franka_v2/replay_cases/draw_new_pilot0008/export_check.json +386 -0
  6. 150case_data_enhance_blender_franka_v2/replay_cases/draw_new_pilot0008/replay.zip +3 -0
  7. 150case_data_enhance_blender_franka_v2/replay_cases/draw_new_pilot0008/scene.xml +677 -0
  8. 150case_data_enhance_blender_franka_v2/replay_cases/draw_new_pilot0008/trajectory.json +326 -0
  9. 150case_data_enhance_blender_franka_v2/replay_cases/draw_new_pilot0008/trajectory_30hz.csv +557 -0
150case_data_enhance_blender_franka_v2/replay_cases/README.md CHANGED
@@ -8,8 +8,11 @@ Single episodes for replay on the real FR3 Duo. One folder per case:
8
  | Folder | Task | Episode | Length | Closest to the arch | Closest between the arms |
9
  |---|---|---|---|---|---|
10
  | `block_ep062/` | stack the red cube on the green cube | `block/` episode 62 | 14.9 s | 9.32 cm | 12.57 cm |
11
- | `draw_ep076/` | put the block in the drawer | episode 76 of the coming `draw/` | 33.5 s | 6.44 cm | 7.02 cm |
 
12
 
13
  **Do not replay `draw_ep076/`: on the real robot the left arm hit the drawer.** In simulation its fingers come within 0.09 cm of the drawer's side wall, and the planner allowed that contact.
14
 
 
 
15
  All other checks are in simulation. `block_ep062/` has not run on the robot yet as far as recorded here. In `block_ep062/`, `blue_cube` is the cube rendered green and `purple_cube` the one rendered red.
 
8
  | Folder | Task | Episode | Length | Closest to the arch | Closest between the arms |
9
  |---|---|---|---|---|---|
10
  | `block_ep062/` | stack the red cube on the green cube | `block/` episode 62 | 14.9 s | 9.32 cm | 12.57 cm |
11
+ | `draw_ep076/` | put the block in the drawer | `draw/` episode 76 | 33.5 s | 6.44 cm | 7.02 cm |
12
+ | `draw_new_pilot0008/` | put the block in the drawer, released above the rim | pilot placement 8 of `v2_draw_new` (not in a released set yet) | 18.5 s | 7.47 cm | 9.41 cm |
13
 
14
  **Do not replay `draw_ep076/`: on the real robot the left arm hit the drawer.** In simulation its fingers come within 0.09 cm of the drawer's side wall, and the planner allowed that contact.
15
 
16
+ `draw_new_pilot0008/` releases the block with its bottom 3 cm above the drawer's rim, so the fingers stay out of the drawer: in simulation the left hand stays 5.25 cm from the drawer and 3.31 cm from the rest of the cabinet.
17
+
18
  All other checks are in simulation. `block_ep062/` has not run on the robot yet as far as recorded here. In `block_ep062/`, `blue_cube` is the cube rendered green and `purple_cube` the one rendered red.
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150case_data_enhance_blender_franka_v2/replay_cases/draw_new_pilot0008/cam_left_wrist.mp4 ADDED
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150case_data_enhance_blender_franka_v2/replay_cases/draw_new_pilot0008/cam_right_wrist.mp4 ADDED
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150case_data_enhance_blender_franka_v2/replay_cases/draw_new_pilot0008/export_check.json ADDED
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+ {
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+ "task": "drawer",
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+ "variation": "drawer_v2_train_0008",
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+ "run": "/pfs/yichen/rssr_data_enhance+causal_map/result/franka_fr3_duo_v2_20261106_attempt_01/dev/pilot_v2d_20261107/runs/drawer_v2_train_0008",
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150case_data_enhance_blender_franka_v2/replay_cases/draw_new_pilot0008/replay.zip ADDED
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150case_data_enhance_blender_franka_v2/replay_cases/draw_new_pilot0008/scene.xml ADDED
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+ <geom class="left_g_visual" material="left_g_black" mesh="left_g_follower" />
380
+ <geom class="left_g_collision" mesh="left_g_follower" />
381
+ <body name="left_g_right_pad" pos="0 -0.0189 0.01352" gravcomp="1">
382
+ <inertial pos="0 -0.0025 0.0185" quat="0.707107 0 0 0.707107" mass="0.0035" diaginertia="4.73958e-07 3.64583e-07 1.23958e-07" />
383
+ <geom name="left_g_right_pad1" class="left_g_pad_box1" pos="0 -0.0026 0.028125" mass="0" />
384
+ <geom name="left_g_right_pad2" class="left_g_pad_box2" pos="0 -0.0026 0.009375" mass="0" />
385
+ <geom class="left_g_visual" mesh="left_g_pad" />
386
+ <body name="left_g_right_silicone_pad" gravcomp="1">
387
+ <geom class="left_g_visual" material="left_g_black" mesh="left_g_silicone_pad" />
388
+ </body>
389
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390
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391
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392
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393
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394
+ <joint name="left_g_left_driver_joint" class="left_g_driver" pos="0 0 0" axis="1 0 0" />
395
+ <geom class="left_g_visual" material="left_g_gray" mesh="left_g_driver" />
396
+ <geom class="left_g_collision" mesh="left_g_driver" />
397
+ <body name="left_g_left_coupler" pos="0 0.0315 -0.0041" gravcomp="1">
398
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399
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400
+ <geom class="left_g_visual" material="left_g_black" mesh="left_g_coupler" />
401
+ <geom class="left_g_collision" mesh="left_g_coupler" />
402
+ </body>
403
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404
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405
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406
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407
+ <geom class="left_g_visual" material="left_g_black" mesh="left_g_spring_link" />
408
+ <geom class="left_g_collision" mesh="left_g_spring_link" />
409
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410
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411
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412
+ <geom class="left_g_visual" material="left_g_black" mesh="left_g_follower" />
413
+ <geom class="left_g_collision" mesh="left_g_follower" />
414
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415
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416
+ <geom name="left_g_left_pad1" class="left_g_pad_box1" pos="0 -0.0026 0.028125" mass="0" />
417
+ <geom name="left_g_left_pad2" class="left_g_pad_box2" pos="0 -0.0026 0.009375" mass="0" />
418
+ <geom class="left_g_visual" mesh="left_g_pad" />
419
+ <body name="left_g_left_silicone_pad" gravcomp="1">
420
+ <geom class="left_g_visual" material="left_g_black" mesh="left_g_silicone_pad" />
421
+ </body>
422
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423
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424
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425
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426
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427
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428
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429
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430
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431
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432
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433
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434
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435
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436
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437
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438
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439
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440
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441
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442
+ <geom class="right_visual" material="right_white" mesh="right_link0_2" />
443
+ <geom class="right_visual" material="right_white" mesh="right_link0_3" />
444
+ <geom class="right_visual" material="right_white" mesh="right_link0_4" />
445
+ <geom class="right_visual" material="right_red" mesh="right_link0_5" />
446
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447
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448
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449
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450
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451
+ <geom class="right_visual" material="right_white" mesh="right_link1_3" />
452
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454
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455
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456
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457
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458
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459
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460
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461
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462
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464
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465
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466
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467
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469
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470
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471
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472
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474
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475
+ <geom name="right_fr3v2_link6_collision" class="right_collision" mesh="right_link6_coll" />
476
+ <geom class="right_visual" material="right_gray" mesh="right_link6_0" />
477
+ <geom class="right_visual" material="right_white" mesh="right_link6_1" />
478
+ <geom class="right_visual" material="right_white" mesh="right_link6_2" />
479
+ <geom class="right_visual" material="right_gray" mesh="right_link6_3" />
480
+ <geom class="right_visual" material="right_button_red" mesh="right_link6_4" />
481
+ <geom class="right_visual" material="right_button_red" mesh="right_link6_5" />
482
+ <geom class="right_visual" material="right_black" mesh="right_link6_6" />
483
+ <geom class="right_visual" material="right_white" mesh="right_link6_7" />
484
+ <geom class="right_visual" material="right_button_red" mesh="right_link6_8" />
485
+ <geom class="right_visual" material="right_white" mesh="right_link6_9" />
486
+ <body name="right_fr3v2_link7" pos="0.088 0 0" quat="0.707107 0.707107 0 0" gravcomp="1">
487
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488
+ <joint name="right_fr3v2_joint7" pos="0 0 0" axis="0 0 1" range="-2.9859 2.9859" actuatorfrcrange="-12 12" damping="0.003" frictionloss="0.2" />
489
+ <geom name="right_fr3v2_link7_collision" class="right_collision" mesh="right_link7_coll" />
490
+ <geom class="right_visual" material="right_white" mesh="right_link7_0" />
491
+ <geom class="right_visual" material="right_white" mesh="right_link7_1" />
492
+ <geom class="right_visual" material="right_white" mesh="right_link7_2" />
493
+ <geom class="right_visual" material="right_white" mesh="right_link7_3" />
494
+ <geom class="right_visual" material="right_white" mesh="right_link7_4" />
495
+ <geom class="right_visual" material="right_white" mesh="right_link7_5" />
496
+ <geom class="right_visual" material="right_white" mesh="right_link7_6" />
497
+ <body name="right_fr3v2_link8" pos="0 0 0.107" gravcomp="1">
498
+ <geom name="right_coupling" size="0.0375 0.0085" pos="0 0 0.0085" type="cylinder" group="3" rgba="0.1 0.1 0.1 1" />
499
+ <geom name="right_coupling_visual" size="0.0375 0.0085" pos="0 0 0.0085" type="cylinder" contype="0" conaffinity="0" group="2" rgba="0.1 0.1 0.1 1" />
500
+ <body name="right_g_base_mount" childclass="right_g_2f85" pos="0 0 0.0132" quat="0.707107 0 0 0.707107" gravcomp="1">
501
+ <geom class="right_g_visual" material="right_g_black" mesh="right_g_base_mount" />
502
+ <geom class="right_g_collision" mesh="right_g_base_mount" />
503
+ <body name="right_g_base" pos="0 0 0.0038" quat="0.707107 0 0 -0.707107" gravcomp="1">
504
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505
+ <geom class="right_g_visual" material="right_g_black" mesh="right_g_base" />
506
+ <geom class="right_g_collision" mesh="right_g_base" />
507
+ <site name="right_g_pinch" pos="0 0 0.145" group="5" rgba="0.9 0.9 0.9 1" />
508
+ <site name="right_tcp" pos="0 0 0.145" />
509
+ <camera name="right_wrist" pos="0.075 0 0.0262" quat="0.277858 0 0.960622 0" fovy="58" />
510
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511
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512
+ <joint name="right_g_right_driver_joint" class="right_g_driver" pos="0 0 0" axis="1 0 0" />
513
+ <geom class="right_g_visual" material="right_g_gray" mesh="right_g_driver" />
514
+ <geom class="right_g_collision" mesh="right_g_driver" />
515
+ <body name="right_g_right_coupler" pos="0 0.0315 -0.0041" gravcomp="1">
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517
+ <joint name="right_g_right_coupler_joint" class="right_g_coupler" pos="0 0 0" axis="1 0 0" />
518
+ <geom class="right_g_visual" material="right_g_black" mesh="right_g_coupler" />
519
+ <geom class="right_g_collision" mesh="right_g_coupler" />
520
+ </body>
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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527
+ <body name="right_g_right_follower" pos="0 0.055 0.0375" gravcomp="1">
528
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529
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530
+ <geom class="right_g_visual" material="right_g_black" mesh="right_g_follower" />
531
+ <geom class="right_g_collision" mesh="right_g_follower" />
532
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533
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534
+ <geom name="right_g_right_pad1" class="right_g_pad_box1" pos="0 -0.0026 0.028125" mass="0" />
535
+ <geom name="right_g_right_pad2" class="right_g_pad_box2" pos="0 -0.0026 0.009375" mass="0" />
536
+ <geom class="right_g_visual" mesh="right_g_pad" />
537
+ <body name="right_g_right_silicone_pad" gravcomp="1">
538
+ <geom class="right_g_visual" material="right_g_black" mesh="right_g_silicone_pad" />
539
+ </body>
540
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541
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542
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543
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545
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546
+ <geom class="right_g_visual" material="right_g_gray" mesh="right_g_driver" />
547
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548
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550
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551
+ <geom class="right_g_visual" material="right_g_black" mesh="right_g_coupler" />
552
+ <geom class="right_g_collision" mesh="right_g_coupler" />
553
+ </body>
554
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555
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556
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557
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558
+ <geom class="right_g_visual" material="right_g_black" mesh="right_g_spring_link" />
559
+ <geom class="right_g_collision" mesh="right_g_spring_link" />
560
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562
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563
+ <geom class="right_g_visual" material="right_g_black" mesh="right_g_follower" />
564
+ <geom class="right_g_collision" mesh="right_g_follower" />
565
+ <body name="right_g_left_pad" pos="0 -0.0189 0.01352" gravcomp="1">
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567
+ <geom name="right_g_left_pad1" class="right_g_pad_box1" pos="0 -0.0026 0.028125" mass="0" />
568
+ <geom name="right_g_left_pad2" class="right_g_pad_box2" pos="0 -0.0026 0.009375" mass="0" />
569
+ <geom class="right_g_visual" mesh="right_g_pad" />
570
+ <body name="right_g_left_silicone_pad" gravcomp="1">
571
+ <geom class="right_g_visual" material="right_g_black" mesh="right_g_silicone_pad" />
572
+ </body>
573
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574
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575
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576
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577
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578
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579
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580
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581
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582
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584
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585
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586
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587
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588
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589
+ <geom name="site_cart_box" size="0.27 0.25 0.015" type="box" rgba="0.85 0.85 0.83 1" />
590
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591
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592
+ <geom name="site_riser_box" size="0.11 0.14 0.10295" type="box" rgba="0.85 0.85 0.83 1" />
593
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594
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595
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596
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150case_data_enhance_blender_franka_v2/replay_cases/draw_new_pilot0008/trajectory.json ADDED
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+ "replay_bit_exact": true
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+ }
150case_data_enhance_blender_franka_v2/replay_cases/draw_new_pilot0008/trajectory_30hz.csv ADDED
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