Update 150case_data_enhance_blender_franka_v2/README.md (v2_draw_new)

150case_data_enhance_blender_franka_v2/README.md

@@ -7,7 +7,7 @@ Replaces `150case_data_enhance_blender_franka_v1`. LeRobot v2.1, one folder per
 | `cup/` | `Stack_the_cups_together.` | released |
 | `block/` | `Stack the red cube on top of the green cube.` | released |
 | `draw/` | `Put_the_block_in_the_drawer.` | released; **touches the drawer, not for replay on the robot** (see `draw/` below) |
-| `v2_draw_new/` | `Put_the_block_in_the_drawer.` | in preparation (the block dropped from above the drawer rim) |
+| `v2_draw_new/` | `Put_the_block_in_the_drawer.` | released; the block is dropped from above the drawer rim, so the hand stays out of the drawer (see `v2_draw_new/` below) |
 
 The task strings are the S1 datasets' own.
 
@@ -67,6 +67,19 @@ Per frame:
 - **Known limit: the block hand touches the drawer.** It lowers the block to 5 mm above the drawer floor with its fingers inside the drawer, and the planner allowed that contact. Measured afterwards on the robot's collision surfaces, the block hand's closest approach to the drawer has a median of 0.3 cm: 89 of the 100 episodes come within 1 cm and 15 touch it (down to -0.08 cm). To the rest of the cabinet its closest approach has a median of 2.76 cm and a minimum of 0.78 cm. A replay on the real robot hit the drawer. The admission list above does not cover this pair. `v2_draw_new/` replaces this insertion.
 - **Rendering.** 41 episodes on a local GPU and 59 on B200 GPUs, same renderer and Blender version; re-rendering one frame locally matched a B200 render to 0.02/255.
 
+## v2_draw_new/: the block dropped into the drawer
+
+Same objects, appearance and placement ranges as `draw/`, with a new insertion. The left hand no longer enters the drawer: it releases the block with the block's bottom 3 cm above the opened drawer's rim, and the block falls in. The planner no longer allows the hand to touch the drawer, and a guard keeps the block arm 3 cm from the whole cabinet, measured on the collision surfaces.
+
+- **Counts.** Sim2: 109 of 220 placements admitted (median 45.8 s for the released ones). Refine: 108 of 109; `drawer_v2_train_0133` failed at all four settings. Released: the first 100 refined in placement order, 46 with all rules at x1.6, 19 at x1.6 without overlap, 15 at x1.3 and 20 at x1.0 with the short exit only.
+- **Episode order.** Episode indices follow placement order, except episode 64, which is `drawer_v2_train_0206`: indices were fixed before refine finished, and this placement took the place of 0133.
+- **Episodes.** 105,360 frames; 18.5 / 35.1 / 63.5 s (min / median / max). Closest approach to the arch 6.25 cm; closest approach between the arms 6.56 cm.
+- **Block hand and cabinet.** Measured afterwards on the robot's collision surfaces at every frame: closest approach to the drawer 3.07 cm (median 5.29 cm), to the rest of the cabinet 2.94 cm (median 4.07 cm). Four episodes are under the 3 cm guard, by at most 0.06 cm.
+- **The drop.** The block falls 9.1 to 9.3 cm to the drawer floor and stays flat in every episode, rebounding at most 0.11 cm. This is simulation only: a real block may bounce or turn.
+- **Robot limits.** Highest joint speed 0.746 rad/s, smallest margin to the FR3 v1 joint limits 0.06 rad, no velocity limit violations at x1.0.
+- **Rendering.** 27 episodes on a local GPU and 73 on B200 GPUs, same renderer and Blender version.
+- **Replay.** `replay_cases/draw_new_pilot0008/` comes from a pilot of this controller and is not an episode of this set. Episode 2 is the same placement, with the release point 1.5 cm farther out along the drawer's pull axis and 0.3 s later; the hand-to-drawer distance is about the same (5.22 cm against 5.25 cm).
+
 ## replay_cases/
 
 Single episodes for replay on the robot, next to the task folders. See `replay_cases/README.md`.