Upload folder using huggingface_hub (part 21)
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- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_59_success.json +684 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_5_success.json +684 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_60_success.json +684 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_62_success.json +684 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_63_success.json +684 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_64_success.json +684 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_67_success.json +684 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_68_success.json +684 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_69_success.json +684 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_6_success.json +684 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_70_success.json +684 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_71_success.json +684 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_72_success.json +684 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_74_success.json +684 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_75_success.json +684 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_76_success.json +684 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_78_success.json +684 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_79_success.json +684 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_80_success.json +684 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_82_success.json +684 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_83_success.json +684 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_84_success.json +684 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_85_success.json +684 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_86_success.json +684 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_88_success.json +684 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_8_success.json +684 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_90_success.json +684 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_93_success.json +684 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_94_success.json +684 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_95_success.json +684 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_97_success.json +684 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_98_success.json +684 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_99_success.json +684 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/summary.json +9 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0001.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0002.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0006.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0007.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0009.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0010.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0011.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0012.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0014.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0015.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0018.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0019.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0020.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0021.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0023.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00017/dataset/episode_0024.h5 +3 -0
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_59_success.json
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|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_5_success.json
ADDED
|
@@ -0,0 +1,684 @@
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|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 5,
|
| 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 |
+
0.3516949675061697,
|
| 26 |
+
-0.044471555740596753,
|
| 27 |
+
1.0468496641518104
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0468496641518104,
|
| 30 |
+
"required_z": 0.8565864478039208,
|
| 31 |
+
"initial_z": 0.7565864478039208,
|
| 32 |
+
"lift_margin": 0.19026321634788956,
|
| 33 |
+
"gripper_z": 1.0484717159513424,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.34725968441509225,
|
| 38 |
+
-0.04895703699963999,
|
| 39 |
+
1.0484717159513424
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.0044352830910774355,
|
| 43 |
+
0.004485481259043238,
|
| 44 |
+
-0.0016220517995320094
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006308032833080811,
|
| 47 |
+
"object_to_gripper_z": -0.0016220517995320094,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.3516949675061697,
|
| 51 |
+
-0.06847461112964146,
|
| 52 |
+
1.0468496641518104
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.3404250805082665,
|
| 56 |
+
-0.044471555740596753,
|
| 57 |
+
1.0468496641518104
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.3460600240072181,
|
| 61 |
+
-0.0564730834351191,
|
| 62 |
+
1.0468496641518104
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005634943498951606,
|
| 66 |
+
0.012001527694522347,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.0265171080805403,
|
| 70 |
+
"fingertip_max_gap": 0.09419002508500521,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013258554040270147,
|
| 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": 1.0468496641518104,
|
| 78 |
+
"object_top_z": 1.0930894906661468,
|
| 79 |
+
"finger_top_clearance": 0.046239826514336446,
|
| 80 |
+
"fingertip_min_top_clearance": 0.013871947954300934,
|
| 81 |
+
"object_projection_between_fingers": 0.8193712795856075,
|
| 82 |
+
"object_to_finger_line_xy": 0.01020140360017095,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.049595012542502606,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 2.2002425138450152,
|
| 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": 214,
|
| 96 |
+
"max_stable_success_frames": 214,
|
| 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",
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| 529 |
+
"allowed_objects": [
|
| 530 |
+
"beaker_b"
|
| 531 |
+
],
|
| 532 |
+
"allowed_object_paths": [
|
| 533 |
+
"/World/target_beaker"
|
| 534 |
+
],
|
| 535 |
+
"allowed_prim_substrings": [],
|
| 536 |
+
"robot_prim_substrings": [
|
| 537 |
+
"Robotiq2F85",
|
| 538 |
+
"Robotiq_2F_85",
|
| 539 |
+
"contact_sensor",
|
| 540 |
+
"dummy_base_prismatic_x_joint",
|
| 541 |
+
"dummy_base_prismatic_y_joint",
|
| 542 |
+
"dummy_base_revolute_z_joint",
|
| 543 |
+
"elbow_joint",
|
| 544 |
+
"festo",
|
| 545 |
+
"finger",
|
| 546 |
+
"fr3",
|
| 547 |
+
"fr3_duo_mobile",
|
| 548 |
+
"fr3_joint1",
|
| 549 |
+
"fr3_joint2",
|
| 550 |
+
"fr3_joint3",
|
| 551 |
+
"fr3_joint4",
|
| 552 |
+
"fr3_joint5",
|
| 553 |
+
"fr3_joint6",
|
| 554 |
+
"fr3_joint7",
|
| 555 |
+
"fr3_leftfinger",
|
| 556 |
+
"fr3_rightfinger",
|
| 557 |
+
"franka",
|
| 558 |
+
"geometry",
|
| 559 |
+
"gripper",
|
| 560 |
+
"gripper_center",
|
| 561 |
+
"joint1",
|
| 562 |
+
"joint2",
|
| 563 |
+
"joint3",
|
| 564 |
+
"joint4",
|
| 565 |
+
"joint5",
|
| 566 |
+
"joint6",
|
| 567 |
+
"joint7",
|
| 568 |
+
"left_inner_finger",
|
| 569 |
+
"lift2",
|
| 570 |
+
"mobile_rotate",
|
| 571 |
+
"mobile_translate_x",
|
| 572 |
+
"mobile_translate_y",
|
| 573 |
+
"panda_joint1",
|
| 574 |
+
"panda_joint2",
|
| 575 |
+
"panda_joint3",
|
| 576 |
+
"panda_joint4",
|
| 577 |
+
"panda_joint5",
|
| 578 |
+
"panda_joint6",
|
| 579 |
+
"panda_joint7",
|
| 580 |
+
"panda_leftfinger",
|
| 581 |
+
"panda_leftfingertip",
|
| 582 |
+
"panda_rightfinger",
|
| 583 |
+
"panda_rightfingertip",
|
| 584 |
+
"ridgebase",
|
| 585 |
+
"ridgebase_festo",
|
| 586 |
+
"ridgebase_fr3",
|
| 587 |
+
"ridgebase_rizon4",
|
| 588 |
+
"ridgebase_ur16e",
|
| 589 |
+
"ridgebase_ur5e",
|
| 590 |
+
"right_inner_finger",
|
| 591 |
+
"rizon4",
|
| 592 |
+
"robot",
|
| 593 |
+
"robotiq_2f85",
|
| 594 |
+
"shoulder_lift_joint",
|
| 595 |
+
"shoulder_pan_joint",
|
| 596 |
+
"split_aloha",
|
| 597 |
+
"tool_center",
|
| 598 |
+
"ur16e",
|
| 599 |
+
"ur5e",
|
| 600 |
+
"visuals",
|
| 601 |
+
"wrist",
|
| 602 |
+
"wrist_1_joint",
|
| 603 |
+
"wrist_2_joint",
|
| 604 |
+
"wrist_3_joint"
|
| 605 |
+
],
|
| 606 |
+
"ignored_prim_substrings": [
|
| 607 |
+
"base_link",
|
| 608 |
+
"caster",
|
| 609 |
+
"defaultgroundplane",
|
| 610 |
+
"desk",
|
| 611 |
+
"floor",
|
| 612 |
+
"ground",
|
| 613 |
+
"groundplane",
|
| 614 |
+
"link0",
|
| 615 |
+
"table",
|
| 616 |
+
"wheel",
|
| 617 |
+
"workbench"
|
| 618 |
+
],
|
| 619 |
+
"enabled": true
|
| 620 |
+
},
|
| 621 |
+
"status": "active",
|
| 622 |
+
"passed": true,
|
| 623 |
+
"source_missing": false,
|
| 624 |
+
"forbidden": [],
|
| 625 |
+
"disturbances": [],
|
| 626 |
+
"last_frame": {
|
| 627 |
+
"passed": true,
|
| 628 |
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"source_missing": false,
|
| 629 |
+
"forbidden": [],
|
| 630 |
+
"allowed": [],
|
| 631 |
+
"ignored": [],
|
| 632 |
+
"failed_keys": []
|
| 633 |
+
},
|
| 634 |
+
"failed_keys": []
|
| 635 |
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}
|
| 636 |
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},
|
| 637 |
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"gripper": null,
|
| 638 |
+
"post_done_wait_frames": 0,
|
| 639 |
+
"post_done_wait_exhausted": false
|
| 640 |
+
},
|
| 641 |
+
"physical_semantics": {
|
| 642 |
+
"skill": "place",
|
| 643 |
+
"target": "beaker_b",
|
| 644 |
+
"attach_used": false,
|
| 645 |
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"attach_object": null,
|
| 646 |
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"attach_object_path": null,
|
| 647 |
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"attach_allowed": false,
|
| 648 |
+
"ordinary_object_physical_only": true
|
| 649 |
+
}
|
| 650 |
+
}
|
| 651 |
+
],
|
| 652 |
+
"physical_semantics": {
|
| 653 |
+
"attach_records": [],
|
| 654 |
+
"ordinary_attach_violations": [],
|
| 655 |
+
"forbidden_shortcuts_absent": true
|
| 656 |
+
},
|
| 657 |
+
"h5_episode_index": 5,
|
| 658 |
+
"reproducibility": {
|
| 659 |
+
"enabled": true,
|
| 660 |
+
"action_seed": 2891541627295583141,
|
| 661 |
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"physical_seed": 1061768133550289122,
|
| 662 |
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"layout_id": "layout_00016",
|
| 663 |
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"step_seeds": [
|
| 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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"workflow_spec_digest": "95ad38958098d3260af1515a3214ff34ebd665fef85fe9c24ecd4da53790db79",
|
| 669 |
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"strict_task_state": false,
|
| 670 |
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"allow_physical_randomization": true,
|
| 671 |
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"seed_source": "workflow.reproducibility",
|
| 672 |
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"task_island_state_digest": "4742493e77bdef3c894b59249bee14315cacc284537b586358a094d40b05152b",
|
| 673 |
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"visual_seed": 9167309181022062513,
|
| 674 |
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"episode_index": 5,
|
| 675 |
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"physical_randomization_enabled": true,
|
| 676 |
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"motion_controller_type": "ik_servo",
|
| 677 |
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"runtime_step_seeds": [
|
| 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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"runtime_workflow_digest": "fb4779d4fb09319711732fcb7201b3f112d6ae3cd3b91423327eed1eb4ac996b"
|
| 683 |
+
}
|
| 684 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_60_success.json
ADDED
|
@@ -0,0 +1,684 @@
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|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_62_success.json
ADDED
|
@@ -0,0 +1,684 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 62,
|
| 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 |
+
0.3582138540228456,
|
| 26 |
+
-0.05220961262904017,
|
| 27 |
+
1.0493120034487773
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0493120034487773,
|
| 30 |
+
"required_z": 0.8565864478039208,
|
| 31 |
+
"initial_z": 0.7565864478039208,
|
| 32 |
+
"lift_margin": 0.1927255556448565,
|
| 33 |
+
"gripper_z": 1.0512196656517876,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.35349934936363725,
|
| 38 |
+
-0.0567349782046762,
|
| 39 |
+
1.0512196656517876
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004714504659208363,
|
| 43 |
+
0.004525365575636028,
|
| 44 |
+
-0.0019076622030103074
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006534943593853659,
|
| 47 |
+
"object_to_gripper_z": -0.0019076622030103074,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.3582138540228456,
|
| 51 |
+
-0.07658682390006089,
|
| 52 |
+
1.0493120034487773
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.3471233116188187,
|
| 56 |
+
-0.05220961262904017,
|
| 57 |
+
1.0493120034487773
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.35266858282083213,
|
| 61 |
+
-0.06439821826455053,
|
| 62 |
+
1.0493120034487773
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.00554527120201348,
|
| 66 |
+
0.012188605635510358,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.02678149660059158,
|
| 70 |
+
"fingertip_max_gap": 0.09659958009074218,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013390748300295801,
|
| 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": 1.0493120034487773,
|
| 78 |
+
"object_top_z": 1.0963206418348912,
|
| 79 |
+
"finger_top_clearance": 0.04700863838611391,
|
| 80 |
+
"fingertip_min_top_clearance": 0.014102591515834172,
|
| 81 |
+
"object_projection_between_fingers": 0.8285111499048604,
|
| 82 |
+
"object_to_finger_line_xy": 0.010094898702830753,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.05079979004537109,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 3.320159083970682,
|
| 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": 216,
|
| 96 |
+
"max_stable_success_frames": 216,
|
| 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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|
| 498 |
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|
| 499 |
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|
| 500 |
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|
| 501 |
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|
| 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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| 513 |
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| 514 |
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| 515 |
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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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"allowed_object_paths": [
|
| 533 |
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"/World/target_beaker"
|
| 534 |
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],
|
| 535 |
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|
| 536 |
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"robot_prim_substrings": [
|
| 537 |
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"Robotiq2F85",
|
| 538 |
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"Robotiq_2F_85",
|
| 539 |
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"contact_sensor",
|
| 540 |
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"dummy_base_prismatic_x_joint",
|
| 541 |
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|
| 542 |
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"dummy_base_revolute_z_joint",
|
| 543 |
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"elbow_joint",
|
| 544 |
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"festo",
|
| 545 |
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|
| 546 |
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"fr3",
|
| 547 |
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"fr3_duo_mobile",
|
| 548 |
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"fr3_joint1",
|
| 549 |
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|
| 550 |
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"fr3_joint3",
|
| 551 |
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"fr3_joint4",
|
| 552 |
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"fr3_joint5",
|
| 553 |
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"fr3_joint6",
|
| 554 |
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"fr3_joint7",
|
| 555 |
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|
| 556 |
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|
| 557 |
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|
| 558 |
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|
| 559 |
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|
| 560 |
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|
| 561 |
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|
| 562 |
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|
| 563 |
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|
| 564 |
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|
| 565 |
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"joint5",
|
| 566 |
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"joint6",
|
| 567 |
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"joint7",
|
| 568 |
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"left_inner_finger",
|
| 569 |
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"lift2",
|
| 570 |
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"mobile_rotate",
|
| 571 |
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"mobile_translate_x",
|
| 572 |
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"mobile_translate_y",
|
| 573 |
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"panda_joint1",
|
| 574 |
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"panda_joint2",
|
| 575 |
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"panda_joint3",
|
| 576 |
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"panda_joint4",
|
| 577 |
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"panda_joint5",
|
| 578 |
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"panda_joint6",
|
| 579 |
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"panda_joint7",
|
| 580 |
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"panda_leftfinger",
|
| 581 |
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"panda_leftfingertip",
|
| 582 |
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"panda_rightfinger",
|
| 583 |
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"panda_rightfingertip",
|
| 584 |
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"ridgebase",
|
| 585 |
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"ridgebase_festo",
|
| 586 |
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"ridgebase_fr3",
|
| 587 |
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"ridgebase_rizon4",
|
| 588 |
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"ridgebase_ur16e",
|
| 589 |
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"ridgebase_ur5e",
|
| 590 |
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"right_inner_finger",
|
| 591 |
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"rizon4",
|
| 592 |
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"robot",
|
| 593 |
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"robotiq_2f85",
|
| 594 |
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"shoulder_lift_joint",
|
| 595 |
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"shoulder_pan_joint",
|
| 596 |
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"split_aloha",
|
| 597 |
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"tool_center",
|
| 598 |
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"ur16e",
|
| 599 |
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"ur5e",
|
| 600 |
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"visuals",
|
| 601 |
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"wrist",
|
| 602 |
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"wrist_1_joint",
|
| 603 |
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|
| 604 |
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|
| 605 |
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],
|
| 606 |
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|
| 607 |
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"base_link",
|
| 608 |
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|
| 609 |
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"defaultgroundplane",
|
| 610 |
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"desk",
|
| 611 |
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"floor",
|
| 612 |
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"ground",
|
| 613 |
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|
| 614 |
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|
| 615 |
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|
| 616 |
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|
| 617 |
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|
| 618 |
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],
|
| 619 |
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"enabled": true
|
| 620 |
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|
| 621 |
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"status": "active",
|
| 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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|
| 639 |
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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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"physical_semantics": {
|
| 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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"h5_episode_index": 62,
|
| 658 |
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|
| 659 |
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|
| 660 |
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|
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|
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|
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|
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|
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| 670 |
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|
| 671 |
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|
| 672 |
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| 673 |
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|
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|
| 675 |
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|
| 676 |
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|
| 677 |
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|
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|
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|
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|
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|
| 683 |
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}
|
| 684 |
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}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_63_success.json
ADDED
|
@@ -0,0 +1,684 @@
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| 1 |
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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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"passed": true,
|
| 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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| 27 |
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| 28 |
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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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| 44 |
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| 45 |
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| 47 |
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| 48 |
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| 49 |
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| 50 |
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|
| 51 |
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| 52 |
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| 67 |
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| 77 |
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| 92 |
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| 93 |
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| 94 |
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| 98 |
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| 99 |
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| 100 |
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| 101 |
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| 102 |
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| 103 |
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| 104 |
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| 105 |
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| 108 |
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| 109 |
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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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"geometry",
|
| 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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"lift2",
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| 148 |
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"mobile_rotate",
|
| 149 |
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"mobile_translate_x",
|
| 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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"panda_leftfinger",
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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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"rizon4",
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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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"wrist_2_joint",
|
| 182 |
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| 183 |
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| 184 |
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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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{
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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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| 211 |
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| 212 |
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},
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| 214 |
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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",
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| 215 |
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| 216 |
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},
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| 242 |
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| 243 |
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| 244 |
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| 247 |
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| 249 |
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| 250 |
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| 253 |
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| 254 |
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|
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|
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|
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"visual_seed": 2147163261747754701,
|
| 674 |
+
"episode_index": 63,
|
| 675 |
+
"physical_randomization_enabled": true,
|
| 676 |
+
"motion_controller_type": "ik_servo",
|
| 677 |
+
"runtime_step_seeds": [
|
| 678 |
+
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|
| 679 |
+
5066845160497422571,
|
| 680 |
+
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|
| 681 |
+
],
|
| 682 |
+
"runtime_workflow_digest": "fb4779d4fb09319711732fcb7201b3f112d6ae3cd3b91423327eed1eb4ac996b"
|
| 683 |
+
}
|
| 684 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_64_success.json
ADDED
|
@@ -0,0 +1,684 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 64,
|
| 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 |
+
0.35687622196561897,
|
| 26 |
+
-0.04917589057618059,
|
| 27 |
+
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|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0481973647234615,
|
| 30 |
+
"required_z": 0.856586388199276,
|
| 31 |
+
"initial_z": 0.756586388199276,
|
| 32 |
+
"lift_margin": 0.19161097652418546,
|
| 33 |
+
"gripper_z": 1.049540242388863,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.3526680024220911,
|
| 38 |
+
-0.053584114360266874,
|
| 39 |
+
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|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004208219543527847,
|
| 43 |
+
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|
| 44 |
+
-0.0013428776654014207
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006094386651428815,
|
| 47 |
+
"object_to_gripper_z": -0.0013428776654014207,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.35687622196561897,
|
| 51 |
+
-0.07295079718002112,
|
| 52 |
+
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|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
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|
| 56 |
+
-0.04917589057618059,
|
| 57 |
+
1.0481973647234615
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
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|
| 61 |
+
-0.061063343878100855,
|
| 62 |
+
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|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
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0.005620708130745333,
|
| 66 |
+
0.011887453301920266,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.026298585961709937,
|
| 70 |
+
"fingertip_max_gap": 0.09394788445908561,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013149292980854968,
|
| 74 |
+
"object_to_finger_midpoint_z": 0.0,
|
| 75 |
+
"finger_midpoint_minus_object_z": 0.0,
|
| 76 |
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| 464 |
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|
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| 571 |
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| 593 |
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| 594 |
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| 596 |
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| 601 |
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| 602 |
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| 603 |
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| 605 |
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|
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|
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|
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}
|
| 684 |
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}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_67_success.json
ADDED
|
@@ -0,0 +1,684 @@
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|
| 1 |
+
{
|
| 2 |
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"episode": 67,
|
| 3 |
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"success": true,
|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 8 |
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{
|
| 9 |
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|
| 10 |
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"skill": "pick",
|
| 11 |
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"target": "beaker_b",
|
| 12 |
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"success": true,
|
| 13 |
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"reason": "executed",
|
| 14 |
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"debug": {
|
| 15 |
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"arm": null,
|
| 16 |
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|
| 17 |
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"checker": "PickSuccessChecker",
|
| 18 |
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"skill": "pick",
|
| 19 |
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"target": "beaker_b",
|
| 20 |
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"passed": true,
|
| 21 |
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"metrics": {
|
| 22 |
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"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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-0.047271966166313996,
|
| 27 |
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| 28 |
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],
|
| 29 |
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"current_z": 1.0458155073323134,
|
| 30 |
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|
| 31 |
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"initial_z": 0.7565864478039208,
|
| 32 |
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|
| 33 |
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"gripper_z": 1.0477399155810962,
|
| 34 |
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|
| 35 |
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"virtual_attach_allowed": false,
|
| 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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],
|
| 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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|
| 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 |
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1.0
|
| 94 |
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],
|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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},
|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 102 |
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"safety": {
|
| 103 |
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"policy": {
|
| 104 |
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"skill": "pick",
|
| 105 |
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|
| 106 |
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|
| 107 |
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|
| 108 |
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"beaker_b"
|
| 109 |
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],
|
| 110 |
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|
| 111 |
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"/World/target_beaker"
|
| 112 |
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],
|
| 113 |
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"allowed_prim_substrings": [],
|
| 114 |
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"robot_prim_substrings": [
|
| 115 |
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"Robotiq2F85",
|
| 116 |
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"Robotiq_2F_85",
|
| 117 |
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"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 |
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"elbow_joint",
|
| 122 |
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"festo",
|
| 123 |
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"finger",
|
| 124 |
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"fr3",
|
| 125 |
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"fr3_duo_mobile",
|
| 126 |
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"fr3_joint1",
|
| 127 |
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"fr3_joint2",
|
| 128 |
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"fr3_joint3",
|
| 129 |
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"fr3_joint4",
|
| 130 |
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"fr3_joint5",
|
| 131 |
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"fr3_joint6",
|
| 132 |
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"fr3_joint7",
|
| 133 |
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"fr3_leftfinger",
|
| 134 |
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"fr3_rightfinger",
|
| 135 |
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"franka",
|
| 136 |
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"geometry",
|
| 137 |
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"gripper",
|
| 138 |
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"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 |
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"left_inner_finger",
|
| 147 |
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"lift2",
|
| 148 |
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"mobile_rotate",
|
| 149 |
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"mobile_translate_x",
|
| 150 |
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"mobile_translate_y",
|
| 151 |
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"panda_joint1",
|
| 152 |
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"panda_joint2",
|
| 153 |
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"panda_joint3",
|
| 154 |
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"panda_joint4",
|
| 155 |
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"panda_joint5",
|
| 156 |
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"panda_joint6",
|
| 157 |
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"panda_joint7",
|
| 158 |
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"panda_leftfinger",
|
| 159 |
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"panda_leftfingertip",
|
| 160 |
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"panda_rightfinger",
|
| 161 |
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"panda_rightfingertip",
|
| 162 |
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"ridgebase",
|
| 163 |
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"ridgebase_festo",
|
| 164 |
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"ridgebase_fr3",
|
| 165 |
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"ridgebase_rizon4",
|
| 166 |
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"ridgebase_ur16e",
|
| 167 |
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"ridgebase_ur5e",
|
| 168 |
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"right_inner_finger",
|
| 169 |
+
"rizon4",
|
| 170 |
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"robot",
|
| 171 |
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"robotiq_2f85",
|
| 172 |
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"shoulder_lift_joint",
|
| 173 |
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"shoulder_pan_joint",
|
| 174 |
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"split_aloha",
|
| 175 |
+
"tool_center",
|
| 176 |
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"ur16e",
|
| 177 |
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"ur5e",
|
| 178 |
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"visuals",
|
| 179 |
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"wrist",
|
| 180 |
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"wrist_1_joint",
|
| 181 |
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"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 |
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"defaultgroundplane",
|
| 188 |
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"desk",
|
| 189 |
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"floor",
|
| 190 |
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"ground",
|
| 191 |
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"groundplane",
|
| 192 |
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"link0",
|
| 193 |
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"table",
|
| 194 |
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"wheel",
|
| 195 |
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"workbench"
|
| 196 |
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],
|
| 197 |
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"enabled": true
|
| 198 |
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},
|
| 199 |
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|
| 200 |
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"passed": true,
|
| 201 |
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|
| 202 |
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|
| 203 |
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|
| 204 |
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|
| 205 |
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"passed": true,
|
| 206 |
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|
| 207 |
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|
| 208 |
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"allowed": [
|
| 209 |
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{
|
| 210 |
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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",
|
| 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/left_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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|
| 222 |
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}
|
| 223 |
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},
|
| 224 |
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|
| 225 |
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|
| 226 |
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|
| 227 |
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},
|
| 228 |
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|
| 229 |
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"skill": "pick",
|
| 230 |
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|
| 231 |
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|
| 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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|
| 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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|
| 246 |
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"checker": {
|
| 247 |
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"checker": "ShakeSuccessChecker",
|
| 248 |
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"skill": "shake",
|
| 249 |
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"target": "beaker_b",
|
| 250 |
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"passed": true,
|
| 251 |
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"metrics": {
|
| 252 |
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"held": "beaker_b",
|
| 253 |
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|
| 254 |
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"virtual_attach_allowed": false,
|
| 255 |
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|
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| 642 |
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"skill": "place",
|
| 643 |
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"target": "beaker_b",
|
| 644 |
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"attach_used": false,
|
| 645 |
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"attach_object": null,
|
| 646 |
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|
| 647 |
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"attach_allowed": false,
|
| 648 |
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"ordinary_object_physical_only": true
|
| 649 |
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}
|
| 650 |
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}
|
| 651 |
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],
|
| 652 |
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"physical_semantics": {
|
| 653 |
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"attach_records": [],
|
| 654 |
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"ordinary_attach_violations": [],
|
| 655 |
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"forbidden_shortcuts_absent": true
|
| 656 |
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},
|
| 657 |
+
"h5_episode_index": 67,
|
| 658 |
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"reproducibility": {
|
| 659 |
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"enabled": true,
|
| 660 |
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"action_seed": 2891541627295583141,
|
| 661 |
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"physical_seed": 1061768133550289122,
|
| 662 |
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"layout_id": "layout_00016",
|
| 663 |
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"step_seeds": [
|
| 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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"workflow_spec_digest": "95ad38958098d3260af1515a3214ff34ebd665fef85fe9c24ecd4da53790db79",
|
| 669 |
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"strict_task_state": false,
|
| 670 |
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"allow_physical_randomization": true,
|
| 671 |
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"seed_source": "workflow.reproducibility",
|
| 672 |
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"task_island_state_digest": "8b4e402dd518776afa91f943dedcce8c1f7b656d9e57a4a1d292e8c6aabd79ee",
|
| 673 |
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|
| 674 |
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|
| 675 |
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"physical_randomization_enabled": true,
|
| 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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|
| 683 |
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}
|
| 684 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_68_success.json
ADDED
|
@@ -0,0 +1,684 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 68,
|
| 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 |
+
0.3512952990462637,
|
| 26 |
+
-0.04541726135368726,
|
| 27 |
+
1.0481691248595737
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0481691248595737,
|
| 30 |
+
"required_z": 0.8565865074085653,
|
| 31 |
+
"initial_z": 0.7565865074085654,
|
| 32 |
+
"lift_margin": 0.19158261745100835,
|
| 33 |
+
"gripper_z": 1.0497788498712126,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.34688955603756344,
|
| 38 |
+
-0.049934618945227216,
|
| 39 |
+
1.0497788498712126
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.00440574300870028,
|
| 43 |
+
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|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_69_success.json
ADDED
|
@@ -0,0 +1,684 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 69,
|
| 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 |
+
0.35965502665594645,
|
| 26 |
+
-0.04489459342985318,
|
| 27 |
+
1.049090361610529
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.049090361610529,
|
| 30 |
+
"required_z": 0.8565864478039208,
|
| 31 |
+
"initial_z": 0.7565864478039208,
|
| 32 |
+
"lift_margin": 0.19250391380660814,
|
| 33 |
+
"gripper_z": 1.050466619099929,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.35533374944490503,
|
| 38 |
+
-0.04935503558560994,
|
| 39 |
+
1.050466619099929
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004321277211041419,
|
| 43 |
+
0.004460442155756764,
|
| 44 |
+
-0.0013762574894000679
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006210392979475449,
|
| 47 |
+
"object_to_gripper_z": -0.0013762574894000679,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.35965502665594645,
|
| 51 |
+
-0.0687535933493098,
|
| 52 |
+
1.049090361610529
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.34834358607451255,
|
| 56 |
+
-0.04489459342985318,
|
| 57 |
+
1.049090361610529
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.35399930636522947,
|
| 61 |
+
-0.05682409338958149,
|
| 62 |
+
1.049090361610529
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005655720290716981,
|
| 66 |
+
0.011929499959728314,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.026404555765699625,
|
| 70 |
+
"fingertip_max_gap": 0.09625885477588589,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013202277882849823,
|
| 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": 1.049090361610529,
|
| 78 |
+
"object_top_z": 1.0960882897910522,
|
| 79 |
+
"finger_top_clearance": 0.046997928180523285,
|
| 80 |
+
"fingertip_min_top_clearance": 0.014099378454156986,
|
| 81 |
+
"object_projection_between_fingers": 0.8164822370825914,
|
| 82 |
+
"object_to_finger_line_xy": 0.010220950593380289,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.050629427387942946,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 2.977464374437507,
|
| 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": 216,
|
| 96 |
+
"max_stable_success_frames": 216,
|
| 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 |
+
"last_frame": {
|
| 205 |
+
"passed": true,
|
| 206 |
+
"source_missing": false,
|
| 207 |
+
"forbidden": [],
|
| 208 |
+
"allowed": [
|
| 209 |
+
{
|
| 210 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 211 |
+
"b": "/World/target_beaker/mesh"
|
| 212 |
+
},
|
| 213 |
+
{
|
| 214 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_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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+
"visuals",
|
| 601 |
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"wrist",
|
| 602 |
+
"wrist_1_joint",
|
| 603 |
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"wrist_2_joint",
|
| 604 |
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"wrist_3_joint"
|
| 605 |
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],
|
| 606 |
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"ignored_prim_substrings": [
|
| 607 |
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"base_link",
|
| 608 |
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"caster",
|
| 609 |
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"defaultgroundplane",
|
| 610 |
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"desk",
|
| 611 |
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"floor",
|
| 612 |
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|
| 613 |
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"groundplane",
|
| 614 |
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|
| 615 |
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|
| 616 |
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|
| 617 |
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"workbench"
|
| 618 |
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],
|
| 619 |
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"enabled": true
|
| 620 |
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},
|
| 621 |
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"status": "active",
|
| 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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"last_frame": {
|
| 627 |
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"passed": true,
|
| 628 |
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"source_missing": false,
|
| 629 |
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"forbidden": [],
|
| 630 |
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"allowed": [],
|
| 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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|
| 639 |
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|
| 640 |
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},
|
| 641 |
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|
| 642 |
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"skill": "place",
|
| 643 |
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"target": "beaker_b",
|
| 644 |
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"attach_used": false,
|
| 645 |
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|
| 646 |
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|
| 647 |
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"attach_allowed": false,
|
| 648 |
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"ordinary_object_physical_only": true
|
| 649 |
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}
|
| 650 |
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}
|
| 651 |
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],
|
| 652 |
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"physical_semantics": {
|
| 653 |
+
"attach_records": [],
|
| 654 |
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"ordinary_attach_violations": [],
|
| 655 |
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"forbidden_shortcuts_absent": true
|
| 656 |
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},
|
| 657 |
+
"h5_episode_index": 69,
|
| 658 |
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"reproducibility": {
|
| 659 |
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"enabled": true,
|
| 660 |
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"action_seed": 2891541627295583141,
|
| 661 |
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|
| 662 |
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"layout_id": "layout_00016",
|
| 663 |
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"step_seeds": [
|
| 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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"workflow_spec_digest": "95ad38958098d3260af1515a3214ff34ebd665fef85fe9c24ecd4da53790db79",
|
| 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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|
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|
| 682 |
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|
| 683 |
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}
|
| 684 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_6_success.json
ADDED
|
@@ -0,0 +1,684 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 6,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
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|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_70_success.json
ADDED
|
@@ -0,0 +1,684 @@
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|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 70,
|
| 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 |
+
0.3538076793525514,
|
| 26 |
+
-0.04796754861293444,
|
| 27 |
+
1.0494668042334339
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0494668042334339,
|
| 30 |
+
"required_z": 0.8565865074085657,
|
| 31 |
+
"initial_z": 0.7565865074085657,
|
| 32 |
+
"lift_margin": 0.19288029682486818,
|
| 33 |
+
"gripper_z": 1.0510132823179918,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.3493717823767216,
|
| 38 |
+
-0.052520000601189984,
|
| 39 |
+
1.0510132823179918
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004435896975829801,
|
| 43 |
+
0.004552451988255546,
|
| 44 |
+
-0.0015464780845579895
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.0063562568454671375,
|
| 47 |
+
"object_to_gripper_z": -0.0015464780845579895,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.3538076793525514,
|
| 51 |
+
-0.07184405833862927,
|
| 52 |
+
1.0494668042334339
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.3422826978123585,
|
| 56 |
+
-0.04796754861293444,
|
| 57 |
+
1.0494668042334339
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.3480451885824549,
|
| 61 |
+
-0.05990580347578185,
|
| 62 |
+
1.0494668042334339
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005762490770096496,
|
| 66 |
+
0.011938254862847414,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.026512504902083237,
|
| 70 |
+
"fingertip_max_gap": 0.09465103070198863,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.01325625245104163,
|
| 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": 1.0494668042334339,
|
| 78 |
+
"object_top_z": 1.0957383167875376,
|
| 79 |
+
"finger_top_clearance": 0.04627151255410378,
|
| 80 |
+
"fingertip_min_top_clearance": 0.013881453766231133,
|
| 81 |
+
"object_projection_between_fingers": 0.8110360523419236,
|
| 82 |
+
"object_to_finger_line_xy": 0.010379114868593506,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.04982551535099432,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 2.5922212020858946,
|
| 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": 216,
|
| 96 |
+
"max_stable_success_frames": 216,
|
| 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",
|
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"gripper_center",
|
| 561 |
+
"joint1",
|
| 562 |
+
"joint2",
|
| 563 |
+
"joint3",
|
| 564 |
+
"joint4",
|
| 565 |
+
"joint5",
|
| 566 |
+
"joint6",
|
| 567 |
+
"joint7",
|
| 568 |
+
"left_inner_finger",
|
| 569 |
+
"lift2",
|
| 570 |
+
"mobile_rotate",
|
| 571 |
+
"mobile_translate_x",
|
| 572 |
+
"mobile_translate_y",
|
| 573 |
+
"panda_joint1",
|
| 574 |
+
"panda_joint2",
|
| 575 |
+
"panda_joint3",
|
| 576 |
+
"panda_joint4",
|
| 577 |
+
"panda_joint5",
|
| 578 |
+
"panda_joint6",
|
| 579 |
+
"panda_joint7",
|
| 580 |
+
"panda_leftfinger",
|
| 581 |
+
"panda_leftfingertip",
|
| 582 |
+
"panda_rightfinger",
|
| 583 |
+
"panda_rightfingertip",
|
| 584 |
+
"ridgebase",
|
| 585 |
+
"ridgebase_festo",
|
| 586 |
+
"ridgebase_fr3",
|
| 587 |
+
"ridgebase_rizon4",
|
| 588 |
+
"ridgebase_ur16e",
|
| 589 |
+
"ridgebase_ur5e",
|
| 590 |
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"right_inner_finger",
|
| 591 |
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"rizon4",
|
| 592 |
+
"robot",
|
| 593 |
+
"robotiq_2f85",
|
| 594 |
+
"shoulder_lift_joint",
|
| 595 |
+
"shoulder_pan_joint",
|
| 596 |
+
"split_aloha",
|
| 597 |
+
"tool_center",
|
| 598 |
+
"ur16e",
|
| 599 |
+
"ur5e",
|
| 600 |
+
"visuals",
|
| 601 |
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"wrist",
|
| 602 |
+
"wrist_1_joint",
|
| 603 |
+
"wrist_2_joint",
|
| 604 |
+
"wrist_3_joint"
|
| 605 |
+
],
|
| 606 |
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"ignored_prim_substrings": [
|
| 607 |
+
"base_link",
|
| 608 |
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"caster",
|
| 609 |
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"defaultgroundplane",
|
| 610 |
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"desk",
|
| 611 |
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"floor",
|
| 612 |
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"ground",
|
| 613 |
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"groundplane",
|
| 614 |
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"link0",
|
| 615 |
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"table",
|
| 616 |
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"wheel",
|
| 617 |
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"workbench"
|
| 618 |
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],
|
| 619 |
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"enabled": true
|
| 620 |
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},
|
| 621 |
+
"status": "active",
|
| 622 |
+
"passed": true,
|
| 623 |
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"source_missing": false,
|
| 624 |
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"forbidden": [],
|
| 625 |
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"disturbances": [],
|
| 626 |
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"last_frame": {
|
| 627 |
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"passed": true,
|
| 628 |
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"source_missing": false,
|
| 629 |
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"forbidden": [],
|
| 630 |
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"allowed": [],
|
| 631 |
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"ignored": [],
|
| 632 |
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"failed_keys": []
|
| 633 |
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},
|
| 634 |
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"failed_keys": []
|
| 635 |
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}
|
| 636 |
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},
|
| 637 |
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|
| 638 |
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"post_done_wait_frames": 0,
|
| 639 |
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"post_done_wait_exhausted": false
|
| 640 |
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},
|
| 641 |
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"physical_semantics": {
|
| 642 |
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"skill": "place",
|
| 643 |
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"target": "beaker_b",
|
| 644 |
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"attach_used": false,
|
| 645 |
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"attach_object": null,
|
| 646 |
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"attach_object_path": null,
|
| 647 |
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"attach_allowed": false,
|
| 648 |
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"ordinary_object_physical_only": true
|
| 649 |
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}
|
| 650 |
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}
|
| 651 |
+
],
|
| 652 |
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"physical_semantics": {
|
| 653 |
+
"attach_records": [],
|
| 654 |
+
"ordinary_attach_violations": [],
|
| 655 |
+
"forbidden_shortcuts_absent": true
|
| 656 |
+
},
|
| 657 |
+
"h5_episode_index": 70,
|
| 658 |
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"reproducibility": {
|
| 659 |
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"enabled": true,
|
| 660 |
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"action_seed": 2891541627295583141,
|
| 661 |
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"physical_seed": 1061768133550289122,
|
| 662 |
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"layout_id": "layout_00016",
|
| 663 |
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"step_seeds": [
|
| 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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"workflow_spec_digest": "95ad38958098d3260af1515a3214ff34ebd665fef85fe9c24ecd4da53790db79",
|
| 669 |
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"strict_task_state": false,
|
| 670 |
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"allow_physical_randomization": true,
|
| 671 |
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"seed_source": "workflow.reproducibility",
|
| 672 |
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"task_island_state_digest": "28c1aef0e394f7a880206e9a5eb6f94e94aa1c30c42cbf2b0c3e7aaa99ac8a8c",
|
| 673 |
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"visual_seed": 1016798889600982259,
|
| 674 |
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"episode_index": 70,
|
| 675 |
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"physical_randomization_enabled": true,
|
| 676 |
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"motion_controller_type": "ik_servo",
|
| 677 |
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"runtime_step_seeds": [
|
| 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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"runtime_workflow_digest": "fb4779d4fb09319711732fcb7201b3f112d6ae3cd3b91423327eed1eb4ac996b"
|
| 683 |
+
}
|
| 684 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_71_success.json
ADDED
|
@@ -0,0 +1,684 @@
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|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_72_success.json
ADDED
|
@@ -0,0 +1,684 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"episode": 72,
|
| 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 |
+
0.3576404816417386,
|
| 26 |
+
-0.046078273796276104,
|
| 27 |
+
1.0454346577642109
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0454346577642109,
|
| 30 |
+
"required_z": 0.8565864478039208,
|
| 31 |
+
"initial_z": 0.7565864478039208,
|
| 32 |
+
"lift_margin": 0.18884820996029006,
|
| 33 |
+
"gripper_z": 1.0482701997201265,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.3529293306693152,
|
| 38 |
+
-0.05060339358925299,
|
| 39 |
+
1.0482701997201265
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004711150972423417,
|
| 43 |
+
0.004525119792976887,
|
| 44 |
+
-0.0028355419559156214
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006532354294261548,
|
| 47 |
+
"object_to_gripper_z": -0.0028355419559156214,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.3576404816417386,
|
| 51 |
+
-0.0704141019286401,
|
| 52 |
+
1.0454346577642109
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.3464953120037946,
|
| 56 |
+
-0.046078273796276104,
|
| 57 |
+
1.0454346577642109
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.3520678968227666,
|
| 61 |
+
-0.0582461878624581,
|
| 62 |
+
1.0454346577642109
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005572584818971993,
|
| 66 |
+
0.012167914066182,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.026766533902366007,
|
| 70 |
+
"fingertip_max_gap": 0.09577460591358025,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013383266951182991,
|
| 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": 1.0454346577642109,
|
| 78 |
+
"object_top_z": 1.091764457049767,
|
| 79 |
+
"finger_top_clearance": 0.04632979928555625,
|
| 80 |
+
"fingertip_min_top_clearance": 0.013898939785666892,
|
| 81 |
+
"object_projection_between_fingers": 0.8266239543114547,
|
| 82 |
+
"object_to_finger_line_xy": 0.010133061449210378,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.05038730295679013,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 3.727977797308064,
|
| 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": 213,
|
| 96 |
+
"max_stable_success_frames": 213,
|
| 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 |
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| 523 |
+
"failure_messages": {},
|
| 524 |
+
"safety": {
|
| 525 |
+
"policy": {
|
| 526 |
+
"skill": "place",
|
| 527 |
+
"target_object": "beaker_b",
|
| 528 |
+
"held_object": "beaker_b",
|
| 529 |
+
"allowed_objects": [
|
| 530 |
+
"beaker_b"
|
| 531 |
+
],
|
| 532 |
+
"allowed_object_paths": [
|
| 533 |
+
"/World/target_beaker"
|
| 534 |
+
],
|
| 535 |
+
"allowed_prim_substrings": [],
|
| 536 |
+
"robot_prim_substrings": [
|
| 537 |
+
"Robotiq2F85",
|
| 538 |
+
"Robotiq_2F_85",
|
| 539 |
+
"contact_sensor",
|
| 540 |
+
"dummy_base_prismatic_x_joint",
|
| 541 |
+
"dummy_base_prismatic_y_joint",
|
| 542 |
+
"dummy_base_revolute_z_joint",
|
| 543 |
+
"elbow_joint",
|
| 544 |
+
"festo",
|
| 545 |
+
"finger",
|
| 546 |
+
"fr3",
|
| 547 |
+
"fr3_duo_mobile",
|
| 548 |
+
"fr3_joint1",
|
| 549 |
+
"fr3_joint2",
|
| 550 |
+
"fr3_joint3",
|
| 551 |
+
"fr3_joint4",
|
| 552 |
+
"fr3_joint5",
|
| 553 |
+
"fr3_joint6",
|
| 554 |
+
"fr3_joint7",
|
| 555 |
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"fr3_leftfinger",
|
| 556 |
+
"fr3_rightfinger",
|
| 557 |
+
"franka",
|
| 558 |
+
"geometry",
|
| 559 |
+
"gripper",
|
| 560 |
+
"gripper_center",
|
| 561 |
+
"joint1",
|
| 562 |
+
"joint2",
|
| 563 |
+
"joint3",
|
| 564 |
+
"joint4",
|
| 565 |
+
"joint5",
|
| 566 |
+
"joint6",
|
| 567 |
+
"joint7",
|
| 568 |
+
"left_inner_finger",
|
| 569 |
+
"lift2",
|
| 570 |
+
"mobile_rotate",
|
| 571 |
+
"mobile_translate_x",
|
| 572 |
+
"mobile_translate_y",
|
| 573 |
+
"panda_joint1",
|
| 574 |
+
"panda_joint2",
|
| 575 |
+
"panda_joint3",
|
| 576 |
+
"panda_joint4",
|
| 577 |
+
"panda_joint5",
|
| 578 |
+
"panda_joint6",
|
| 579 |
+
"panda_joint7",
|
| 580 |
+
"panda_leftfinger",
|
| 581 |
+
"panda_leftfingertip",
|
| 582 |
+
"panda_rightfinger",
|
| 583 |
+
"panda_rightfingertip",
|
| 584 |
+
"ridgebase",
|
| 585 |
+
"ridgebase_festo",
|
| 586 |
+
"ridgebase_fr3",
|
| 587 |
+
"ridgebase_rizon4",
|
| 588 |
+
"ridgebase_ur16e",
|
| 589 |
+
"ridgebase_ur5e",
|
| 590 |
+
"right_inner_finger",
|
| 591 |
+
"rizon4",
|
| 592 |
+
"robot",
|
| 593 |
+
"robotiq_2f85",
|
| 594 |
+
"shoulder_lift_joint",
|
| 595 |
+
"shoulder_pan_joint",
|
| 596 |
+
"split_aloha",
|
| 597 |
+
"tool_center",
|
| 598 |
+
"ur16e",
|
| 599 |
+
"ur5e",
|
| 600 |
+
"visuals",
|
| 601 |
+
"wrist",
|
| 602 |
+
"wrist_1_joint",
|
| 603 |
+
"wrist_2_joint",
|
| 604 |
+
"wrist_3_joint"
|
| 605 |
+
],
|
| 606 |
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"ignored_prim_substrings": [
|
| 607 |
+
"base_link",
|
| 608 |
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"caster",
|
| 609 |
+
"defaultgroundplane",
|
| 610 |
+
"desk",
|
| 611 |
+
"floor",
|
| 612 |
+
"ground",
|
| 613 |
+
"groundplane",
|
| 614 |
+
"link0",
|
| 615 |
+
"table",
|
| 616 |
+
"wheel",
|
| 617 |
+
"workbench"
|
| 618 |
+
],
|
| 619 |
+
"enabled": true
|
| 620 |
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},
|
| 621 |
+
"status": "active",
|
| 622 |
+
"passed": true,
|
| 623 |
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"source_missing": false,
|
| 624 |
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"forbidden": [],
|
| 625 |
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"disturbances": [],
|
| 626 |
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"last_frame": {
|
| 627 |
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"passed": true,
|
| 628 |
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"source_missing": false,
|
| 629 |
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"forbidden": [],
|
| 630 |
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"allowed": [],
|
| 631 |
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"ignored": [],
|
| 632 |
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"failed_keys": []
|
| 633 |
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},
|
| 634 |
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"failed_keys": []
|
| 635 |
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}
|
| 636 |
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},
|
| 637 |
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"gripper": null,
|
| 638 |
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"post_done_wait_frames": 0,
|
| 639 |
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"post_done_wait_exhausted": false
|
| 640 |
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},
|
| 641 |
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"physical_semantics": {
|
| 642 |
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"skill": "place",
|
| 643 |
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"target": "beaker_b",
|
| 644 |
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"attach_used": false,
|
| 645 |
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"attach_object": null,
|
| 646 |
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"attach_object_path": null,
|
| 647 |
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"attach_allowed": false,
|
| 648 |
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"ordinary_object_physical_only": true
|
| 649 |
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}
|
| 650 |
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}
|
| 651 |
+
],
|
| 652 |
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"physical_semantics": {
|
| 653 |
+
"attach_records": [],
|
| 654 |
+
"ordinary_attach_violations": [],
|
| 655 |
+
"forbidden_shortcuts_absent": true
|
| 656 |
+
},
|
| 657 |
+
"h5_episode_index": 72,
|
| 658 |
+
"reproducibility": {
|
| 659 |
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"enabled": true,
|
| 660 |
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"action_seed": 2891541627295583141,
|
| 661 |
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"physical_seed": 1061768133550289122,
|
| 662 |
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"layout_id": "layout_00016",
|
| 663 |
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"step_seeds": [
|
| 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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"workflow_spec_digest": "95ad38958098d3260af1515a3214ff34ebd665fef85fe9c24ecd4da53790db79",
|
| 669 |
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"strict_task_state": false,
|
| 670 |
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"allow_physical_randomization": true,
|
| 671 |
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"seed_source": "workflow.reproducibility",
|
| 672 |
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"task_island_state_digest": "01980363d49fab968454376a340b2eab9e04b13604fd3d64f457f31273cdb331",
|
| 673 |
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"visual_seed": 3050508018572810725,
|
| 674 |
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"episode_index": 72,
|
| 675 |
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"physical_randomization_enabled": true,
|
| 676 |
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"motion_controller_type": "ik_servo",
|
| 677 |
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"runtime_step_seeds": [
|
| 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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"runtime_workflow_digest": "fb4779d4fb09319711732fcb7201b3f112d6ae3cd3b91423327eed1eb4ac996b"
|
| 683 |
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}
|
| 684 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_74_success.json
ADDED
|
@@ -0,0 +1,684 @@
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|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_75_success.json
ADDED
|
@@ -0,0 +1,684 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 75,
|
| 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 |
+
0.3580604386235411,
|
| 26 |
+
-0.04487367037195374,
|
| 27 |
+
1.047900301961933
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.047900301961933,
|
| 30 |
+
"required_z": 0.8565865074085656,
|
| 31 |
+
"initial_z": 0.7565865074085656,
|
| 32 |
+
"lift_margin": 0.1913137945533675,
|
| 33 |
+
"gripper_z": 1.0500859608084905,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.3533154548208709,
|
| 38 |
+
-0.04938614796594576,
|
| 39 |
+
1.0500859608084905
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.0047449838026701885,
|
| 43 |
+
0.004512477593992016,
|
| 44 |
+
-0.0021856588465574145
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.0065480779870036995,
|
| 47 |
+
"object_to_gripper_z": -0.0021856588465574145,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.3580604386235411,
|
| 51 |
+
-0.06928272158017183,
|
| 52 |
+
1.047900301961933
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.347000454172151,
|
| 56 |
+
-0.04487367037195374,
|
| 57 |
+
1.047900301961933
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.35253044639784603,
|
| 61 |
+
-0.057078195976062784,
|
| 62 |
+
1.047900301961933
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005529992225695057,
|
| 66 |
+
0.012204525604109041,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.02679785508115163,
|
| 70 |
+
"fingertip_max_gap": 0.09692043668947539,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.01339892754057581,
|
| 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": 1.047900301961933,
|
| 78 |
+
"object_top_z": 1.0948872181597575,
|
| 79 |
+
"finger_top_clearance": 0.04698691619782447,
|
| 80 |
+
"fingertip_min_top_clearance": 0.01409607485934734,
|
| 81 |
+
"object_projection_between_fingers": 0.8296630116331132,
|
| 82 |
+
"object_to_finger_line_xy": 0.010074079661172502,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.0509602183447377,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 3.6719936422846917,
|
| 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": 215,
|
| 96 |
+
"max_stable_success_frames": 215,
|
| 97 |
+
"required_stable_lift_frames": 5
|
| 98 |
+
},
|
| 99 |
+
"failed_keys": [],
|
| 100 |
+
"failure_code": null,
|
| 101 |
+
"failure_messages": {},
|
| 102 |
+
"safety": {
|
| 103 |
+
"policy": {
|
| 104 |
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"skill": "pick",
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| 495 |
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| 498 |
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| 499 |
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|
| 500 |
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| 501 |
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| 502 |
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| 503 |
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| 505 |
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| 508 |
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| 509 |
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| 510 |
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|
| 524 |
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|
| 525 |
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|
| 526 |
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| 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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"/World/target_beaker"
|
| 534 |
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],
|
| 535 |
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|
| 536 |
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"robot_prim_substrings": [
|
| 537 |
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|
| 538 |
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|
| 539 |
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|
| 540 |
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|
| 541 |
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|
| 542 |
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|
| 543 |
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|
| 544 |
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|
| 545 |
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|
| 546 |
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| 547 |
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|
| 548 |
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|
| 549 |
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|
| 550 |
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| 551 |
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|
| 552 |
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|
| 553 |
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|
| 554 |
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|
| 555 |
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|
| 556 |
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|
| 557 |
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|
| 558 |
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|
| 559 |
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|
| 560 |
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|
| 561 |
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|
| 562 |
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|
| 563 |
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|
| 564 |
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|
| 565 |
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|
| 566 |
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"joint6",
|
| 567 |
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|
| 568 |
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"left_inner_finger",
|
| 569 |
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|
| 570 |
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"mobile_rotate",
|
| 571 |
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"mobile_translate_x",
|
| 572 |
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"mobile_translate_y",
|
| 573 |
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"panda_joint1",
|
| 574 |
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"panda_joint2",
|
| 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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"panda_joint7",
|
| 580 |
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|
| 581 |
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|
| 582 |
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"panda_rightfinger",
|
| 583 |
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|
| 584 |
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"ridgebase",
|
| 585 |
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|
| 586 |
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"ridgebase_fr3",
|
| 587 |
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"ridgebase_rizon4",
|
| 588 |
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"ridgebase_ur16e",
|
| 589 |
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|
| 590 |
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"right_inner_finger",
|
| 591 |
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"rizon4",
|
| 592 |
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"robot",
|
| 593 |
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"robotiq_2f85",
|
| 594 |
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|
| 595 |
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|
| 596 |
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"split_aloha",
|
| 597 |
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"tool_center",
|
| 598 |
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"ur16e",
|
| 599 |
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"ur5e",
|
| 600 |
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"visuals",
|
| 601 |
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|
| 602 |
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"wrist_1_joint",
|
| 603 |
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|
| 604 |
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|
| 605 |
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],
|
| 606 |
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|
| 607 |
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|
| 608 |
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|
| 609 |
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"defaultgroundplane",
|
| 610 |
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"desk",
|
| 611 |
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"floor",
|
| 612 |
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"ground",
|
| 613 |
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| 614 |
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|
| 615 |
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|
| 616 |
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| 617 |
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|
| 618 |
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],
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| 619 |
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"enabled": true
|
| 620 |
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| 621 |
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| 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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|
| 638 |
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|
| 639 |
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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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"physical_semantics": {
|
| 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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|
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|
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| 670 |
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| 671 |
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| 672 |
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| 673 |
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|
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|
| 675 |
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|
| 676 |
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|
| 677 |
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|
| 679 |
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|
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|
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|
| 683 |
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}
|
| 684 |
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}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_76_success.json
ADDED
|
@@ -0,0 +1,684 @@
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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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| 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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| 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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| 39 |
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| 40 |
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| 43 |
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| 49 |
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| 102 |
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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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| 142 |
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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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| 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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| 166 |
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| 167 |
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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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| 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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| 188 |
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| 196 |
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| 212 |
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|
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| 672 |
+
"task_island_state_digest": "a97927642b822e1ab1dbade1c465d2adb66b9c7777ac29bbf330acb374bcdae6",
|
| 673 |
+
"visual_seed": 4007080053703810279,
|
| 674 |
+
"episode_index": 76,
|
| 675 |
+
"physical_randomization_enabled": true,
|
| 676 |
+
"motion_controller_type": "ik_servo",
|
| 677 |
+
"runtime_step_seeds": [
|
| 678 |
+
1164515841808467485,
|
| 679 |
+
5066845160497422571,
|
| 680 |
+
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|
| 681 |
+
],
|
| 682 |
+
"runtime_workflow_digest": "fb4779d4fb09319711732fcb7201b3f112d6ae3cd3b91423327eed1eb4ac996b"
|
| 683 |
+
}
|
| 684 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_78_success.json
ADDED
|
@@ -0,0 +1,684 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 78,
|
| 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 |
+
0.3531290929234763,
|
| 26 |
+
-0.042151069308502584,
|
| 27 |
+
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|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0490912503698862,
|
| 30 |
+
"required_z": 0.8565865074085656,
|
| 31 |
+
"initial_z": 0.7565865074085656,
|
| 32 |
+
"lift_margin": 0.19250474296132059,
|
| 33 |
+
"gripper_z": 1.0504320447672928,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
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|
| 38 |
+
-0.04649737821726331,
|
| 39 |
+
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|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004118791276844114,
|
| 43 |
+
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|
| 44 |
+
-0.0013407943974066416
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.005987891341079932,
|
| 47 |
+
"object_to_gripper_z": -0.0013407943974066416,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
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0.3531290929234763,
|
| 51 |
+
-0.06590041302886863,
|
| 52 |
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1.0490912503698862
|
| 53 |
+
],
|
| 54 |
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"finger_b": [
|
| 55 |
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|
| 56 |
+
-0.042151069308502584,
|
| 57 |
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1.0490912503698862
|
| 58 |
+
],
|
| 59 |
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"finger_midpoint": [
|
| 60 |
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|
| 61 |
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-0.05402574116868561,
|
| 62 |
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1.0490912503698862
|
| 63 |
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],
|
| 64 |
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"object_minus_finger_midpoint": [
|
| 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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"finger_gap": 0.026217158626886068,
|
| 70 |
+
"fingertip_max_gap": 0.09430582474648844,
|
| 71 |
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"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
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|
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}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_79_success.json
ADDED
|
@@ -0,0 +1,684 @@
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|
| 1 |
+
{
|
| 2 |
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"episode": 79,
|
| 3 |
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"success": true,
|
| 4 |
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|
| 5 |
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|
| 6 |
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|
| 7 |
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|
| 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 |
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"success": true,
|
| 13 |
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"reason": "executed",
|
| 14 |
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"debug": {
|
| 15 |
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"arm": null,
|
| 16 |
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|
| 17 |
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"checker": "PickSuccessChecker",
|
| 18 |
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"skill": "pick",
|
| 19 |
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"target": "beaker_b",
|
| 20 |
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"passed": true,
|
| 21 |
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"metrics": {
|
| 22 |
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"target": "beaker_b",
|
| 23 |
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"active_arm": null,
|
| 24 |
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|
| 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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|
| 30 |
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|
| 31 |
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"initial_z": 0.756586388199276,
|
| 32 |
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|
| 33 |
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"gripper_z": 1.0481738275882726,
|
| 34 |
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"force_virtual_attach": false,
|
| 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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],
|
| 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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|
| 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 |
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1.0
|
| 94 |
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],
|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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},
|
| 99 |
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|
| 100 |
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|
| 101 |
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|
| 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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|
| 108 |
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"beaker_b"
|
| 109 |
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],
|
| 110 |
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"allowed_object_paths": [
|
| 111 |
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"/World/target_beaker"
|
| 112 |
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],
|
| 113 |
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"allowed_prim_substrings": [],
|
| 114 |
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"robot_prim_substrings": [
|
| 115 |
+
"Robotiq2F85",
|
| 116 |
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"Robotiq_2F_85",
|
| 117 |
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"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 |
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"elbow_joint",
|
| 122 |
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"festo",
|
| 123 |
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"finger",
|
| 124 |
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"fr3",
|
| 125 |
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"fr3_duo_mobile",
|
| 126 |
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"fr3_joint1",
|
| 127 |
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"fr3_joint2",
|
| 128 |
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"fr3_joint3",
|
| 129 |
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"fr3_joint4",
|
| 130 |
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"fr3_joint5",
|
| 131 |
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"fr3_joint6",
|
| 132 |
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"fr3_joint7",
|
| 133 |
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"fr3_leftfinger",
|
| 134 |
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"fr3_rightfinger",
|
| 135 |
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"franka",
|
| 136 |
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"geometry",
|
| 137 |
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"gripper",
|
| 138 |
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"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 |
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"left_inner_finger",
|
| 147 |
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"lift2",
|
| 148 |
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"mobile_rotate",
|
| 149 |
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"mobile_translate_x",
|
| 150 |
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"mobile_translate_y",
|
| 151 |
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"panda_joint1",
|
| 152 |
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"panda_joint2",
|
| 153 |
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"panda_joint3",
|
| 154 |
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"panda_joint4",
|
| 155 |
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"panda_joint5",
|
| 156 |
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"panda_joint6",
|
| 157 |
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"panda_joint7",
|
| 158 |
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"panda_leftfinger",
|
| 159 |
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"panda_leftfingertip",
|
| 160 |
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"panda_rightfinger",
|
| 161 |
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"panda_rightfingertip",
|
| 162 |
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"ridgebase",
|
| 163 |
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"ridgebase_festo",
|
| 164 |
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"ridgebase_fr3",
|
| 165 |
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"ridgebase_rizon4",
|
| 166 |
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"ridgebase_ur16e",
|
| 167 |
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"ridgebase_ur5e",
|
| 168 |
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"right_inner_finger",
|
| 169 |
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"rizon4",
|
| 170 |
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"robot",
|
| 171 |
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"robotiq_2f85",
|
| 172 |
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"shoulder_lift_joint",
|
| 173 |
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"shoulder_pan_joint",
|
| 174 |
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"split_aloha",
|
| 175 |
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"tool_center",
|
| 176 |
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"ur16e",
|
| 177 |
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"ur5e",
|
| 178 |
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"visuals",
|
| 179 |
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"wrist",
|
| 180 |
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"wrist_1_joint",
|
| 181 |
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"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 |
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"defaultgroundplane",
|
| 188 |
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"desk",
|
| 189 |
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"floor",
|
| 190 |
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"ground",
|
| 191 |
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"groundplane",
|
| 192 |
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"link0",
|
| 193 |
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"table",
|
| 194 |
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"wheel",
|
| 195 |
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"workbench"
|
| 196 |
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],
|
| 197 |
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"enabled": true
|
| 198 |
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},
|
| 199 |
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|
| 200 |
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|
| 201 |
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|
| 202 |
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|
| 203 |
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|
| 204 |
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| 205 |
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"passed": true,
|
| 206 |
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|
| 207 |
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|
| 208 |
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"allowed": [
|
| 209 |
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{
|
| 210 |
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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",
|
| 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/left_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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|
| 222 |
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}
|
| 223 |
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},
|
| 224 |
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|
| 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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|
| 229 |
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"skill": "pick",
|
| 230 |
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|
| 231 |
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|
| 232 |
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|
| 233 |
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|
| 234 |
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|
| 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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|
| 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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"arm": null,
|
| 246 |
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|
| 247 |
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"checker": "ShakeSuccessChecker",
|
| 248 |
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"skill": "shake",
|
| 249 |
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"target": "beaker_b",
|
| 250 |
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"passed": true,
|
| 251 |
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|
| 638 |
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|
| 639 |
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"post_done_wait_exhausted": false
|
| 640 |
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},
|
| 641 |
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"physical_semantics": {
|
| 642 |
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"skill": "place",
|
| 643 |
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"target": "beaker_b",
|
| 644 |
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"attach_used": false,
|
| 645 |
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|
| 646 |
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|
| 647 |
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"attach_allowed": false,
|
| 648 |
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"ordinary_object_physical_only": true
|
| 649 |
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}
|
| 650 |
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}
|
| 651 |
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],
|
| 652 |
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"physical_semantics": {
|
| 653 |
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"attach_records": [],
|
| 654 |
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"ordinary_attach_violations": [],
|
| 655 |
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"forbidden_shortcuts_absent": true
|
| 656 |
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},
|
| 657 |
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"h5_episode_index": 79,
|
| 658 |
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"reproducibility": {
|
| 659 |
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"enabled": true,
|
| 660 |
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"action_seed": 2891541627295583141,
|
| 661 |
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|
| 662 |
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"layout_id": "layout_00016",
|
| 663 |
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"step_seeds": [
|
| 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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"workflow_spec_digest": "95ad38958098d3260af1515a3214ff34ebd665fef85fe9c24ecd4da53790db79",
|
| 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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|
| 682 |
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|
| 683 |
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}
|
| 684 |
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}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_80_success.json
ADDED
|
@@ -0,0 +1,684 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"episode": 80,
|
| 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 |
+
0.35261567432364777,
|
| 26 |
+
-0.050034914998942845,
|
| 27 |
+
1.0489976428825536
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0489976428825536,
|
| 30 |
+
"required_z": 0.8565865670132103,
|
| 31 |
+
"initial_z": 0.7565865670132104,
|
| 32 |
+
"lift_margin": 0.19241107586934325,
|
| 33 |
+
"gripper_z": 1.0515057456131953,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.34805854695582106,
|
| 38 |
+
-0.05450746719354076,
|
| 39 |
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|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_82_success.json
ADDED
|
@@ -0,0 +1,684 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 82,
|
| 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 |
+
0.3559953743402064,
|
| 26 |
+
-0.04519273721136672,
|
| 27 |
+
1.0477703922529273
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0477703922529273,
|
| 30 |
+
"required_z": 0.8565863881992761,
|
| 31 |
+
"initial_z": 0.7565863881992761,
|
| 32 |
+
"lift_margin": 0.1911840040536512,
|
| 33 |
+
"gripper_z": 1.0497836426404121,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.3513952282719618,
|
| 38 |
+
-0.04960361700601512,
|
| 39 |
+
1.0497836426404121
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004600146068244604,
|
| 43 |
+
0.004410879794648402,
|
| 44 |
+
-0.0020132503874847885
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006373162826417022,
|
| 47 |
+
"object_to_gripper_z": -0.0020132503874847885,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.3559953743402064,
|
| 51 |
+
-0.06956671715282743,
|
| 52 |
+
1.0477703922529273
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.3451725964480707,
|
| 56 |
+
-0.04519273721136672,
|
| 57 |
+
1.0477703922529273
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.35058398539413854,
|
| 61 |
+
-0.05737972718209708,
|
| 62 |
+
1.0477703922529273
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005411388946067852,
|
| 66 |
+
0.01218698997073036,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.026668772365619504,
|
| 70 |
+
"fingertip_max_gap": 0.09444164154233584,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013334386182809755,
|
| 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": 1.0477703922529273,
|
| 78 |
+
"object_top_z": 1.0934364531507776,
|
| 79 |
+
"finger_top_clearance": 0.0456660608978503,
|
| 80 |
+
"fingertip_min_top_clearance": 0.013699818269355091,
|
| 81 |
+
"object_projection_between_fingers": 0.8353084022646207,
|
| 82 |
+
"object_to_finger_line_xy": 0.009891500352444951,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.04972082077116792,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 3.3919436742987137,
|
| 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": 215,
|
| 96 |
+
"max_stable_success_frames": 215,
|
| 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 |
+
"last_frame": {
|
| 205 |
+
"passed": true,
|
| 206 |
+
"source_missing": false,
|
| 207 |
+
"forbidden": [],
|
| 208 |
+
"allowed": [
|
| 209 |
+
{
|
| 210 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 211 |
+
"b": "/World/target_beaker/mesh"
|
| 212 |
+
},
|
| 213 |
+
{
|
| 214 |
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|
| 595 |
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"shoulder_pan_joint",
|
| 596 |
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"split_aloha",
|
| 597 |
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"tool_center",
|
| 598 |
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"ur16e",
|
| 599 |
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|
| 600 |
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"visuals",
|
| 601 |
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|
| 602 |
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"wrist_1_joint",
|
| 603 |
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|
| 604 |
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"wrist_3_joint"
|
| 605 |
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],
|
| 606 |
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"ignored_prim_substrings": [
|
| 607 |
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"base_link",
|
| 608 |
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|
| 609 |
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"defaultgroundplane",
|
| 610 |
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|
| 611 |
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|
| 612 |
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|
| 613 |
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|
| 614 |
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|
| 615 |
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|
| 616 |
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|
| 617 |
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|
| 618 |
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],
|
| 619 |
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"enabled": true
|
| 620 |
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},
|
| 621 |
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"status": "active",
|
| 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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"last_frame": {
|
| 627 |
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"passed": true,
|
| 628 |
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"source_missing": false,
|
| 629 |
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"forbidden": [],
|
| 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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|
| 639 |
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"post_done_wait_exhausted": false
|
| 640 |
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},
|
| 641 |
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"physical_semantics": {
|
| 642 |
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"skill": "place",
|
| 643 |
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"target": "beaker_b",
|
| 644 |
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"attach_used": false,
|
| 645 |
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|
| 646 |
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|
| 647 |
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"attach_allowed": false,
|
| 648 |
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"ordinary_object_physical_only": true
|
| 649 |
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}
|
| 650 |
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}
|
| 651 |
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],
|
| 652 |
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"physical_semantics": {
|
| 653 |
+
"attach_records": [],
|
| 654 |
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"ordinary_attach_violations": [],
|
| 655 |
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"forbidden_shortcuts_absent": true
|
| 656 |
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},
|
| 657 |
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"h5_episode_index": 82,
|
| 658 |
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"reproducibility": {
|
| 659 |
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"enabled": true,
|
| 660 |
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"action_seed": 2891541627295583141,
|
| 661 |
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"physical_seed": 1061768133550289122,
|
| 662 |
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"layout_id": "layout_00016",
|
| 663 |
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"step_seeds": [
|
| 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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"workflow_spec_digest": "95ad38958098d3260af1515a3214ff34ebd665fef85fe9c24ecd4da53790db79",
|
| 669 |
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"strict_task_state": false,
|
| 670 |
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"allow_physical_randomization": true,
|
| 671 |
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"seed_source": "workflow.reproducibility",
|
| 672 |
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"task_island_state_digest": "3927bd5b3a77ed3f79075e2968af8e84ebd3c0bdb60eb1e362bfc43f0acbecd9",
|
| 673 |
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"visual_seed": 6352310079620256463,
|
| 674 |
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"episode_index": 82,
|
| 675 |
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"physical_randomization_enabled": true,
|
| 676 |
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"motion_controller_type": "ik_servo",
|
| 677 |
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"runtime_step_seeds": [
|
| 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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"runtime_workflow_digest": "fb4779d4fb09319711732fcb7201b3f112d6ae3cd3b91423327eed1eb4ac996b"
|
| 683 |
+
}
|
| 684 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_83_success.json
ADDED
|
@@ -0,0 +1,684 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 83,
|
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|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_84_success.json
ADDED
|
@@ -0,0 +1,684 @@
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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 |
+
0.3573130263657362,
|
| 26 |
+
-0.044771345527389254,
|
| 27 |
+
1.047670005158422
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.047670005158422,
|
| 30 |
+
"required_z": 0.8565864478039208,
|
| 31 |
+
"initial_z": 0.7565864478039208,
|
| 32 |
+
"lift_margin": 0.19108355735450122,
|
| 33 |
+
"gripper_z": 1.0497472122737634,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.35270704776417683,
|
| 38 |
+
-0.049151494545923574,
|
| 39 |
+
1.0497472122737634
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.0046059786015593684,
|
| 43 |
+
0.00438014901853432,
|
| 44 |
+
-0.0020772071153414284
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006356157982821852,
|
| 47 |
+
"object_to_gripper_z": -0.0020772071153414284,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.3573130263657362,
|
| 51 |
+
-0.06915682740426515,
|
| 52 |
+
1.047670005158422
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.34653870316863084,
|
| 56 |
+
-0.044771345527389254,
|
| 57 |
+
1.047670005158422
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.3519258647671835,
|
| 61 |
+
-0.05696408646582721,
|
| 62 |
+
1.047670005158422
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005387161598552681,
|
| 66 |
+
0.012192740938437953,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.026659665540346256,
|
| 70 |
+
"fingertip_max_gap": 0.09786736504885599,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013329832770173132,
|
| 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": 1.047670005158422,
|
| 78 |
+
"object_top_z": 1.0951723669178455,
|
| 79 |
+
"finger_top_clearance": 0.04750236175942346,
|
| 80 |
+
"fingertip_min_top_clearance": 0.014250708527827038,
|
| 81 |
+
"object_projection_between_fingers": 0.8366682540441036,
|
| 82 |
+
"object_to_finger_line_xy": 0.009855227278114024,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.051433682524427995,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 3.774874079358234,
|
| 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": 215,
|
| 96 |
+
"max_stable_success_frames": 215,
|
| 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 |
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"fr3_leftfinger",
|
| 556 |
+
"fr3_rightfinger",
|
| 557 |
+
"franka",
|
| 558 |
+
"geometry",
|
| 559 |
+
"gripper",
|
| 560 |
+
"gripper_center",
|
| 561 |
+
"joint1",
|
| 562 |
+
"joint2",
|
| 563 |
+
"joint3",
|
| 564 |
+
"joint4",
|
| 565 |
+
"joint5",
|
| 566 |
+
"joint6",
|
| 567 |
+
"joint7",
|
| 568 |
+
"left_inner_finger",
|
| 569 |
+
"lift2",
|
| 570 |
+
"mobile_rotate",
|
| 571 |
+
"mobile_translate_x",
|
| 572 |
+
"mobile_translate_y",
|
| 573 |
+
"panda_joint1",
|
| 574 |
+
"panda_joint2",
|
| 575 |
+
"panda_joint3",
|
| 576 |
+
"panda_joint4",
|
| 577 |
+
"panda_joint5",
|
| 578 |
+
"panda_joint6",
|
| 579 |
+
"panda_joint7",
|
| 580 |
+
"panda_leftfinger",
|
| 581 |
+
"panda_leftfingertip",
|
| 582 |
+
"panda_rightfinger",
|
| 583 |
+
"panda_rightfingertip",
|
| 584 |
+
"ridgebase",
|
| 585 |
+
"ridgebase_festo",
|
| 586 |
+
"ridgebase_fr3",
|
| 587 |
+
"ridgebase_rizon4",
|
| 588 |
+
"ridgebase_ur16e",
|
| 589 |
+
"ridgebase_ur5e",
|
| 590 |
+
"right_inner_finger",
|
| 591 |
+
"rizon4",
|
| 592 |
+
"robot",
|
| 593 |
+
"robotiq_2f85",
|
| 594 |
+
"shoulder_lift_joint",
|
| 595 |
+
"shoulder_pan_joint",
|
| 596 |
+
"split_aloha",
|
| 597 |
+
"tool_center",
|
| 598 |
+
"ur16e",
|
| 599 |
+
"ur5e",
|
| 600 |
+
"visuals",
|
| 601 |
+
"wrist",
|
| 602 |
+
"wrist_1_joint",
|
| 603 |
+
"wrist_2_joint",
|
| 604 |
+
"wrist_3_joint"
|
| 605 |
+
],
|
| 606 |
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"ignored_prim_substrings": [
|
| 607 |
+
"base_link",
|
| 608 |
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"caster",
|
| 609 |
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"defaultgroundplane",
|
| 610 |
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"desk",
|
| 611 |
+
"floor",
|
| 612 |
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"ground",
|
| 613 |
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"groundplane",
|
| 614 |
+
"link0",
|
| 615 |
+
"table",
|
| 616 |
+
"wheel",
|
| 617 |
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"workbench"
|
| 618 |
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],
|
| 619 |
+
"enabled": true
|
| 620 |
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},
|
| 621 |
+
"status": "active",
|
| 622 |
+
"passed": true,
|
| 623 |
+
"source_missing": false,
|
| 624 |
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"forbidden": [],
|
| 625 |
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"disturbances": [],
|
| 626 |
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"last_frame": {
|
| 627 |
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"passed": true,
|
| 628 |
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"source_missing": false,
|
| 629 |
+
"forbidden": [],
|
| 630 |
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"allowed": [],
|
| 631 |
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"ignored": [],
|
| 632 |
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"failed_keys": []
|
| 633 |
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},
|
| 634 |
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"failed_keys": []
|
| 635 |
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}
|
| 636 |
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},
|
| 637 |
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"gripper": null,
|
| 638 |
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"post_done_wait_frames": 0,
|
| 639 |
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"post_done_wait_exhausted": false
|
| 640 |
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},
|
| 641 |
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"physical_semantics": {
|
| 642 |
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"skill": "place",
|
| 643 |
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"target": "beaker_b",
|
| 644 |
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"attach_used": false,
|
| 645 |
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"attach_object": null,
|
| 646 |
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"attach_object_path": null,
|
| 647 |
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"attach_allowed": false,
|
| 648 |
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"ordinary_object_physical_only": true
|
| 649 |
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}
|
| 650 |
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}
|
| 651 |
+
],
|
| 652 |
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"physical_semantics": {
|
| 653 |
+
"attach_records": [],
|
| 654 |
+
"ordinary_attach_violations": [],
|
| 655 |
+
"forbidden_shortcuts_absent": true
|
| 656 |
+
},
|
| 657 |
+
"h5_episode_index": 84,
|
| 658 |
+
"reproducibility": {
|
| 659 |
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"enabled": true,
|
| 660 |
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"action_seed": 2891541627295583141,
|
| 661 |
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"physical_seed": 1061768133550289122,
|
| 662 |
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"layout_id": "layout_00016",
|
| 663 |
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"step_seeds": [
|
| 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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"workflow_spec_digest": "95ad38958098d3260af1515a3214ff34ebd665fef85fe9c24ecd4da53790db79",
|
| 669 |
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"strict_task_state": false,
|
| 670 |
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"allow_physical_randomization": true,
|
| 671 |
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"seed_source": "workflow.reproducibility",
|
| 672 |
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"task_island_state_digest": "68bca9b0c2f5784d38cad656cfbd7ecbe194960079e3536b92e48c887709f7d4",
|
| 673 |
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"visual_seed": 3316303690073676477,
|
| 674 |
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"episode_index": 84,
|
| 675 |
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"physical_randomization_enabled": true,
|
| 676 |
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"motion_controller_type": "ik_servo",
|
| 677 |
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"runtime_step_seeds": [
|
| 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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"runtime_workflow_digest": "fb4779d4fb09319711732fcb7201b3f112d6ae3cd3b91423327eed1eb4ac996b"
|
| 683 |
+
}
|
| 684 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_85_success.json
ADDED
|
@@ -0,0 +1,684 @@
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|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_86_success.json
ADDED
|
@@ -0,0 +1,684 @@
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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 |
+
0.3600638016844119,
|
| 26 |
+
-0.04588210848650602,
|
| 27 |
+
1.0446244016200874
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0446244016200874,
|
| 30 |
+
"required_z": 0.8565865074085656,
|
| 31 |
+
"initial_z": 0.7565865074085656,
|
| 32 |
+
"lift_margin": 0.18803789421152184,
|
| 33 |
+
"gripper_z": 1.047578854843766,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.35527670720348464,
|
| 38 |
+
-0.05040852025126913,
|
| 39 |
+
1.047578854843766
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004787094480927234,
|
| 43 |
+
0.004526411764763108,
|
| 44 |
+
-0.002954453223678488
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006588222600482611,
|
| 47 |
+
"object_to_gripper_z": -0.002954453223678488,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.3600638016844119,
|
| 51 |
+
-0.07030227831750413,
|
| 52 |
+
1.0446244016200874
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.348954103276107,
|
| 56 |
+
-0.04588210848650602,
|
| 57 |
+
1.0446244016200874
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.35450895248025943,
|
| 61 |
+
-0.058092193402005075,
|
| 62 |
+
1.0446244016200874
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.0055548492041524455,
|
| 66 |
+
0.012210084915499055,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.026828531329505953,
|
| 70 |
+
"fingertip_max_gap": 0.09677685601067346,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013414265664752976,
|
| 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": 1.0446244016200874,
|
| 78 |
+
"object_top_z": 1.0914856472775725,
|
| 79 |
+
"finger_top_clearance": 0.04686124565748506,
|
| 80 |
+
"fingertip_min_top_clearance": 0.014058373697245552,
|
| 81 |
+
"object_projection_between_fingers": 0.828521079338117,
|
| 82 |
+
"object_to_finger_line_xy": 0.010112395589973986,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.05088842800533673,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 3.824306796905379,
|
| 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": 212,
|
| 96 |
+
"max_stable_success_frames": 212,
|
| 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",
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|
| 518 |
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"placed_release_frames": 233,
|
| 519 |
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"max_placed_release_frames": 233
|
| 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 |
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"skill": "place",
|
| 527 |
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"target_object": "beaker_b",
|
| 528 |
+
"held_object": "beaker_b",
|
| 529 |
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"allowed_objects": [
|
| 530 |
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"beaker_b"
|
| 531 |
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],
|
| 532 |
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"allowed_object_paths": [
|
| 533 |
+
"/World/target_beaker"
|
| 534 |
+
],
|
| 535 |
+
"allowed_prim_substrings": [],
|
| 536 |
+
"robot_prim_substrings": [
|
| 537 |
+
"Robotiq2F85",
|
| 538 |
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"Robotiq_2F_85",
|
| 539 |
+
"contact_sensor",
|
| 540 |
+
"dummy_base_prismatic_x_joint",
|
| 541 |
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"dummy_base_prismatic_y_joint",
|
| 542 |
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"dummy_base_revolute_z_joint",
|
| 543 |
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"elbow_joint",
|
| 544 |
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"festo",
|
| 545 |
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"finger",
|
| 546 |
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"fr3",
|
| 547 |
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"fr3_duo_mobile",
|
| 548 |
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"fr3_joint1",
|
| 549 |
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"fr3_joint2",
|
| 550 |
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"fr3_joint3",
|
| 551 |
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"fr3_joint4",
|
| 552 |
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"fr3_joint5",
|
| 553 |
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"fr3_joint6",
|
| 554 |
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"fr3_joint7",
|
| 555 |
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"fr3_leftfinger",
|
| 556 |
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"fr3_rightfinger",
|
| 557 |
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"franka",
|
| 558 |
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"geometry",
|
| 559 |
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"gripper",
|
| 560 |
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"gripper_center",
|
| 561 |
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"joint1",
|
| 562 |
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"joint2",
|
| 563 |
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"joint3",
|
| 564 |
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"joint4",
|
| 565 |
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"joint5",
|
| 566 |
+
"joint6",
|
| 567 |
+
"joint7",
|
| 568 |
+
"left_inner_finger",
|
| 569 |
+
"lift2",
|
| 570 |
+
"mobile_rotate",
|
| 571 |
+
"mobile_translate_x",
|
| 572 |
+
"mobile_translate_y",
|
| 573 |
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"panda_joint1",
|
| 574 |
+
"panda_joint2",
|
| 575 |
+
"panda_joint3",
|
| 576 |
+
"panda_joint4",
|
| 577 |
+
"panda_joint5",
|
| 578 |
+
"panda_joint6",
|
| 579 |
+
"panda_joint7",
|
| 580 |
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"panda_leftfinger",
|
| 581 |
+
"panda_leftfingertip",
|
| 582 |
+
"panda_rightfinger",
|
| 583 |
+
"panda_rightfingertip",
|
| 584 |
+
"ridgebase",
|
| 585 |
+
"ridgebase_festo",
|
| 586 |
+
"ridgebase_fr3",
|
| 587 |
+
"ridgebase_rizon4",
|
| 588 |
+
"ridgebase_ur16e",
|
| 589 |
+
"ridgebase_ur5e",
|
| 590 |
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"right_inner_finger",
|
| 591 |
+
"rizon4",
|
| 592 |
+
"robot",
|
| 593 |
+
"robotiq_2f85",
|
| 594 |
+
"shoulder_lift_joint",
|
| 595 |
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"shoulder_pan_joint",
|
| 596 |
+
"split_aloha",
|
| 597 |
+
"tool_center",
|
| 598 |
+
"ur16e",
|
| 599 |
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"ur5e",
|
| 600 |
+
"visuals",
|
| 601 |
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"wrist",
|
| 602 |
+
"wrist_1_joint",
|
| 603 |
+
"wrist_2_joint",
|
| 604 |
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"wrist_3_joint"
|
| 605 |
+
],
|
| 606 |
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"ignored_prim_substrings": [
|
| 607 |
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"base_link",
|
| 608 |
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"caster",
|
| 609 |
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"defaultgroundplane",
|
| 610 |
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"desk",
|
| 611 |
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"floor",
|
| 612 |
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"ground",
|
| 613 |
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"groundplane",
|
| 614 |
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"link0",
|
| 615 |
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"table",
|
| 616 |
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"wheel",
|
| 617 |
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"workbench"
|
| 618 |
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],
|
| 619 |
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"enabled": true
|
| 620 |
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},
|
| 621 |
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"status": "active",
|
| 622 |
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"passed": true,
|
| 623 |
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"source_missing": false,
|
| 624 |
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|
| 625 |
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"disturbances": [],
|
| 626 |
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"last_frame": {
|
| 627 |
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"passed": true,
|
| 628 |
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"source_missing": false,
|
| 629 |
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"forbidden": [],
|
| 630 |
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"allowed": [],
|
| 631 |
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|
| 632 |
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|
| 633 |
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},
|
| 634 |
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"failed_keys": []
|
| 635 |
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}
|
| 636 |
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},
|
| 637 |
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|
| 638 |
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|
| 639 |
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"post_done_wait_exhausted": false
|
| 640 |
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},
|
| 641 |
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"physical_semantics": {
|
| 642 |
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"skill": "place",
|
| 643 |
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"target": "beaker_b",
|
| 644 |
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"attach_used": false,
|
| 645 |
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"attach_object": null,
|
| 646 |
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"attach_object_path": null,
|
| 647 |
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"attach_allowed": false,
|
| 648 |
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"ordinary_object_physical_only": true
|
| 649 |
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}
|
| 650 |
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}
|
| 651 |
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],
|
| 652 |
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"physical_semantics": {
|
| 653 |
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"attach_records": [],
|
| 654 |
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"ordinary_attach_violations": [],
|
| 655 |
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"forbidden_shortcuts_absent": true
|
| 656 |
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},
|
| 657 |
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"h5_episode_index": 86,
|
| 658 |
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"reproducibility": {
|
| 659 |
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"enabled": true,
|
| 660 |
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"action_seed": 2891541627295583141,
|
| 661 |
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|
| 662 |
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|
| 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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"workflow_spec_digest": "95ad38958098d3260af1515a3214ff34ebd665fef85fe9c24ecd4da53790db79",
|
| 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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"visual_seed": 3335658337376406962,
|
| 674 |
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|
| 675 |
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"physical_randomization_enabled": true,
|
| 676 |
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|
| 677 |
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"runtime_step_seeds": [
|
| 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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|
| 683 |
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}
|
| 684 |
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}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_88_success.json
ADDED
|
@@ -0,0 +1,684 @@
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| 11 |
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| 18 |
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| 19 |
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|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_8_success.json
ADDED
|
@@ -0,0 +1,684 @@
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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 |
+
0.3555904939237827,
|
| 26 |
+
-0.04440770408900591,
|
| 27 |
+
1.0481091400325113
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0481091400325113,
|
| 30 |
+
"required_z": 0.8565864478039208,
|
| 31 |
+
"initial_z": 0.7565864478039208,
|
| 32 |
+
"lift_margin": 0.19152269222859053,
|
| 33 |
+
"gripper_z": 1.0503236720957003,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.35111191338985676,
|
| 38 |
+
-0.048835622136845724,
|
| 39 |
+
1.0503236720957003
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004478580533925969,
|
| 43 |
+
0.004427918047839811,
|
| 44 |
+
-0.002214532063189001
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.0062979474304924255,
|
| 47 |
+
"object_to_gripper_z": -0.002214532063189001,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.3555904939237827,
|
| 51 |
+
-0.06877345052203906,
|
| 52 |
+
1.0481091400325113
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.3448499959122794,
|
| 56 |
+
-0.04440770408900591,
|
| 57 |
+
1.0481091400325113
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.35022024491803105,
|
| 61 |
+
-0.056590577305522485,
|
| 62 |
+
1.0481091400325113
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.0053702490057516705,
|
| 66 |
+
0.012182873216516572,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.02662795329675142,
|
| 70 |
+
"fingertip_max_gap": 0.094047058572273,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013313976648375707,
|
| 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": 1.0481091400325113,
|
| 78 |
+
"object_top_z": 1.0936842772056674,
|
| 79 |
+
"finger_top_clearance": 0.04557513717315609,
|
| 80 |
+
"fingertip_min_top_clearance": 0.013672541151946827,
|
| 81 |
+
"object_projection_between_fingers": 0.8373053526285541,
|
| 82 |
+
"object_to_finger_line_xy": 0.009828027268799295,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.0495235292861365,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 3.4828295479143163,
|
| 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": 215,
|
| 96 |
+
"max_stable_success_frames": 215,
|
| 97 |
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| 498 |
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| 499 |
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|
| 500 |
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| 501 |
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| 502 |
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|
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|
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|
| 530 |
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|
| 531 |
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],
|
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|
| 533 |
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|
| 534 |
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],
|
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|
| 536 |
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"robot_prim_substrings": [
|
| 537 |
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|
| 538 |
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|
| 539 |
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|
| 540 |
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|
| 541 |
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|
| 542 |
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|
| 543 |
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|
| 544 |
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|
| 545 |
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| 548 |
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|
| 549 |
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|
| 550 |
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| 551 |
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| 552 |
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|
| 553 |
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|
| 554 |
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|
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|
| 556 |
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| 557 |
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|
| 558 |
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|
| 560 |
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|
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|
| 562 |
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|
| 563 |
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|
| 564 |
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|
| 565 |
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|
| 566 |
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|
| 567 |
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|
| 568 |
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|
| 569 |
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|
| 570 |
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|
| 571 |
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|
| 572 |
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"mobile_translate_y",
|
| 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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"panda_rightfinger",
|
| 583 |
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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 |
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|
| 590 |
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"right_inner_finger",
|
| 591 |
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|
| 592 |
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"robot",
|
| 593 |
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|
| 594 |
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|
| 595 |
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|
| 596 |
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|
| 597 |
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|
| 598 |
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|
| 599 |
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|
| 600 |
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|
| 601 |
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|
| 602 |
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|
| 603 |
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|
| 604 |
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|
| 605 |
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| 606 |
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|
| 607 |
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|
| 608 |
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|
| 609 |
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|
| 610 |
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| 611 |
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| 612 |
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|
| 613 |
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|
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| 616 |
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| 617 |
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|
| 618 |
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| 619 |
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|
| 620 |
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| 621 |
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| 622 |
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| 623 |
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| 624 |
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| 626 |
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| 629 |
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| 630 |
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| 631 |
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| 632 |
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|
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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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|
| 647 |
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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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|
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|
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|
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|
| 676 |
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|
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|
| 683 |
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}
|
| 684 |
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}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_90_success.json
ADDED
|
@@ -0,0 +1,684 @@
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| 1 |
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| 2 |
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| 3 |
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| 4 |
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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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| 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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| 114 |
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| 115 |
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| 117 |
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| 129 |
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| 132 |
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| 148 |
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| 149 |
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| 152 |
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| 160 |
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| 161 |
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| 169 |
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| 170 |
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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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"workflow_spec_digest": "95ad38958098d3260af1515a3214ff34ebd665fef85fe9c24ecd4da53790db79",
|
| 669 |
+
"strict_task_state": false,
|
| 670 |
+
"allow_physical_randomization": true,
|
| 671 |
+
"seed_source": "workflow.reproducibility",
|
| 672 |
+
"task_island_state_digest": "83d64643a85c013592f46eb2884771e6041bb716c25bc2b03a21eeb1a973f390",
|
| 673 |
+
"visual_seed": 4668097270957057006,
|
| 674 |
+
"episode_index": 90,
|
| 675 |
+
"physical_randomization_enabled": true,
|
| 676 |
+
"motion_controller_type": "ik_servo",
|
| 677 |
+
"runtime_step_seeds": [
|
| 678 |
+
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|
| 679 |
+
5066845160497422571,
|
| 680 |
+
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|
| 681 |
+
],
|
| 682 |
+
"runtime_workflow_digest": "fb4779d4fb09319711732fcb7201b3f112d6ae3cd3b91423327eed1eb4ac996b"
|
| 683 |
+
}
|
| 684 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_93_success.json
ADDED
|
@@ -0,0 +1,684 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"episode": 93,
|
| 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 |
+
0.35102567866644324,
|
| 26 |
+
-0.04800762335485083,
|
| 27 |
+
1.0461413363860939
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0461413363860939,
|
| 30 |
+
"required_z": 0.8565863881992758,
|
| 31 |
+
"initial_z": 0.7565863881992758,
|
| 32 |
+
"lift_margin": 0.18955494818681806,
|
| 33 |
+
"gripper_z": 1.0478602839755775,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.34645106786838475,
|
| 38 |
+
-0.05257160824994957,
|
| 39 |
+
1.0478602839755775
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004574610798058487,
|
| 43 |
+
0.004563984895098738,
|
| 44 |
+
-0.0017189475894836548
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.00646196735339964,
|
| 47 |
+
"object_to_gripper_z": -0.0017189475894836548,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.35102567866644324,
|
| 51 |
+
-0.07218523981565157,
|
| 52 |
+
1.0461413363860939
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.33974409557415464,
|
| 56 |
+
-0.04800762335485083,
|
| 57 |
+
1.0461413363860939
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
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0.3453848871202989,
|
| 61 |
+
-0.0600964315852512,
|
| 62 |
+
1.0461413363860939
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
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0.00564079154614433,
|
| 66 |
+
0.012088808230400372,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
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|
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}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_94_success.json
ADDED
|
@@ -0,0 +1,684 @@
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|
| 1 |
+
{
|
| 2 |
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"episode": 94,
|
| 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 |
+
"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 |
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"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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-0.048042638614221304,
|
| 27 |
+
1.0485965814788505
|
| 28 |
+
],
|
| 29 |
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"current_z": 1.0485965814788505,
|
| 30 |
+
"required_z": 0.856586388199276,
|
| 31 |
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"initial_z": 0.756586388199276,
|
| 32 |
+
"lift_margin": 0.19201019327957447,
|
| 33 |
+
"gripper_z": 1.0510879663948374,
|
| 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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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
+
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": 215,
|
| 96 |
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|
| 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 |
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"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 |
+
],
|
| 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 |
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"fr3_joint1",
|
| 127 |
+
"fr3_joint2",
|
| 128 |
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"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 |
+
"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 |
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"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 |
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"ridgebase",
|
| 163 |
+
"ridgebase_festo",
|
| 164 |
+
"ridgebase_fr3",
|
| 165 |
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"ridgebase_rizon4",
|
| 166 |
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"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 |
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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 |
+
"floor",
|
| 190 |
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"ground",
|
| 191 |
+
"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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|
| 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/right_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/left_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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"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 |
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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": {
|
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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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|
| 639 |
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|
| 640 |
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|
| 641 |
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|
| 642 |
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|
| 643 |
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"target": "beaker_b",
|
| 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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"physical_semantics": {
|
| 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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"enabled": true,
|
| 660 |
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|
| 661 |
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|
| 662 |
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| 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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| 682 |
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|
| 683 |
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}
|
| 684 |
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}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_95_success.json
ADDED
|
@@ -0,0 +1,684 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 95,
|
| 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 |
+
0.36002385621316607,
|
| 26 |
+
-0.046553339736692165,
|
| 27 |
+
1.0487433562959103
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0487433562959103,
|
| 30 |
+
"required_z": 0.8565864478039208,
|
| 31 |
+
"initial_z": 0.7565864478039208,
|
| 32 |
+
"lift_margin": 0.19215690849198952,
|
| 33 |
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|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_97_success.json
ADDED
|
@@ -0,0 +1,684 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"episode": 97,
|
| 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 |
+
0.3542823356863237,
|
| 26 |
+
-0.0477419278196627,
|
| 27 |
+
1.047002275407824
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.047002275407824,
|
| 30 |
+
"required_z": 0.8565865074085656,
|
| 31 |
+
"initial_z": 0.7565865074085656,
|
| 32 |
+
"lift_margin": 0.19041576799925852,
|
| 33 |
+
"gripper_z": 1.0485731247544903,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.3497935392680329,
|
| 38 |
+
-0.052270997064548255,
|
| 39 |
+
1.0485731247544903
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004488796418290808,
|
| 43 |
+
0.004529069244885553,
|
| 44 |
+
-0.001570849346666181
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006376657549988754,
|
| 47 |
+
"object_to_gripper_z": -0.001570849346666181,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.3542823356863237,
|
| 51 |
+
-0.07176745843511174,
|
| 52 |
+
1.047002275407824
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.34293176030964345,
|
| 56 |
+
-0.0477419278196627,
|
| 57 |
+
1.047002275407824
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.3486070479979836,
|
| 61 |
+
-0.05975469312738722,
|
| 62 |
+
1.047002275407824
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005675287688340136,
|
| 66 |
+
0.012012765307724521,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.026571821216009636,
|
| 70 |
+
"fingertip_max_gap": 0.09371851933707273,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013285910608004818,
|
| 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": 1.047002275407824,
|
| 78 |
+
"object_top_z": 1.092879853302839,
|
| 79 |
+
"finger_top_clearance": 0.0458775778950149,
|
| 80 |
+
"fingertip_min_top_clearance": 0.01376327336850447,
|
| 81 |
+
"object_projection_between_fingers": 0.8175293114865865,
|
| 82 |
+
"object_to_finger_line_xy": 0.010262886913114128,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.04935925966853637,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 2.3399685493796425,
|
| 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": 214,
|
| 96 |
+
"max_stable_success_frames": 214,
|
| 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 |
+
"last_frame": {
|
| 205 |
+
"passed": true,
|
| 206 |
+
"source_missing": false,
|
| 207 |
+
"forbidden": [],
|
| 208 |
+
"allowed": [
|
| 209 |
+
{
|
| 210 |
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"ridgebase_rizon4",
|
| 588 |
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"ridgebase_ur16e",
|
| 589 |
+
"ridgebase_ur5e",
|
| 590 |
+
"right_inner_finger",
|
| 591 |
+
"rizon4",
|
| 592 |
+
"robot",
|
| 593 |
+
"robotiq_2f85",
|
| 594 |
+
"shoulder_lift_joint",
|
| 595 |
+
"shoulder_pan_joint",
|
| 596 |
+
"split_aloha",
|
| 597 |
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"tool_center",
|
| 598 |
+
"ur16e",
|
| 599 |
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"ur5e",
|
| 600 |
+
"visuals",
|
| 601 |
+
"wrist",
|
| 602 |
+
"wrist_1_joint",
|
| 603 |
+
"wrist_2_joint",
|
| 604 |
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"wrist_3_joint"
|
| 605 |
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],
|
| 606 |
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"ignored_prim_substrings": [
|
| 607 |
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"base_link",
|
| 608 |
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"caster",
|
| 609 |
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"defaultgroundplane",
|
| 610 |
+
"desk",
|
| 611 |
+
"floor",
|
| 612 |
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"ground",
|
| 613 |
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"groundplane",
|
| 614 |
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"link0",
|
| 615 |
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"table",
|
| 616 |
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"wheel",
|
| 617 |
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"workbench"
|
| 618 |
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],
|
| 619 |
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"enabled": true
|
| 620 |
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},
|
| 621 |
+
"status": "active",
|
| 622 |
+
"passed": true,
|
| 623 |
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"source_missing": false,
|
| 624 |
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"forbidden": [],
|
| 625 |
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"disturbances": [],
|
| 626 |
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"last_frame": {
|
| 627 |
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"passed": true,
|
| 628 |
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"source_missing": false,
|
| 629 |
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"forbidden": [],
|
| 630 |
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"allowed": [],
|
| 631 |
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"ignored": [],
|
| 632 |
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|
| 633 |
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|
| 634 |
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"failed_keys": []
|
| 635 |
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}
|
| 636 |
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},
|
| 637 |
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|
| 638 |
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|
| 639 |
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"post_done_wait_exhausted": false
|
| 640 |
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},
|
| 641 |
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"physical_semantics": {
|
| 642 |
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"skill": "place",
|
| 643 |
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"target": "beaker_b",
|
| 644 |
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"attach_used": false,
|
| 645 |
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"attach_object": null,
|
| 646 |
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"attach_object_path": null,
|
| 647 |
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"attach_allowed": false,
|
| 648 |
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"ordinary_object_physical_only": true
|
| 649 |
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}
|
| 650 |
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}
|
| 651 |
+
],
|
| 652 |
+
"physical_semantics": {
|
| 653 |
+
"attach_records": [],
|
| 654 |
+
"ordinary_attach_violations": [],
|
| 655 |
+
"forbidden_shortcuts_absent": true
|
| 656 |
+
},
|
| 657 |
+
"h5_episode_index": 97,
|
| 658 |
+
"reproducibility": {
|
| 659 |
+
"enabled": true,
|
| 660 |
+
"action_seed": 2891541627295583141,
|
| 661 |
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"physical_seed": 1061768133550289122,
|
| 662 |
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"layout_id": "layout_00016",
|
| 663 |
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"step_seeds": [
|
| 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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"workflow_spec_digest": "95ad38958098d3260af1515a3214ff34ebd665fef85fe9c24ecd4da53790db79",
|
| 669 |
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"strict_task_state": false,
|
| 670 |
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"allow_physical_randomization": true,
|
| 671 |
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"seed_source": "workflow.reproducibility",
|
| 672 |
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"task_island_state_digest": "1291c155d1f3abc83639589f53d477ad12186509113f729d4021083db6490230",
|
| 673 |
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"visual_seed": 2004712902109440717,
|
| 674 |
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"episode_index": 97,
|
| 675 |
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"physical_randomization_enabled": true,
|
| 676 |
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"motion_controller_type": "ik_servo",
|
| 677 |
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"runtime_step_seeds": [
|
| 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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"runtime_workflow_digest": "fb4779d4fb09319711732fcb7201b3f112d6ae3cd3b91423327eed1eb4ac996b"
|
| 683 |
+
}
|
| 684 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_98_success.json
ADDED
|
@@ -0,0 +1,684 @@
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|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00016/results/episode_99_success.json
ADDED
|
@@ -0,0 +1,684 @@
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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 |
+
0.3508563901929558,
|
| 26 |
+
-0.05169945145002637,
|
| 27 |
+
1.0491520699587127
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0491520699587127,
|
| 30 |
+
"required_z": 0.856586388199276,
|
| 31 |
+
"initial_z": 0.756586388199276,
|
| 32 |
+
"lift_margin": 0.19256568175943667,
|
| 33 |
+
"gripper_z": 1.0510043428020521,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.3463234509369084,
|
| 38 |
+
-0.05620114400125359,
|
| 39 |
+
1.0510043428020521
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004532939256047364,
|
| 43 |
+
0.004501692551227218,
|
| 44 |
+
-0.001852272843339442
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006388487624218259,
|
| 47 |
+
"object_to_gripper_z": -0.001852272843339442,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.3508563901929558,
|
| 51 |
+
-0.07592972398448777,
|
| 52 |
+
1.0491520699587127
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.3397796705556893,
|
| 56 |
+
-0.05169945145002637,
|
| 57 |
+
1.0491520699587127
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.3453180303743225,
|
| 61 |
+
-0.06381458771725707,
|
| 62 |
+
1.0491520699587127
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005538359818633265,
|
| 66 |
+
0.012115136267230694,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.02664206870753244,
|
| 70 |
+
"fingertip_max_gap": 0.09627107705307344,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013321034353766225,
|
| 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": 1.0491520699587127,
|
| 78 |
+
"object_top_z": 1.0960524398248788,
|
| 79 |
+
"finger_top_clearance": 0.04690036986616608,
|
| 80 |
+
"fingertip_min_top_clearance": 0.014070110959849823,
|
| 81 |
+
"object_projection_between_fingers": 0.8271432119334673,
|
| 82 |
+
"object_to_finger_line_xy": 0.010073990069806624,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.050635538526536725,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 3.0133367566764218,
|
| 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": 216,
|
| 96 |
+
"max_stable_success_frames": 216,
|
| 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 |
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