Upload folder using huggingface_hub (part 100)

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ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/resolved_config.yaml

@@ -0,0 +1,257 @@
+name: lab3_heat_2beaker_s04_pslr_hte_00011
+task_type: workflow
+controller_type: workflow
+mode: collect
+usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd
+max_episodes: 100
+infer:
+  type: local
+  obs_names:
+    camera_1_rgb: camera_1_rgb
+    camera_2_rgb: camera_2_rgb
+  policy_model_path: ''
+  policy_config_path: ''
+  normalizer_path: ''
+  host: 127.0.0.1
+  port: 8000
+  n_obs_steps: 1
+  timeout: 30
+  max_retries: 3
+task:
+  max_steps: 14000
+workflow:
+  table_prim_path: /World/table
+  language_instruction: Pick up beaker b from home. Shake the current contents of
+    beaker b once. Place beaker b on the heater platform. Press the heater button
+    to start heating.
+  layout_id: layout_00011
+  reproducibility:
+    enabled: true
+    layout_id: layout_00011
+    action_seed: 5125611169601523735
+    step_seeds:
+    - 833302438968261441
+    - 2635298924869554144
+    - 5370397393835884011
+    - 2609782213990237604
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.2818
+      - 0.2818
+      'y':
+      - -0.1235
+      - -0.1235
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.2854
+      - 0.2854
+      'y':
+      - 0.0872
+      - 0.0872
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: inspection_platform
+    path: /World/target_plat
+    position_range:
+      x:
+      - 0.3379
+      - 0.3379
+      'y':
+      - 0.2484
+      - 0.2484
+      z:
+      - 0.0
+      - 0.0
+    role: placement_target
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.2071
+      - 0.2071
+      'y':
+      - -0.3185
+      - -0.3185
+      z:
+      - 0.0
+      - 0.0
+  - name: heater_platform
+    path: /World/heat_device/heat_device/heat_device/plat
+    parent_object: heat_device
+    role: placement_target
+  - name: heat_button
+    path: /World/heat_device/button
+    parent_object: heat_device
+  steps:
+  - skill: pick
+    target_object: beaker_b
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.01
+      - 0.04
+      - 0.04
+      - 0.006
+      - 0.04
+      pre_offset_x: 0.05
+      pre_offset_z: 0.05
+      after_offset_z: 0.3
+      gripper_distances: 0.019
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: true
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params:
+        smooth_close: true
+  - skill: shake
+    target_object: beaker_b
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      shake_distance: 0.08
+      shake_center_offset_z: 0.0
+      fallback_height_offset: 0.23
+      events_dt:
+      - 0.04
+      - 0.018
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.015
+      position_only: true
+      position_threshold: 0.04
+  - skill: place
+    target_object: heater_platform
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.005
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.2
+      place_offset_z: 0.05
+      target_z_offset: 0.045
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      keep_gripper_closed_until_release: true
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.04
+  - skill: press
+    target_object: heat_button
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 10
+      events_dt:
+      - 0.004
+      - 0.02
+      - 0.01
+      - 0.02
+      - 0.01
+      - 0.02
+      press_distance: 0.04
+      gripper_gap: 0.0
+      lock_target_position: true
+      initial_offset_z: 0.2
+      press_z_tcp_offset: 0.025
+      position_threshold: 0.01
+  recreate_motion_controllers_on_reset: true
+cameras:
+- prim_path: /World/Camera1
+  name: camera_1
+  translation:
+  - 2.129903
+  - 0.0
+  - 2.075001
+  resolution:
+  - 512
+  - 512
+  focal_length: 3.5
+  orientation:
+  - 0.61237
+  - 0.35355
+  - 0.35355
+  - 0.61237
+  image_type: rgb
+- prim_path: /World/Camera2
+  name: camera_2
+  translation:
+  - 0.1
+  - 0.0
+  - 2.65
+  resolution:
+  - 512
+  - 512
+  focal_length: 2.825
+  orientation:
+  - 0.70711
+  - 0
+  - 0
+  - -0.70711
+  image_type: rgb
+- prim_path: /World/Camera3
+  name: camera_3
+  translation:
+  - 0.2
+  - -3.01678
+  - 1.16281
+  resolution:
+  - 512
+  - 512
+  focal_length: 4
+  orientation:
+  - 0.7681
+  - 0.63858
+  - -0.03028
+  - -0.03642
+  image_type: rgb
+  track_end_effector: true
+robot:
+  type: ur5e
+  position:
+  - -0.27
+  - 0.0
+  - 0.71
+collector:
+  type: default
+  compression: gzip
+multi_run:
+  run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011
+motion_controller: ik_servo
+max_consecutive_failures: 20
+video:
+  playback_speed: 1
+  render_every_n_steps: 3

ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_0_success.json

@@ -0,0 +1,926 @@
+{
+  "episode": 0,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_b",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_b",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_b",
+            "active_arm": null,
+            "object_position": [
+              0.3070858174123674,
+              0.09589932247925768,
+              1.0473613897335712
+            ],
+            "current_z": 1.0473613897335712,
+            "required_z": 0.8565865670132103,
+            "initial_z": 0.7565865670132104,
+            "lift_margin": 0.19077482272036084,
+            "gripper_z": 1.0499857044664258,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3020568221547455,
+              0.09102213272167421,
+              1.0499857044664258
+            ],
+            "object_minus_gripper": [
+              0.005028995257621904,
+              0.004877189757583472,
+              -0.002624314732854627
+            ],
+            "object_to_gripper_xy": 0.007005553028324083,
+            "object_to_gripper_z": -0.002624314732854627,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3070858174123674,
+              0.07155507269943066,
+              1.0473613897335712
+            ],
+            "finger_b": [
+              0.29513912923155966,
+              0.09589932247925768,
+              1.0473613897335712
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+            "finger_midpoint": [
+              0.30111247332196356,
+              0.08372719758934417,
+              1.0473613897335712
+            ],
+            "object_minus_finger_midpoint": [
+              0.005973344090403843,
+              0.01217212488991351,
+              0.0
+            ],
+            "finger_gap": 0.02711762998184132,
+            "fingertip_max_gap": 0.0924158969084444,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013558814990920648,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0473613897335712,
+            "object_top_z": 1.0937560601055114,
+            "finger_top_clearance": 0.04639467037194023,
+            "fingertip_min_top_clearance": 0.013918401111582069,
+            "object_projection_between_fingers": 0.8059151681336071,
+            "object_to_finger_line_xy": 0.010724873866559901,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0487079484542222,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8015119969336637,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 217,
+            "max_stable_success_frames": 217,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_b",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_b"
+              ],
+              "allowed_object_paths": [
+                "/World/target_beaker"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
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+}

ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_100_success.json

@@ -0,0 +1,926 @@
+{
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+                "fr3_leftfinger",
+                "fr3_rightfinger",
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+                "geometry",
+                "gripper",
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+                "mobile_translate_x",
+                "mobile_translate_y",
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+  }
+}

ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_101_success.json

@@ -0,0 +1,926 @@
+{
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+  }
+}

ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_102_success.json

@@ -0,0 +1,926 @@
+{
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+  "success": true,
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+  }
+}

ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_103_success.json

@@ -0,0 +1,926 @@
+{
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+  }
+}

ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_105_success.json

@@ -0,0 +1,926 @@
+{
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+  "success": true,
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+}

ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_106_success.json

@@ -0,0 +1,926 @@
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+  }
+}

ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00011/results/episode_107_success.json

@@ -0,0 +1,926 @@
+{
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+}