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diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00029/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00029/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f4109d01006d685479bd8563ac1d7ffe8e94c68f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00029/resolved_config.yaml @@ -0,0 +1,318 @@ +name: lab3_heat_2beaker_s06_polplr_htc_00029 +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. Pour beaker b into beaker a and + return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker + a on the heater platform. Press the heater button to start heating. + layout_id: layout_00029 + reproducibility: + enabled: true + layout_id: layout_00029 + action_seed: 6098476093969262866 + step_seeds: + - 4958422072777399816 + - 1462235376509235589 + - 5298651874515874446 + - 83620680969400301 + - 2709155700873044808 + - 8371969305485854496 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.1661 + - 0.1661 + 'y': + - 0.1532 + - 0.1532 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.1439 + - 0.1439 + 'y': + - 0.2858 + - 0.2858 + z: + - 0.0 + - 0.0 + role: source + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.3597 + - 0.3597 + 'y': + - 0.0635 + - 0.0635 + z: + - 0.0 + - 0.0 + role: placement_target + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.2547 + - 0.2547 + 'y': + - -0.321 + - -0.321 + 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: 0.25 + gripper_distances: 0.019 + reset_at_center: false + require_phase_convergence: false + lock_target_position: false + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + hold_grasp_pose_until_close: false + - skill: pour + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.006 + - 0.002 + - 0.012 + - 0.01 + - 0.009 + - 0.01 + pour_speed: -1.5 + source_name: beaker + approach_xy_threshold: 0.08 + tilt_position_threshold: 0.04 + height_range_1: + - 0.3 + - 0.4 + height_range_2: + - 0.2 + - 0.2 + position_only: false + tilt_strategy: wrist_velocity + position_threshold: 0.015 + post_return_recenter: true + lock_target_position: true + held_gripper_distances: 0.019 + - skill: place + target_object: beaker_b + target_key: beaker_b_initial_position + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.01 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.0 + retreat_height: 0.15 + retreat_xy: 0.15 + position_threshold: 0.015 + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 + - skill: pick + target_object: beaker_a + 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: 0.4 + gripper_distances: 0.018 + 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 + pickz_offset: -0.01 + - 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 + gripper_contact_profile: pour_torsional +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00029 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00029/results/episode_100_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00029/results/episode_100_success.json new file mode 100644 index 0000000000000000000000000000000000000000..65ecaf89dea9e6dde463d1c71576da5f7b22aed5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00029/results/episode_100_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 100, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "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": [ + 0.17674620954864356, + 0.2840320522518986, + 1.0000242619877464 + ], + "current_z": 1.0000242619877464, + "required_z": 0.8565865074085657, + "initial_z": 0.7565865074085657, + "lift_margin": 0.14343775457918073, + "gripper_z": 1.0025708837480434, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.17168241962734695, + 0.2792563662440087, + 1.0025708837480434 + ], + "object_minus_gripper": [ + 0.0050637899212966075, + 0.004775686007889912, + -0.002546621760296963 + ], + "object_to_gripper_xy": 0.006960542020057101, + "object_to_gripper_z": -0.002546621760296963, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.17674620954864356, + 0.2595213571444185, + 1.0000242619877464 + ], + "finger_b": [ + 0.16551318777690183, + 0.2840320522518986, + 1.0000242619877464 + ], + "finger_midpoint": [ + 0.1711296986627727, + 0.2717767046981585, + 1.0000242619877464 + ], + "object_minus_finger_midpoint": [ + 0.005616510885870868, + 0.012255347553740081, + 0.0 + ], + "finger_gap": 0.026962102157960032, + "fingertip_max_gap": 0.09387566315473636, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013481051078980042, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.0000242619877464, + "object_top_z": 1.0463578145824648, + "finger_top_clearance": 0.046333552594718386, + "fingertip_min_top_clearance": 0.013900065778415531, + "object_projection_between_fingers": 0.8264255884872456, + "object_to_finger_line_xy": 0.01021171013186604, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04943783157736818, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8386243997689775, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 154, + "max_stable_success_frames": 154, + "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", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + 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diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00030/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00030/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a5a335e25ecd46b2b3167e9582cab9601cfe442f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00030/resolved_config.yaml @@ -0,0 +1,318 @@ +name: lab3_heat_2beaker_s06_polplr_htc_00030 +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. Pour beaker b into beaker a and + return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker + a on the heater platform. Press the heater button to start heating. + layout_id: layout_00030 + reproducibility: + enabled: true + layout_id: layout_00030 + action_seed: 6658796726011171620 + step_seeds: + - 3188608099509189937 + - 4949622282959698655 + - 6590206372818194557 + - 3957288070049760871 + - 4471394649374130754 + - 7646082623233218622 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.2789 + - 0.2789 + 'y': + - -0.1177 + - -0.1177 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.3526 + - 0.3526 + 'y': + - 0.066 + - 0.066 + z: + - 0.0 + - 0.0 + role: source + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.3422 + - 0.3422 + 'y': + - 0.3239 + - 0.3239 + z: + - 0.0 + - 0.0 + role: placement_target + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.2265 + - 0.2265 + 'y': + - -0.4092 + - -0.4092 + 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: 0.25 + gripper_distances: 0.019 + reset_at_center: false + require_phase_convergence: false + lock_target_position: false + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + hold_grasp_pose_until_close: false + - skill: pour + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.006 + - 0.002 + - 0.012 + - 0.01 + - 0.009 + - 0.01 + pour_speed: -1.5 + source_name: beaker + approach_xy_threshold: 0.08 + tilt_position_threshold: 0.04 + height_range_1: + - 0.3 + - 0.4 + height_range_2: + - 0.2 + - 0.2 + position_only: false + tilt_strategy: wrist_velocity + position_threshold: 0.015 + post_return_recenter: true + lock_target_position: true + held_gripper_distances: 0.019 + - skill: place + target_object: beaker_b + target_key: beaker_b_initial_position + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.01 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.0 + retreat_height: 0.15 + retreat_xy: 0.15 + position_threshold: 0.015 + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 + - skill: pick + target_object: beaker_a + 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: 0.4 + gripper_distances: 0.018 + 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 + pickz_offset: -0.01 + - 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 + gripper_contact_profile: pour_torsional +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00030 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00030/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00030/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fab7f5f0c310c70a6f825ac40b325df2598e8f91 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00030/results/episode_0_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "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": [ + 0.3718630014525198, + 0.07204539163425128, + 1.001225194819359 + ], + "current_z": 1.001225194819359, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.14463880662008288, + "gripper_z": 1.001031669066464, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3670844246534305, + 0.06756971565467564, + 1.001031669066464 + ], + "object_minus_gripper": [ + 0.004778576799089329, + 0.004475675979575641, + 0.00019352575289488527 + ], + "object_to_gripper_xy": 0.006547249170372638, + "object_to_gripper_z": 0.00019352575289488527, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3718630014525198, + 0.04763031934540952, + 1.001225194819359 + ], + "finger_b": [ + 0.36081824052567796, + 0.07204539163425128, + 1.001225194819359 + ], + "finger_midpoint": [ + 0.3663406209890989, + 0.059837855489830394, + 1.001225194819359 + ], + "object_minus_finger_midpoint": [ + 0.005522380463420906, + 0.012207536144420883, + 0.0 + ], + "finger_gap": 0.026797061383675293, + 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"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", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + 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