Upload folder using huggingface_hub (part 3)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00041/results/episode_90_success.json +1682 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00041/results/episode_91_success.json +1682 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00041/results/episode_92_success.json +1682 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00041/results/episode_93_success.json +1682 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00041/results/episode_94_success.json +1682 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00041/results/episode_95_success.json +1682 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00041/results/episode_96_success.json +1682 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00041/results/episode_97_success.json +1682 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00041/results/episode_98_success.json +1682 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00041/results/episode_99_success.json +1682 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00041/results/episode_9_success.json +1682 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00041/results/summary.json +9 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00044/dataset/episode_0000.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00044/dataset/episode_0001.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00044/dataset/episode_0002.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00044/dataset/episode_0003.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00044/dataset/episode_0004.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00044/dataset/episode_0005.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00044/dataset/episode_0006.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00044/dataset/episode_0007.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00044/dataset/episode_0008.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00044/dataset/episode_0010.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00044/dataset/episode_0011.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00044/dataset/episode_0012.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00044/dataset/episode_0013.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00044/dataset/episode_0015.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00044/dataset/episode_0016.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00044/dataset/episode_0017.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00044/dataset/episode_0018.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00044/dataset/episode_0019.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00044/dataset/episode_0020.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00044/dataset/episode_0021.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00044/dataset/episode_0022.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00044/dataset/episode_0023.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00044/dataset/episode_0024.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00044/dataset/episode_0025.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00044/dataset/episode_0027.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00044/dataset/episode_0028.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00044/dataset/episode_0029.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00044/dataset/episode_0030.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00044/dataset/episode_0031.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00044/dataset/episode_0032.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00044/dataset/episode_0033.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00044/dataset/episode_0034.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00044/dataset/episode_0035.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00044/dataset/episode_0036.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00044/dataset/episode_0037.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00044/dataset/episode_0038.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00044/dataset/episode_0039.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00044/dataset/episode_0040.h5 +3 -0
ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00041/results/episode_90_success.json
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| 332 |
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| 335 |
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| 653 |
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| 659 |
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|
| 1574 |
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| 1575 |
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|
| 1597 |
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| 1598 |
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| 1599 |
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|
| 1600 |
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| 1601 |
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|
| 1602 |
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| 1645 |
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|
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|
| 1649 |
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|
| 1650 |
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|
| 1682 |
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}
|
ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00041/results/episode_91_success.json
ADDED
|
@@ -0,0 +1,1682 @@
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|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 91,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 6,
|
| 5 |
+
"total_steps": 6,
|
| 6 |
+
"step_accuracy": "6/6",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_a",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_a",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_a",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.19373505066347466,
|
| 26 |
+
0.22650850414926219,
|
| 27 |
+
1.00074876052143
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.00074876052143,
|
| 30 |
+
"required_z": 0.8611068060379898,
|
| 31 |
+
"initial_z": 0.7611068060379899,
|
| 32 |
+
"lift_margin": 0.1396419544834402,
|
| 33 |
+
"gripper_z": 1.0041709691649934,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.1888453625927672,
|
| 38 |
+
0.22190808081253108,
|
| 39 |
+
1.0041709691649934
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004889688070707443,
|
| 43 |
+
0.004600423336731108,
|
| 44 |
+
-0.0034222086435633514
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006713638678537806,
|
| 47 |
+
"object_to_gripper_z": -0.0034222086435633514,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.19373505066347466,
|
| 51 |
+
0.20199873020969036,
|
| 52 |
+
1.00074876052143
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.18274205999087179,
|
| 56 |
+
0.22650850414926219,
|
| 57 |
+
1.00074876052143
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.1882385553271732,
|
| 61 |
+
0.21425361717947627,
|
| 62 |
+
1.00074876052143
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005496495336301449,
|
| 66 |
+
0.01225488696978591,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.026862145530408544,
|
| 70 |
+
"fingertip_max_gap": 0.09289327734949407,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013431072765204277,
|
| 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": 1.00074876052143,
|
| 78 |
+
"object_top_z": 1.0517454817821865,
|
| 79 |
+
"finger_top_clearance": 0.050996721260756495,
|
| 80 |
+
"fingertip_min_top_clearance": 0.015299016378226964,
|
| 81 |
+
"object_projection_between_fingers": 0.8325248699632166,
|
| 82 |
+
"object_to_finger_line_xy": 0.01003031258245216,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.04894663867474704,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 0.3553626580708496,
|
| 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": 155,
|
| 96 |
+
"max_stable_success_frames": 155,
|
| 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_a",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_a"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/beaker_2"
|
| 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 |
+
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"/World/target_beaker"
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],
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],
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],
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| 1600 |
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],
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},
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},
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},
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| 1641 |
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}
|
| 1642 |
+
}
|
| 1643 |
+
],
|
| 1644 |
+
"physical_semantics": {
|
| 1645 |
+
"attach_records": [],
|
| 1646 |
+
"ordinary_attach_violations": [],
|
| 1647 |
+
"forbidden_shortcuts_absent": true
|
| 1648 |
+
},
|
| 1649 |
+
"h5_episode_index": 91,
|
| 1650 |
+
"reproducibility": {
|
| 1651 |
+
"enabled": true,
|
| 1652 |
+
"action_seed": 2848321962719448975,
|
| 1653 |
+
"physical_seed": 446376941926965473,
|
| 1654 |
+
"layout_id": "layout_00041",
|
| 1655 |
+
"step_seeds": [
|
| 1656 |
+
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|
| 1657 |
+
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|
| 1658 |
+
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|
| 1659 |
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|
| 1660 |
+
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|
| 1661 |
+
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|
| 1662 |
+
],
|
| 1663 |
+
"workflow_spec_digest": "07957159193c0100d9358d5dd2c5a7d989c8e06fab1e1765ccdb34a63b5ebd55",
|
| 1664 |
+
"strict_task_state": false,
|
| 1665 |
+
"allow_physical_randomization": true,
|
| 1666 |
+
"seed_source": "workflow.reproducibility",
|
| 1667 |
+
"task_island_state_digest": "237e7b1d21425b696e526d67343e1e72ba4783fcfeca94da864205a936fc7cbc",
|
| 1668 |
+
"visual_seed": 9057265592830678315,
|
| 1669 |
+
"episode_index": 91,
|
| 1670 |
+
"physical_randomization_enabled": true,
|
| 1671 |
+
"motion_controller_type": "ik_servo",
|
| 1672 |
+
"runtime_step_seeds": [
|
| 1673 |
+
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|
| 1674 |
+
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|
| 1675 |
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|
| 1676 |
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|
| 1677 |
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|
| 1678 |
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|
| 1679 |
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],
|
| 1680 |
+
"runtime_workflow_digest": "012ac824bce7356dc0c747a9ed080b80168df6a68e7b455f826f99865582f134"
|
| 1681 |
+
}
|
| 1682 |
+
}
|
ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00041/results/episode_92_success.json
ADDED
|
@@ -0,0 +1,1682 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 92,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 6,
|
| 5 |
+
"total_steps": 6,
|
| 6 |
+
"step_accuracy": "6/6",
|
| 7 |
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0.0013
|
| 382 |
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],
|
| 383 |
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|
| 384 |
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0.2282,
|
| 385 |
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|
| 386 |
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1.023
|
| 387 |
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],
|
| 388 |
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|
| 389 |
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|
| 390 |
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| 391 |
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| 394 |
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| 398 |
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| 400 |
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| 401 |
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| 402 |
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],
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| 403 |
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|
| 404 |
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|
| 405 |
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|
| 406 |
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|
| 407 |
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|
| 408 |
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|
| 409 |
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"source_name": "beaker",
|
| 410 |
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|
| 411 |
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|
| 412 |
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|
| 413 |
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| 414 |
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0.0,
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| 415 |
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0.0
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| 416 |
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],
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| 417 |
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|
| 418 |
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|
| 419 |
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|
| 420 |
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|
| 421 |
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| 422 |
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0.4
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| 423 |
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],
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| 424 |
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|
| 425 |
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| 426 |
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0.2
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| 427 |
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],
|
| 428 |
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|
| 429 |
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|
| 430 |
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| 431 |
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| 432 |
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| 433 |
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| 434 |
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| 435 |
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|
| 437 |
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},
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| 438 |
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|
| 439 |
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| 440 |
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|
| 441 |
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| 442 |
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| 443 |
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|
| 444 |
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| 445 |
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| 446 |
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| 447 |
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|
| 448 |
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|
| 449 |
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},
|
| 450 |
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|
| 451 |
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|
| 452 |
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|
| 453 |
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|
| 454 |
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|
| 455 |
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|
| 456 |
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|
| 457 |
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0.0227,
|
| 458 |
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0.7566
|
| 459 |
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],
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| 460 |
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|
| 461 |
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| 462 |
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0.0227,
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| 463 |
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0.7566
|
| 464 |
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],
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| 465 |
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|
| 466 |
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0.0,
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| 467 |
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0.0,
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| 468 |
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0.0
|
| 469 |
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],
|
| 470 |
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|
| 471 |
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|
| 472 |
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| 473 |
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| 474 |
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|
| 475 |
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0.0013
|
| 476 |
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],
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| 477 |
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| 478 |
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0.2282,
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| 479 |
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|
| 480 |
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1.023
|
| 481 |
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],
|
| 482 |
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|
| 483 |
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| 484 |
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| 485 |
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| 486 |
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| 487 |
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| 488 |
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| 489 |
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| 490 |
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| 491 |
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0.4
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| 492 |
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],
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| 493 |
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| 494 |
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| 495 |
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0.2
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| 496 |
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],
|
| 497 |
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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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"source_name": "beaker",
|
| 504 |
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|
| 505 |
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| 506 |
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| 507 |
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1.0,
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| 508 |
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0.0,
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| 509 |
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0.0
|
| 510 |
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],
|
| 511 |
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|
| 512 |
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|
| 513 |
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| 514 |
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| 515 |
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0.3,
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| 516 |
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0.4
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| 517 |
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],
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| 518 |
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| 519 |
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0.2,
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| 520 |
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0.2
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| 521 |
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],
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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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| 528 |
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0.0012566832387365997
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| 529 |
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| 530 |
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| 531 |
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},
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| 532 |
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| 533 |
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| 534 |
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| 535 |
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| 536 |
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| 537 |
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| 538 |
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| 539 |
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| 540 |
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| 542 |
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| 543 |
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| 544 |
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| 545 |
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"source_not_tilted"
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| 546 |
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],
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| 547 |
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| 550 |
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| 555 |
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| 556 |
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| 557 |
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| 558 |
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0.0,
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| 559 |
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0.0,
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| 560 |
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1.0
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| 561 |
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],
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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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0.23474499740911872,
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-0.00952259051685125,
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1.0123900976917453
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],
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0.22390424623962862,
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0.014550399596743188,
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1.0123900976917453
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],
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0.2293246218243737,
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0.002513904539945969,
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1.0123900976917453
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0.23474499740911872,
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0.014550399596743188,
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1.0123900976917453
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],
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| 592 |
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| 593 |
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|
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|
| 596 |
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| 597 |
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| 598 |
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-0.029905468186762155,
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| 599 |
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-0.9988973607446329,
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| 600 |
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0.03619013221774048
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| 601 |
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],
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|
| 603 |
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|
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|
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| 608 |
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"held_grasp_geometry_checked": true,
|
| 609 |
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"held_grasp_geometry_required": true,
|
| 610 |
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"held_grasp_source": "active_contact_pad_positions",
|
| 611 |
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"held_grasp_finger_a": [
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| 612 |
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0.23474499740911872,
|
| 613 |
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|
| 614 |
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1.0123900976917453
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| 615 |
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],
|
| 616 |
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| 617 |
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0.22390424623962862,
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| 618 |
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0.014550399596743188,
|
| 619 |
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1.0123900976917453
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| 620 |
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],
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| 621 |
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| 622 |
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0.2293246218243737,
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| 623 |
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0.002513904539945969,
|
| 624 |
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1.0123900976917453
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| 625 |
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],
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0.23474499740911872,
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0.014550399596743188,
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| 629 |
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1.0123900976917453
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| 630 |
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],
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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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"held_grasp_local_up_axis": [
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| 640 |
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-0.029905468186762155,
|
| 641 |
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| 642 |
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0.03619013221774048
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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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"liquid_check_enabled": false,
|
| 651 |
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"liquid_source": "beaker_a",
|
| 652 |
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"liquid_target": "beaker_b"
|
| 653 |
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},
|
| 654 |
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"failed_keys": [],
|
| 655 |
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"failure_code": null,
|
| 656 |
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"failure_messages": {},
|
| 657 |
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"safety": {
|
| 658 |
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"policy": {
|
| 659 |
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"skill": "pour",
|
| 660 |
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"target_object": "beaker_b",
|
| 661 |
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"held_object": "beaker_a",
|
| 662 |
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"allowed_objects": [
|
| 663 |
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"beaker_a",
|
| 664 |
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"beaker_b"
|
| 665 |
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],
|
| 666 |
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"allowed_object_paths": [
|
| 667 |
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"/World/beaker_2",
|
| 668 |
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"/World/target_beaker"
|
| 669 |
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],
|
| 670 |
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"allowed_prim_substrings": [],
|
| 671 |
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"robot_prim_substrings": [
|
| 672 |
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"Robotiq2F85",
|
| 673 |
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"Robotiq_2F_85",
|
| 674 |
+
"contact_sensor",
|
| 675 |
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"dummy_base_prismatic_x_joint",
|
| 676 |
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"dummy_base_prismatic_y_joint",
|
| 677 |
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"dummy_base_revolute_z_joint",
|
| 678 |
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"elbow_joint",
|
| 679 |
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"festo",
|
| 680 |
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"finger",
|
| 681 |
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"fr3",
|
| 682 |
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"fr3_duo_mobile",
|
| 683 |
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"fr3_joint1",
|
| 684 |
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"fr3_joint2",
|
| 685 |
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"fr3_joint3",
|
| 686 |
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"fr3_joint4",
|
| 687 |
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"fr3_joint5",
|
| 688 |
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"fr3_joint6",
|
| 689 |
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"fr3_joint7",
|
| 690 |
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"fr3_leftfinger",
|
| 691 |
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"fr3_rightfinger",
|
| 692 |
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"franka",
|
| 693 |
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"geometry",
|
| 694 |
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"gripper",
|
| 695 |
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"gripper_center",
|
| 696 |
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"joint1",
|
| 697 |
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"joint2",
|
| 698 |
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"joint3",
|
| 699 |
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"joint4",
|
| 700 |
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"joint5",
|
| 701 |
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"joint6",
|
| 702 |
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"joint7",
|
| 703 |
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"left_inner_finger",
|
| 704 |
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"lift2",
|
| 705 |
+
"mobile_rotate",
|
| 706 |
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"mobile_translate_x",
|
| 707 |
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"mobile_translate_y",
|
| 708 |
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"panda_joint1",
|
| 709 |
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"panda_joint2",
|
| 710 |
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"panda_joint3",
|
| 711 |
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"panda_joint4",
|
| 712 |
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"panda_joint5",
|
| 713 |
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"panda_joint6",
|
| 714 |
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"panda_joint7",
|
| 715 |
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"panda_leftfinger",
|
| 716 |
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"panda_leftfingertip",
|
| 717 |
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"panda_rightfinger",
|
| 718 |
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"panda_rightfingertip",
|
| 719 |
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"ridgebase",
|
| 720 |
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"ridgebase_festo",
|
| 721 |
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"ridgebase_fr3",
|
| 722 |
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"ridgebase_rizon4",
|
| 723 |
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"ridgebase_ur16e",
|
| 724 |
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"ridgebase_ur5e",
|
| 725 |
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"right_inner_finger",
|
| 726 |
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"rizon4",
|
| 727 |
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"robot",
|
| 728 |
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"robotiq_2f85",
|
| 729 |
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| 1102 |
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"fr3_joint3",
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| 1105 |
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"fr3_joint4",
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| 1107 |
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"fr3_joint6",
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| 1110 |
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"fr3_rightfinger",
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| 1111 |
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| 1112 |
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| 1113 |
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| 1119 |
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| 1120 |
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| 1122 |
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| 1123 |
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| 1125 |
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"mobile_translate_x",
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"mobile_translate_y",
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| 1128 |
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|
| 1479 |
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|
| 1480 |
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|
| 1481 |
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|
| 1482 |
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| 1483 |
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| 1484 |
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|
| 1485 |
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|
| 1486 |
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|
| 1487 |
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| 1488 |
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| 1489 |
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|
| 1490 |
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|
| 1491 |
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|
| 1492 |
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|
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| 1495 |
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| 1497 |
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|
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| 1500 |
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|
| 1502 |
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|
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| 1506 |
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|
| 1507 |
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|
| 1508 |
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|
| 1509 |
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|
| 1510 |
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|
| 1511 |
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]
|
| 1512 |
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| 1513 |
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|
| 1514 |
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|
| 1515 |
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|
| 1516 |
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|
| 1517 |
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"policy": {
|
| 1518 |
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"skill": "press",
|
| 1519 |
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"target_object": "heat_button",
|
| 1520 |
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|
| 1521 |
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"allowed_objects": [
|
| 1522 |
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"heat_button"
|
| 1523 |
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],
|
| 1524 |
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|
| 1525 |
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|
| 1526 |
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],
|
| 1527 |
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|
| 1528 |
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"robot_prim_substrings": [
|
| 1529 |
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|
| 1530 |
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|
| 1531 |
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|
| 1532 |
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|
| 1533 |
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|
| 1534 |
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|
| 1535 |
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|
| 1536 |
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|
| 1537 |
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|
| 1538 |
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|
| 1539 |
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|
| 1540 |
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|
| 1541 |
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|
| 1542 |
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|
| 1543 |
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|
| 1544 |
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|
| 1545 |
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|
| 1546 |
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|
| 1547 |
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|
| 1548 |
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|
| 1549 |
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|
| 1550 |
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|
| 1551 |
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|
| 1552 |
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|
| 1553 |
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|
| 1554 |
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|
| 1555 |
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|
| 1556 |
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|
| 1557 |
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|
| 1558 |
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|
| 1559 |
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|
| 1560 |
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"left_inner_finger",
|
| 1561 |
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"lift2",
|
| 1562 |
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|
| 1563 |
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"mobile_translate_x",
|
| 1564 |
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"mobile_translate_y",
|
| 1565 |
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|
| 1566 |
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|
| 1567 |
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|
| 1568 |
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|
| 1569 |
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|
| 1570 |
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|
| 1571 |
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"panda_joint7",
|
| 1572 |
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|
| 1573 |
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"panda_leftfingertip",
|
| 1574 |
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"panda_rightfinger",
|
| 1575 |
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"panda_rightfingertip",
|
| 1576 |
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|
| 1577 |
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|
| 1578 |
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|
| 1579 |
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|
| 1580 |
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|
| 1581 |
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|
| 1582 |
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|
| 1583 |
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|
| 1584 |
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|
| 1585 |
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|
| 1586 |
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|
| 1587 |
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|
| 1588 |
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|
| 1589 |
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|
| 1590 |
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|
| 1591 |
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|
| 1592 |
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"visuals",
|
| 1593 |
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"wrist",
|
| 1594 |
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"wrist_1_joint",
|
| 1595 |
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|
| 1596 |
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|
| 1597 |
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],
|
| 1598 |
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"ignored_prim_substrings": [
|
| 1599 |
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"base_link",
|
| 1600 |
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"caster",
|
| 1601 |
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"defaultgroundplane",
|
| 1602 |
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"desk",
|
| 1603 |
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"floor",
|
| 1604 |
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"ground",
|
| 1605 |
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"groundplane",
|
| 1606 |
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"link0",
|
| 1607 |
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"table",
|
| 1608 |
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"wheel",
|
| 1609 |
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"workbench"
|
| 1610 |
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],
|
| 1611 |
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"enabled": true
|
| 1612 |
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},
|
| 1613 |
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"status": "active",
|
| 1614 |
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"passed": true,
|
| 1615 |
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"source_missing": false,
|
| 1616 |
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|
| 1617 |
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|
| 1618 |
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|
| 1619 |
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|
| 1620 |
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|
| 1621 |
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|
| 1622 |
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|
| 1623 |
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|
| 1624 |
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|
| 1625 |
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|
| 1626 |
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|
| 1627 |
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|
| 1628 |
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|
| 1629 |
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|
| 1630 |
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|
| 1631 |
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|
| 1632 |
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},
|
| 1633 |
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"physical_semantics": {
|
| 1634 |
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"skill": "press",
|
| 1635 |
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"target": "heat_button",
|
| 1636 |
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|
| 1637 |
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|
| 1638 |
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|
| 1639 |
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|
| 1640 |
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"ordinary_object_physical_only": true
|
| 1641 |
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}
|
| 1642 |
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}
|
| 1643 |
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],
|
| 1644 |
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"physical_semantics": {
|
| 1645 |
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"attach_records": [],
|
| 1646 |
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"ordinary_attach_violations": [],
|
| 1647 |
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"forbidden_shortcuts_absent": true
|
| 1648 |
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},
|
| 1649 |
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"h5_episode_index": 92,
|
| 1650 |
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"reproducibility": {
|
| 1651 |
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"enabled": true,
|
| 1652 |
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"action_seed": 2848321962719448975,
|
| 1653 |
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"physical_seed": 446376941926965473,
|
| 1654 |
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"layout_id": "layout_00041",
|
| 1655 |
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"step_seeds": [
|
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|
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|
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|
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| 1663 |
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| 1664 |
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|
| 1665 |
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|
| 1666 |
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|
| 1667 |
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|
| 1668 |
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|
| 1669 |
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|
| 1670 |
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|
| 1671 |
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|
| 1672 |
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|
| 1673 |
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|
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|
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|
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|
| 1680 |
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|
| 1681 |
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}
|
| 1682 |
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}
|
ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00041/results/episode_93_success.json
ADDED
|
@@ -0,0 +1,1682 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 93,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 6,
|
| 5 |
+
"total_steps": 6,
|
| 6 |
+
"step_accuracy": "6/6",
|
| 7 |
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"step_details": [
|
| 8 |
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{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_a",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_a",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_a",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.19507448995146476,
|
| 26 |
+
0.23317721900065452,
|
| 27 |
+
1.0035701673638489
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0035701673638489,
|
| 30 |
+
"required_z": 0.8611068656426346,
|
| 31 |
+
"initial_z": 0.7611068656426346,
|
| 32 |
+
"lift_margin": 0.14246330172121424,
|
| 33 |
+
"gripper_z": 1.0075181275573128,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.19012076307162387,
|
| 38 |
+
0.22842849463548193,
|
| 39 |
+
1.0075181275573128
|
| 40 |
+
],
|
| 41 |
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|
| 42 |
+
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|
| 43 |
+
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|
| 44 |
+
-0.003947960193463995
|
| 45 |
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],
|
| 46 |
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"object_to_gripper_xy": 0.006862200310136829,
|
| 47 |
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"object_to_gripper_z": -0.003947960193463995,
|
| 48 |
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"fingertip_source": "active_contact_pad_positions",
|
| 49 |
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"finger_a": [
|
| 50 |
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0.19507448995146476,
|
| 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 |
+
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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"object_position_origin": "center",
|
| 77 |
+
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|
| 78 |
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|
| 79 |
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"finger_top_clearance": 0.050792333717557536,
|
| 80 |
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|
| 81 |
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"object_projection_between_fingers": 0.8196228593919559,
|
| 82 |
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"object_to_finger_line_xy": 0.01034396021550955,
|
| 83 |
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"fingertip_xy_max_dist": 0.055,
|
| 84 |
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|
| 85 |
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"fingertip_line_xy_max_dist": 0.04896785150788857,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
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"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 0.42232102832526386,
|
| 89 |
+
"object_max_tilt_deg": 15.0,
|
| 90 |
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"object_upright_axis_local": [
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
1.0
|
| 94 |
+
],
|
| 95 |
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"stable_success_frames": 157,
|
| 96 |
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"max_stable_success_frames": 157,
|
| 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_a",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_a"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/beaker_2"
|
| 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 |
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"passed": true,
|
| 201 |
+
"source_missing": false,
|
| 202 |
+
"forbidden": [],
|
| 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 |
+
"forbidden": [],
|
| 208 |
+
"allowed": [
|
| 209 |
+
{
|
| 210 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 211 |
+
"b": "/World/beaker_2/mesh"
|
| 212 |
+
},
|
| 213 |
+
{
|
| 214 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 215 |
+
"b": "/World/beaker_2/mesh"
|
| 216 |
+
}
|
| 217 |
+
],
|
| 218 |
+
"ignored": [],
|
| 219 |
+
"failed_keys": []
|
| 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 |
+
},
|
| 228 |
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"physical_semantics": {
|
| 229 |
+
"skill": "pick",
|
| 230 |
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"target": "beaker_a",
|
| 231 |
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"attach_used": false,
|
| 232 |
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"attach_object": null,
|
| 233 |
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| 1600 |
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|
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|
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|
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|
| 1682 |
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}
|
ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00041/results/episode_94_success.json
ADDED
|
@@ -0,0 +1,1682 @@
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
| 1 |
+
{
|
| 2 |
+
"episode": 94,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 6,
|
| 5 |
+
"total_steps": 6,
|
| 6 |
+
"step_accuracy": "6/6",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_a",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_a",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_a",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.19388638899817662,
|
| 26 |
+
0.2263590883245473,
|
| 27 |
+
1.0023934454094636
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0023934454094636,
|
| 30 |
+
"required_z": 0.8611069848519244,
|
| 31 |
+
"initial_z": 0.7611069848519244,
|
| 32 |
+
"lift_margin": 0.14128646055753924,
|
| 33 |
+
"gripper_z": 1.0058275406202346,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.18903565412508316,
|
| 38 |
+
0.2215740946780464,
|
| 39 |
+
1.0058275406202346
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004850734873093454,
|
| 43 |
+
0.004784993646500896,
|
| 44 |
+
-0.003434095210770982
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006813647555171819,
|
| 47 |
+
"object_to_gripper_z": -0.003434095210770982,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.19388638899817662,
|
| 51 |
+
0.2021596384920938,
|
| 52 |
+
1.0023934454094636
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.18219318576112123,
|
| 56 |
+
0.2263590883245473,
|
| 57 |
+
1.0023934454094636
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.18803978737964894,
|
| 61 |
+
0.21425936340832055,
|
| 62 |
+
1.0023934454094636
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.00584660161852768,
|
| 66 |
+
0.01209972491622674,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.026876465060281185,
|
| 70 |
+
"fingertip_max_gap": 0.09261902435375566,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
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| 1542 |
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"fr3_joint3",
|
| 1543 |
+
"fr3_joint4",
|
| 1544 |
+
"fr3_joint5",
|
| 1545 |
+
"fr3_joint6",
|
| 1546 |
+
"fr3_joint7",
|
| 1547 |
+
"fr3_leftfinger",
|
| 1548 |
+
"fr3_rightfinger",
|
| 1549 |
+
"franka",
|
| 1550 |
+
"geometry",
|
| 1551 |
+
"gripper",
|
| 1552 |
+
"gripper_center",
|
| 1553 |
+
"joint1",
|
| 1554 |
+
"joint2",
|
| 1555 |
+
"joint3",
|
| 1556 |
+
"joint4",
|
| 1557 |
+
"joint5",
|
| 1558 |
+
"joint6",
|
| 1559 |
+
"joint7",
|
| 1560 |
+
"left_inner_finger",
|
| 1561 |
+
"lift2",
|
| 1562 |
+
"mobile_rotate",
|
| 1563 |
+
"mobile_translate_x",
|
| 1564 |
+
"mobile_translate_y",
|
| 1565 |
+
"panda_joint1",
|
| 1566 |
+
"panda_joint2",
|
| 1567 |
+
"panda_joint3",
|
| 1568 |
+
"panda_joint4",
|
| 1569 |
+
"panda_joint5",
|
| 1570 |
+
"panda_joint6",
|
| 1571 |
+
"panda_joint7",
|
| 1572 |
+
"panda_leftfinger",
|
| 1573 |
+
"panda_leftfingertip",
|
| 1574 |
+
"panda_rightfinger",
|
| 1575 |
+
"panda_rightfingertip",
|
| 1576 |
+
"ridgebase",
|
| 1577 |
+
"ridgebase_festo",
|
| 1578 |
+
"ridgebase_fr3",
|
| 1579 |
+
"ridgebase_rizon4",
|
| 1580 |
+
"ridgebase_ur16e",
|
| 1581 |
+
"ridgebase_ur5e",
|
| 1582 |
+
"right_inner_finger",
|
| 1583 |
+
"rizon4",
|
| 1584 |
+
"robot",
|
| 1585 |
+
"robotiq_2f85",
|
| 1586 |
+
"shoulder_lift_joint",
|
| 1587 |
+
"shoulder_pan_joint",
|
| 1588 |
+
"split_aloha",
|
| 1589 |
+
"tool_center",
|
| 1590 |
+
"ur16e",
|
| 1591 |
+
"ur5e",
|
| 1592 |
+
"visuals",
|
| 1593 |
+
"wrist",
|
| 1594 |
+
"wrist_1_joint",
|
| 1595 |
+
"wrist_2_joint",
|
| 1596 |
+
"wrist_3_joint"
|
| 1597 |
+
],
|
| 1598 |
+
"ignored_prim_substrings": [
|
| 1599 |
+
"base_link",
|
| 1600 |
+
"caster",
|
| 1601 |
+
"defaultgroundplane",
|
| 1602 |
+
"desk",
|
| 1603 |
+
"floor",
|
| 1604 |
+
"ground",
|
| 1605 |
+
"groundplane",
|
| 1606 |
+
"link0",
|
| 1607 |
+
"table",
|
| 1608 |
+
"wheel",
|
| 1609 |
+
"workbench"
|
| 1610 |
+
],
|
| 1611 |
+
"enabled": true
|
| 1612 |
+
},
|
| 1613 |
+
"status": "active",
|
| 1614 |
+
"passed": true,
|
| 1615 |
+
"source_missing": false,
|
| 1616 |
+
"forbidden": [],
|
| 1617 |
+
"disturbances": [],
|
| 1618 |
+
"last_frame": {
|
| 1619 |
+
"passed": true,
|
| 1620 |
+
"source_missing": false,
|
| 1621 |
+
"forbidden": [],
|
| 1622 |
+
"allowed": [],
|
| 1623 |
+
"ignored": [],
|
| 1624 |
+
"failed_keys": []
|
| 1625 |
+
},
|
| 1626 |
+
"failed_keys": []
|
| 1627 |
+
}
|
| 1628 |
+
},
|
| 1629 |
+
"gripper": null,
|
| 1630 |
+
"post_done_wait_frames": 0,
|
| 1631 |
+
"post_done_wait_exhausted": false
|
| 1632 |
+
},
|
| 1633 |
+
"physical_semantics": {
|
| 1634 |
+
"skill": "press",
|
| 1635 |
+
"target": "heat_button",
|
| 1636 |
+
"attach_used": false,
|
| 1637 |
+
"attach_object": null,
|
| 1638 |
+
"attach_object_path": null,
|
| 1639 |
+
"attach_allowed": false,
|
| 1640 |
+
"ordinary_object_physical_only": true
|
| 1641 |
+
}
|
| 1642 |
+
}
|
| 1643 |
+
],
|
| 1644 |
+
"physical_semantics": {
|
| 1645 |
+
"attach_records": [],
|
| 1646 |
+
"ordinary_attach_violations": [],
|
| 1647 |
+
"forbidden_shortcuts_absent": true
|
| 1648 |
+
},
|
| 1649 |
+
"h5_episode_index": 94,
|
| 1650 |
+
"reproducibility": {
|
| 1651 |
+
"enabled": true,
|
| 1652 |
+
"action_seed": 2848321962719448975,
|
| 1653 |
+
"physical_seed": 446376941926965473,
|
| 1654 |
+
"layout_id": "layout_00041",
|
| 1655 |
+
"step_seeds": [
|
| 1656 |
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|
| 1657 |
+
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|
| 1658 |
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|
| 1659 |
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|
| 1660 |
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|
| 1661 |
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|
| 1662 |
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],
|
| 1663 |
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"workflow_spec_digest": "07957159193c0100d9358d5dd2c5a7d989c8e06fab1e1765ccdb34a63b5ebd55",
|
| 1664 |
+
"strict_task_state": false,
|
| 1665 |
+
"allow_physical_randomization": true,
|
| 1666 |
+
"seed_source": "workflow.reproducibility",
|
| 1667 |
+
"task_island_state_digest": "8d3bd17860172143382f7168c68b3e1f3a072c3f6587ca1940ea249a998971b3",
|
| 1668 |
+
"visual_seed": 6663257815643153831,
|
| 1669 |
+
"episode_index": 94,
|
| 1670 |
+
"physical_randomization_enabled": true,
|
| 1671 |
+
"motion_controller_type": "ik_servo",
|
| 1672 |
+
"runtime_step_seeds": [
|
| 1673 |
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|
| 1674 |
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|
| 1675 |
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|
| 1676 |
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|
| 1677 |
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|
| 1678 |
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|
| 1679 |
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],
|
| 1680 |
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"runtime_workflow_digest": "012ac824bce7356dc0c747a9ed080b80168df6a68e7b455f826f99865582f134"
|
| 1681 |
+
}
|
| 1682 |
+
}
|
ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00041/results/episode_95_success.json
ADDED
|
@@ -0,0 +1,1682 @@
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| 1 |
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| 18 |
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|
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}
|
ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00041/results/episode_96_success.json
ADDED
|
@@ -0,0 +1,1682 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"episode": 96,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 6,
|
| 5 |
+
"total_steps": 6,
|
| 6 |
+
"step_accuracy": "6/6",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_a",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_a",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_a",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.18941027569884938,
|
| 26 |
+
0.22461286346898973,
|
| 27 |
+
1.0008264076415063
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0008264076415063,
|
| 30 |
+
"required_z": 0.8611065676194107,
|
| 31 |
+
"initial_z": 0.7611065676194108,
|
| 32 |
+
"lift_margin": 0.1397198400220956,
|
| 33 |
+
"gripper_z": 1.0045161987022246,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.18501604657045778,
|
| 38 |
+
0.22018350831698552,
|
| 39 |
+
1.0045161987022246
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004394229128391602,
|
| 43 |
+
0.004429355152004211,
|
| 44 |
+
-0.003689791060718317
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006239265717645904,
|
| 47 |
+
"object_to_gripper_z": -0.003689791060718317,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.18941027569884938,
|
| 51 |
+
0.2005946714621584,
|
| 52 |
+
1.0008264076415063
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.1785052114760029,
|
| 56 |
+
0.22461286346898973,
|
| 57 |
+
1.0008264076415063
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.18395774358742614,
|
| 61 |
+
0.21260376746557408,
|
| 62 |
+
1.0008264076415063
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005452532111423242,
|
| 66 |
+
0.012009096003415654,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.026377906910545857,
|
| 70 |
+
"fingertip_max_gap": 0.09318322933969078,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013188953455272916,
|
| 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": 1.0008264076415063,
|
| 78 |
+
"object_top_z": 1.0517117019523214,
|
| 79 |
+
"finger_top_clearance": 0.05088529431081512,
|
| 80 |
+
"fingertip_min_top_clearance": 0.015265588293244536,
|
| 81 |
+
"object_projection_between_fingers": 0.8290867263554447,
|
| 82 |
+
"object_to_finger_line_xy": 0.009929518943234971,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.04909161466984539,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 0.4766408251801745,
|
| 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": 155,
|
| 96 |
+
"max_stable_success_frames": 155,
|
| 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_a",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_a"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/beaker_2"
|
| 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 |
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"fr3_leftfinger",
|
| 134 |
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"fr3_rightfinger",
|
| 135 |
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| 136 |
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|
| 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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|
| 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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|
| 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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| 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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|
| 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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| 179 |
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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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| 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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],
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],
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],
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| 1599 |
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"base_link",
|
| 1600 |
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"caster",
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|
| 1602 |
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| 1603 |
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| 1604 |
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| 1605 |
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"link0",
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"workbench"
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],
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|
| 1612 |
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},
|
| 1613 |
+
"status": "active",
|
| 1614 |
+
"passed": true,
|
| 1615 |
+
"source_missing": false,
|
| 1616 |
+
"forbidden": [],
|
| 1617 |
+
"disturbances": [],
|
| 1618 |
+
"last_frame": {
|
| 1619 |
+
"passed": true,
|
| 1620 |
+
"source_missing": false,
|
| 1621 |
+
"forbidden": [],
|
| 1622 |
+
"allowed": [],
|
| 1623 |
+
"ignored": [],
|
| 1624 |
+
"failed_keys": []
|
| 1625 |
+
},
|
| 1626 |
+
"failed_keys": []
|
| 1627 |
+
}
|
| 1628 |
+
},
|
| 1629 |
+
"gripper": null,
|
| 1630 |
+
"post_done_wait_frames": 0,
|
| 1631 |
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"post_done_wait_exhausted": false
|
| 1632 |
+
},
|
| 1633 |
+
"physical_semantics": {
|
| 1634 |
+
"skill": "press",
|
| 1635 |
+
"target": "heat_button",
|
| 1636 |
+
"attach_used": false,
|
| 1637 |
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"attach_object": null,
|
| 1638 |
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"attach_object_path": null,
|
| 1639 |
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"attach_allowed": false,
|
| 1640 |
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"ordinary_object_physical_only": true
|
| 1641 |
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}
|
| 1642 |
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}
|
| 1643 |
+
],
|
| 1644 |
+
"physical_semantics": {
|
| 1645 |
+
"attach_records": [],
|
| 1646 |
+
"ordinary_attach_violations": [],
|
| 1647 |
+
"forbidden_shortcuts_absent": true
|
| 1648 |
+
},
|
| 1649 |
+
"h5_episode_index": 96,
|
| 1650 |
+
"reproducibility": {
|
| 1651 |
+
"enabled": true,
|
| 1652 |
+
"action_seed": 2848321962719448975,
|
| 1653 |
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"physical_seed": 446376941926965473,
|
| 1654 |
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"layout_id": "layout_00041",
|
| 1655 |
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"step_seeds": [
|
| 1656 |
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|
| 1657 |
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|
| 1658 |
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|
| 1659 |
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|
| 1660 |
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|
| 1661 |
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|
| 1662 |
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],
|
| 1663 |
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"workflow_spec_digest": "07957159193c0100d9358d5dd2c5a7d989c8e06fab1e1765ccdb34a63b5ebd55",
|
| 1664 |
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"strict_task_state": false,
|
| 1665 |
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"allow_physical_randomization": true,
|
| 1666 |
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"seed_source": "workflow.reproducibility",
|
| 1667 |
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"task_island_state_digest": "01f4444f0bf71a6743b890d4f334455c7b7cbd64e0082af943776bb8fa036b47",
|
| 1668 |
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"visual_seed": 7956632616990868943,
|
| 1669 |
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"episode_index": 96,
|
| 1670 |
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"physical_randomization_enabled": true,
|
| 1671 |
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"motion_controller_type": "ik_servo",
|
| 1672 |
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"runtime_step_seeds": [
|
| 1673 |
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|
| 1674 |
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|
| 1675 |
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|
| 1676 |
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|
| 1677 |
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|
| 1678 |
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|
| 1679 |
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],
|
| 1680 |
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"runtime_workflow_digest": "012ac824bce7356dc0c747a9ed080b80168df6a68e7b455f826f99865582f134"
|
| 1681 |
+
}
|
| 1682 |
+
}
|
ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00041/results/episode_97_success.json
ADDED
|
@@ -0,0 +1,1682 @@
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|
| 353 |
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|
| 354 |
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|
| 355 |
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|
| 356 |
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|
| 357 |
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|
| 358 |
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|
| 359 |
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|
| 360 |
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|
| 361 |
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| 362 |
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| 374 |
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| 375 |
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| 382 |
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| 404 |
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| 406 |
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| 407 |
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| 408 |
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|
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| 410 |
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| 415 |
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| 419 |
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| 423 |
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| 427 |
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| 437 |
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| 438 |
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| 439 |
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| 441 |
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| 448 |
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| 449 |
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| 450 |
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| 451 |
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| 452 |
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| 453 |
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| 454 |
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| 455 |
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| 464 |
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| 468 |
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| 471 |
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| 473 |
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| 475 |
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| 498 |
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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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| 517 |
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},
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],
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0.0,
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0.0,
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1.0
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0.23690905593562606,
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0.008404345724136387,
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| 611 |
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| 639 |
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0.03417242078984128
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| 646 |
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| 650 |
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| 651 |
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| 652 |
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"liquid_target": "beaker_b"
|
| 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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"policy": {
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| 659 |
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"skill": "pour",
|
| 660 |
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"target_object": "beaker_b",
|
| 661 |
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"held_object": "beaker_a",
|
| 662 |
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| 663 |
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"beaker_a",
|
| 664 |
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"beaker_b"
|
| 665 |
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],
|
| 666 |
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|
| 667 |
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"/World/beaker_2",
|
| 668 |
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"/World/target_beaker"
|
| 669 |
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],
|
| 670 |
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|
| 671 |
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|
| 672 |
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"Robotiq2F85",
|
| 673 |
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"Robotiq_2F_85",
|
| 674 |
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"contact_sensor",
|
| 675 |
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"dummy_base_prismatic_x_joint",
|
| 676 |
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"dummy_base_prismatic_y_joint",
|
| 677 |
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"dummy_base_revolute_z_joint",
|
| 678 |
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"elbow_joint",
|
| 679 |
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"festo",
|
| 680 |
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"finger",
|
| 681 |
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"fr3",
|
| 682 |
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"fr3_duo_mobile",
|
| 683 |
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"fr3_joint1",
|
| 684 |
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"fr3_joint2",
|
| 685 |
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"fr3_joint3",
|
| 686 |
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"fr3_joint4",
|
| 687 |
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"fr3_joint5",
|
| 688 |
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"fr3_joint6",
|
| 689 |
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"fr3_joint7",
|
| 690 |
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"fr3_leftfinger",
|
| 691 |
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"fr3_rightfinger",
|
| 692 |
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"franka",
|
| 693 |
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"geometry",
|
| 694 |
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"gripper",
|
| 695 |
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"gripper_center",
|
| 696 |
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"joint1",
|
| 697 |
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"joint2",
|
| 698 |
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"joint3",
|
| 699 |
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|
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|
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|
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|
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|
| 1560 |
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|
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|
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|
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|
| 1564 |
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|
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|
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|
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|
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|
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|
| 1574 |
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|
| 1575 |
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|
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|
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|
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|
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|
| 1597 |
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|
| 1598 |
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|
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|
| 1600 |
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
| 1645 |
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|
| 1646 |
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|
| 1647 |
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|
| 1648 |
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|
| 1649 |
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|
| 1650 |
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|
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|
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|
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|
| 1681 |
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}
|
| 1682 |
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}
|
ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00041/results/episode_98_success.json
ADDED
|
@@ -0,0 +1,1682 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"episode": 98,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 6,
|
| 5 |
+
"total_steps": 6,
|
| 6 |
+
"step_accuracy": "6/6",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_a",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_a",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_a",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.18890050514160778,
|
| 26 |
+
0.223729785323541,
|
| 27 |
+
1.0013914107397603
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0013914107397603,
|
| 30 |
+
"required_z": 0.8611069252472793,
|
| 31 |
+
"initial_z": 0.7611069252472793,
|
| 32 |
+
"lift_margin": 0.14028448549248107,
|
| 33 |
+
"gripper_z": 1.0051052365870894,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.18469537762870203,
|
| 38 |
+
0.2194044755346855,
|
| 39 |
+
1.0051052365870894
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004205127512905749,
|
| 43 |
+
0.00432530978885548,
|
| 44 |
+
-0.003713825847329044
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006032528671242759,
|
| 47 |
+
"object_to_gripper_z": -0.003713825847329044,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.18890050514160778,
|
| 51 |
+
0.19979872425239165,
|
| 52 |
+
1.0013914107397603
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.1782084926060878,
|
| 56 |
+
0.223729785323541,
|
| 57 |
+
1.0013914107397603
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.18355449887384778,
|
| 61 |
+
0.21176425478796632,
|
| 62 |
+
1.0013914107397603
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005346006267759995,
|
| 66 |
+
0.01196553053557467,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.026210967476436194,
|
| 70 |
+
"fingertip_max_gap": 0.09350094197849926,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013105483738218097,
|
| 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": 1.0013914107397603,
|
| 78 |
+
"object_top_z": 1.0523247279926997,
|
| 79 |
+
"finger_top_clearance": 0.05093331725293937,
|
| 80 |
+
"fingertip_min_top_clearance": 0.015279995175881793,
|
| 81 |
+
"object_projection_between_fingers": 0.8336001940731593,
|
| 82 |
+
"object_to_finger_line_xy": 0.009761990097887568,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.04925047098924963,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 0.6374845134868059,
|
| 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": 155,
|
| 96 |
+
"max_stable_success_frames": 155,
|
| 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_a",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_a"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/beaker_2"
|
| 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": [
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| 209 |
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|
| 1293 |
+
"contact_sensor",
|
| 1294 |
+
"dummy_base_prismatic_x_joint",
|
| 1295 |
+
"dummy_base_prismatic_y_joint",
|
| 1296 |
+
"dummy_base_revolute_z_joint",
|
| 1297 |
+
"elbow_joint",
|
| 1298 |
+
"festo",
|
| 1299 |
+
"finger",
|
| 1300 |
+
"fr3",
|
| 1301 |
+
"fr3_duo_mobile",
|
| 1302 |
+
"fr3_joint1",
|
| 1303 |
+
"fr3_joint2",
|
| 1304 |
+
"fr3_joint3",
|
| 1305 |
+
"fr3_joint4",
|
| 1306 |
+
"fr3_joint5",
|
| 1307 |
+
"fr3_joint6",
|
| 1308 |
+
"fr3_joint7",
|
| 1309 |
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"fr3_leftfinger",
|
| 1310 |
+
"fr3_rightfinger",
|
| 1311 |
+
"franka",
|
| 1312 |
+
"geometry",
|
| 1313 |
+
"gripper",
|
| 1314 |
+
"gripper_center",
|
| 1315 |
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"joint1",
|
| 1316 |
+
"joint2",
|
| 1317 |
+
"joint3",
|
| 1318 |
+
"joint4",
|
| 1319 |
+
"joint5",
|
| 1320 |
+
"joint6",
|
| 1321 |
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"joint7",
|
| 1322 |
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"left_inner_finger",
|
| 1323 |
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"lift2",
|
| 1324 |
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"mobile_rotate",
|
| 1325 |
+
"mobile_translate_x",
|
| 1326 |
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"mobile_translate_y",
|
| 1327 |
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"panda_joint1",
|
| 1328 |
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"panda_joint2",
|
| 1329 |
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"panda_joint3",
|
| 1330 |
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"panda_joint4",
|
| 1331 |
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"panda_joint5",
|
| 1332 |
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"panda_joint6",
|
| 1333 |
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"panda_joint7",
|
| 1334 |
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"panda_leftfinger",
|
| 1335 |
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"panda_leftfingertip",
|
| 1336 |
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"panda_rightfinger",
|
| 1337 |
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"panda_rightfingertip",
|
| 1338 |
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"ridgebase",
|
| 1339 |
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"ridgebase_festo",
|
| 1340 |
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"ridgebase_fr3",
|
| 1341 |
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"ridgebase_rizon4",
|
| 1342 |
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"ridgebase_ur16e",
|
| 1343 |
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"ridgebase_ur5e",
|
| 1344 |
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"right_inner_finger",
|
| 1345 |
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"rizon4",
|
| 1346 |
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"robot",
|
| 1347 |
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"robotiq_2f85",
|
| 1348 |
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"shoulder_lift_joint",
|
| 1349 |
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"shoulder_pan_joint",
|
| 1350 |
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"split_aloha",
|
| 1351 |
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"tool_center",
|
| 1352 |
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"ur16e",
|
| 1353 |
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"ur5e",
|
| 1354 |
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"visuals",
|
| 1355 |
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"wrist",
|
| 1356 |
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"wrist_1_joint",
|
| 1357 |
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"wrist_2_joint",
|
| 1358 |
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"wrist_3_joint"
|
| 1359 |
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],
|
| 1360 |
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|
| 1361 |
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"base_link",
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| 1362 |
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"caster",
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| 1363 |
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"defaultgroundplane",
|
| 1364 |
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"desk",
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| 1365 |
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"floor",
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| 1366 |
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"ground",
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| 1367 |
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"groundplane",
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| 1368 |
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"link0",
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| 1369 |
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"table",
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| 1370 |
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"wheel",
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| 1371 |
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"workbench"
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| 1372 |
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],
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| 1373 |
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"enabled": true
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| 1374 |
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},
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| 1387 |
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},
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},
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| 1394 |
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},
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| 1395 |
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| 1396 |
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"skill": "place",
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| 1397 |
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| 1398 |
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| 1400 |
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}
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},
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{
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| 1407 |
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| 1408 |
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"target": "heat_button",
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| 1409 |
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| 1410 |
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"reason": "executed",
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| 1411 |
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| 1412 |
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| 1414 |
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"checker": "PressSuccessChecker",
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| 1415 |
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| 1416 |
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| 1417 |
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| 1418 |
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| 1516 |
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"policy": {
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"heat_button"
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],
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"/World/heat_device/button"
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],
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| 1529 |
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| 1530 |
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| 1531 |
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| 1536 |
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| 1560 |
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"left_inner_finger",
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| 1561 |
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"lift2",
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| 1562 |
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| 1563 |
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"mobile_translate_x",
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| 1564 |
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"mobile_translate_y",
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| 1565 |
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| 1570 |
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"ur5e",
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"wrist",
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| 1597 |
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],
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"base_link",
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| 1600 |
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"caster",
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"defaultgroundplane",
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| 1602 |
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| 1603 |
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| 1604 |
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"ground",
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| 1605 |
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"link0",
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],
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},
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},
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}
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}
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],
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},
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3907262889746092396,
|
| 1675 |
+
8862035115530452832,
|
| 1676 |
+
4186600411236157895,
|
| 1677 |
+
2365929533760883226,
|
| 1678 |
+
6164155675536394708
|
| 1679 |
+
],
|
| 1680 |
+
"runtime_workflow_digest": "012ac824bce7356dc0c747a9ed080b80168df6a68e7b455f826f99865582f134"
|
| 1681 |
+
}
|
| 1682 |
+
}
|
ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00041/results/episode_99_success.json
ADDED
|
@@ -0,0 +1,1682 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 99,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 6,
|
| 5 |
+
"total_steps": 6,
|
| 6 |
+
"step_accuracy": "6/6",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_a",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_a",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_a",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.19182431389655302,
|
| 26 |
+
0.22155588668212076,
|
| 27 |
+
1.0034582512261583
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0034582512261583,
|
| 30 |
+
"required_z": 0.8611069252472793,
|
| 31 |
+
"initial_z": 0.7611069252472793,
|
| 32 |
+
"lift_margin": 0.142351325978879,
|
| 33 |
+
"gripper_z": 1.0074163633461442,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.1874023620661143,
|
| 38 |
+
0.2171525717757944,
|
| 39 |
+
1.0074163633461442
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004421951830438725,
|
| 43 |
+
0.004403314906326367,
|
| 44 |
+
-0.003958112119985868
|
| 45 |
+
],
|
| 46 |
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| 423 |
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| 424 |
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| 425 |
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| 427 |
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| 432 |
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| 437 |
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| 439 |
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| 441 |
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|
| 449 |
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},
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| 451 |
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|
| 452 |
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|
| 453 |
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|
| 454 |
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| 455 |
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| 456 |
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| 457 |
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| 458 |
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|
| 459 |
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| 461 |
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| 462 |
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| 463 |
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| 464 |
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| 466 |
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| 467 |
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| 468 |
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| 469 |
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| 473 |
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| 475 |
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| 476 |
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| 478 |
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| 479 |
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| 480 |
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| 481 |
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0.0904
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| 494 |
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| 502 |
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| 503 |
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| 504 |
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| 505 |
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| 507 |
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0.0,
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| 521 |
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| 531 |
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| 558 |
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0.0,
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0.0,
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1.0
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| 561 |
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0.0010754990381138972,
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0.03563797819278414
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| 611 |
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0.23494816735740484,
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1.0097811285396023
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1.0097811285396023
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0.0010754990381138972,
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| 635 |
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0.03563797819278414
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| 647 |
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| 650 |
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| 651 |
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"liquid_source": "beaker_a",
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| 652 |
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| 653 |
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},
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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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"policy": {
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| 659 |
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"skill": "pour",
|
| 660 |
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"target_object": "beaker_b",
|
| 661 |
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"held_object": "beaker_a",
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| 662 |
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"allowed_objects": [
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| 663 |
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"beaker_a",
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| 664 |
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"beaker_b"
|
| 665 |
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],
|
| 666 |
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"allowed_object_paths": [
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| 667 |
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"/World/beaker_2",
|
| 668 |
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"/World/target_beaker"
|
| 669 |
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],
|
| 670 |
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"allowed_prim_substrings": [],
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| 671 |
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| 672 |
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"Robotiq2F85",
|
| 673 |
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"Robotiq_2F_85",
|
| 674 |
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"contact_sensor",
|
| 675 |
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"dummy_base_prismatic_x_joint",
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| 676 |
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"dummy_base_prismatic_y_joint",
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| 677 |
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"dummy_base_revolute_z_joint",
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| 678 |
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"elbow_joint",
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| 679 |
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"festo",
|
| 680 |
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"finger",
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| 681 |
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"fr3",
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| 682 |
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"fr3_duo_mobile",
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| 684 |
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"fr3_joint2",
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| 685 |
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"fr3_joint3",
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| 686 |
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"fr3_joint4",
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| 687 |
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"fr3_joint5",
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| 688 |
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"fr3_joint6",
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| 689 |
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"fr3_joint7",
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| 690 |
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"fr3_leftfinger",
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| 691 |
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"fr3_rightfinger",
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| 692 |
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| 693 |
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"geometry",
|
| 694 |
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"gripper",
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| 695 |
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| 696 |
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"joint1",
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| 697 |
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"joint2",
|
| 698 |
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"joint3",
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| 699 |
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"joint4",
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| 700 |
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"joint5",
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| 701 |
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| 702 |
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"joint7",
|
| 703 |
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"left_inner_finger",
|
| 704 |
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"lift2",
|
| 705 |
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"mobile_rotate",
|
| 706 |
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"mobile_translate_x",
|
| 707 |
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"mobile_translate_y",
|
| 708 |
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"panda_joint1",
|
| 709 |
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"panda_joint2",
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| 710 |
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"panda_joint3",
|
| 711 |
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"panda_joint4",
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| 712 |
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"panda_joint5",
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| 713 |
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"panda_joint6",
|
| 714 |
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"panda_joint7",
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| 715 |
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"panda_leftfinger",
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| 716 |
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"panda_leftfingertip",
|
| 717 |
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"panda_rightfinger",
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| 718 |
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"panda_rightfingertip",
|
| 719 |
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"ridgebase",
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| 720 |
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"ridgebase_festo",
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| 721 |
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"ridgebase_fr3",
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| 722 |
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"ridgebase_rizon4",
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| 723 |
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"ridgebase_ur16e",
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| 724 |
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"ridgebase_ur5e",
|
| 725 |
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"right_inner_finger",
|
| 726 |
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"rizon4",
|
| 727 |
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"robot",
|
| 728 |
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"robotiq_2f85",
|
| 729 |
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"shoulder_lift_joint",
|
| 730 |
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"shoulder_pan_joint",
|
| 731 |
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"split_aloha",
|
| 732 |
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"tool_center",
|
| 733 |
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"ur16e",
|
| 734 |
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"ur5e",
|
| 735 |
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"visuals",
|
| 736 |
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"wrist",
|
| 737 |
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"wrist_1_joint",
|
| 738 |
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"wrist_2_joint",
|
| 739 |
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"wrist_3_joint"
|
| 740 |
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],
|
| 741 |
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| 742 |
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"base_link",
|
| 743 |
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"caster",
|
| 744 |
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"defaultgroundplane",
|
| 745 |
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"desk",
|
| 746 |
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"floor",
|
| 747 |
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"ground",
|
| 748 |
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"groundplane",
|
| 749 |
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"link0",
|
| 750 |
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"table",
|
| 751 |
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"wheel",
|
| 752 |
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"workbench"
|
| 753 |
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],
|
| 754 |
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"enabled": true
|
| 755 |
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},
|
| 756 |
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"status": "active",
|
| 757 |
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"passed": true,
|
| 758 |
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|
| 759 |
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| 760 |
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| 761 |
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"last_frame": {
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"passed": true,
|
| 763 |
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"source_missing": false,
|
| 764 |
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"forbidden": [],
|
| 765 |
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"allowed": [
|
| 766 |
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{
|
| 767 |
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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",
|
| 768 |
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| 1512 |
+
},
|
| 1513 |
+
"failed_keys": [],
|
| 1514 |
+
"failure_code": null,
|
| 1515 |
+
"failure_messages": {},
|
| 1516 |
+
"safety": {
|
| 1517 |
+
"policy": {
|
| 1518 |
+
"skill": "press",
|
| 1519 |
+
"target_object": "heat_button",
|
| 1520 |
+
"held_object": null,
|
| 1521 |
+
"allowed_objects": [
|
| 1522 |
+
"heat_button"
|
| 1523 |
+
],
|
| 1524 |
+
"allowed_object_paths": [
|
| 1525 |
+
"/World/heat_device/button"
|
| 1526 |
+
],
|
| 1527 |
+
"allowed_prim_substrings": [],
|
| 1528 |
+
"robot_prim_substrings": [
|
| 1529 |
+
"Robotiq2F85",
|
| 1530 |
+
"Robotiq_2F_85",
|
| 1531 |
+
"contact_sensor",
|
| 1532 |
+
"dummy_base_prismatic_x_joint",
|
| 1533 |
+
"dummy_base_prismatic_y_joint",
|
| 1534 |
+
"dummy_base_revolute_z_joint",
|
| 1535 |
+
"elbow_joint",
|
| 1536 |
+
"festo",
|
| 1537 |
+
"finger",
|
| 1538 |
+
"fr3",
|
| 1539 |
+
"fr3_duo_mobile",
|
| 1540 |
+
"fr3_joint1",
|
| 1541 |
+
"fr3_joint2",
|
| 1542 |
+
"fr3_joint3",
|
| 1543 |
+
"fr3_joint4",
|
| 1544 |
+
"fr3_joint5",
|
| 1545 |
+
"fr3_joint6",
|
| 1546 |
+
"fr3_joint7",
|
| 1547 |
+
"fr3_leftfinger",
|
| 1548 |
+
"fr3_rightfinger",
|
| 1549 |
+
"franka",
|
| 1550 |
+
"geometry",
|
| 1551 |
+
"gripper",
|
| 1552 |
+
"gripper_center",
|
| 1553 |
+
"joint1",
|
| 1554 |
+
"joint2",
|
| 1555 |
+
"joint3",
|
| 1556 |
+
"joint4",
|
| 1557 |
+
"joint5",
|
| 1558 |
+
"joint6",
|
| 1559 |
+
"joint7",
|
| 1560 |
+
"left_inner_finger",
|
| 1561 |
+
"lift2",
|
| 1562 |
+
"mobile_rotate",
|
| 1563 |
+
"mobile_translate_x",
|
| 1564 |
+
"mobile_translate_y",
|
| 1565 |
+
"panda_joint1",
|
| 1566 |
+
"panda_joint2",
|
| 1567 |
+
"panda_joint3",
|
| 1568 |
+
"panda_joint4",
|
| 1569 |
+
"panda_joint5",
|
| 1570 |
+
"panda_joint6",
|
| 1571 |
+
"panda_joint7",
|
| 1572 |
+
"panda_leftfinger",
|
| 1573 |
+
"panda_leftfingertip",
|
| 1574 |
+
"panda_rightfinger",
|
| 1575 |
+
"panda_rightfingertip",
|
| 1576 |
+
"ridgebase",
|
| 1577 |
+
"ridgebase_festo",
|
| 1578 |
+
"ridgebase_fr3",
|
| 1579 |
+
"ridgebase_rizon4",
|
| 1580 |
+
"ridgebase_ur16e",
|
| 1581 |
+
"ridgebase_ur5e",
|
| 1582 |
+
"right_inner_finger",
|
| 1583 |
+
"rizon4",
|
| 1584 |
+
"robot",
|
| 1585 |
+
"robotiq_2f85",
|
| 1586 |
+
"shoulder_lift_joint",
|
| 1587 |
+
"shoulder_pan_joint",
|
| 1588 |
+
"split_aloha",
|
| 1589 |
+
"tool_center",
|
| 1590 |
+
"ur16e",
|
| 1591 |
+
"ur5e",
|
| 1592 |
+
"visuals",
|
| 1593 |
+
"wrist",
|
| 1594 |
+
"wrist_1_joint",
|
| 1595 |
+
"wrist_2_joint",
|
| 1596 |
+
"wrist_3_joint"
|
| 1597 |
+
],
|
| 1598 |
+
"ignored_prim_substrings": [
|
| 1599 |
+
"base_link",
|
| 1600 |
+
"caster",
|
| 1601 |
+
"defaultgroundplane",
|
| 1602 |
+
"desk",
|
| 1603 |
+
"floor",
|
| 1604 |
+
"ground",
|
| 1605 |
+
"groundplane",
|
| 1606 |
+
"link0",
|
| 1607 |
+
"table",
|
| 1608 |
+
"wheel",
|
| 1609 |
+
"workbench"
|
| 1610 |
+
],
|
| 1611 |
+
"enabled": true
|
| 1612 |
+
},
|
| 1613 |
+
"status": "active",
|
| 1614 |
+
"passed": true,
|
| 1615 |
+
"source_missing": false,
|
| 1616 |
+
"forbidden": [],
|
| 1617 |
+
"disturbances": [],
|
| 1618 |
+
"last_frame": {
|
| 1619 |
+
"passed": true,
|
| 1620 |
+
"source_missing": false,
|
| 1621 |
+
"forbidden": [],
|
| 1622 |
+
"allowed": [],
|
| 1623 |
+
"ignored": [],
|
| 1624 |
+
"failed_keys": []
|
| 1625 |
+
},
|
| 1626 |
+
"failed_keys": []
|
| 1627 |
+
}
|
| 1628 |
+
},
|
| 1629 |
+
"gripper": null,
|
| 1630 |
+
"post_done_wait_frames": 0,
|
| 1631 |
+
"post_done_wait_exhausted": false
|
| 1632 |
+
},
|
| 1633 |
+
"physical_semantics": {
|
| 1634 |
+
"skill": "press",
|
| 1635 |
+
"target": "heat_button",
|
| 1636 |
+
"attach_used": false,
|
| 1637 |
+
"attach_object": null,
|
| 1638 |
+
"attach_object_path": null,
|
| 1639 |
+
"attach_allowed": false,
|
| 1640 |
+
"ordinary_object_physical_only": true
|
| 1641 |
+
}
|
| 1642 |
+
}
|
| 1643 |
+
],
|
| 1644 |
+
"physical_semantics": {
|
| 1645 |
+
"attach_records": [],
|
| 1646 |
+
"ordinary_attach_violations": [],
|
| 1647 |
+
"forbidden_shortcuts_absent": true
|
| 1648 |
+
},
|
| 1649 |
+
"h5_episode_index": 99,
|
| 1650 |
+
"reproducibility": {
|
| 1651 |
+
"enabled": true,
|
| 1652 |
+
"action_seed": 2848321962719448975,
|
| 1653 |
+
"physical_seed": 446376941926965473,
|
| 1654 |
+
"layout_id": "layout_00041",
|
| 1655 |
+
"step_seeds": [
|
| 1656 |
+
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|
| 1657 |
+
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|
| 1658 |
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|
| 1659 |
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|
| 1660 |
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|
| 1661 |
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|
| 1662 |
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],
|
| 1663 |
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"workflow_spec_digest": "07957159193c0100d9358d5dd2c5a7d989c8e06fab1e1765ccdb34a63b5ebd55",
|
| 1664 |
+
"strict_task_state": false,
|
| 1665 |
+
"allow_physical_randomization": true,
|
| 1666 |
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"seed_source": "workflow.reproducibility",
|
| 1667 |
+
"task_island_state_digest": "5ff202c0cc7a1cc320f2e3b75371bf54be4c2e0d3f52b54d99eb818d25dc0d90",
|
| 1668 |
+
"visual_seed": 841793140803744204,
|
| 1669 |
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"episode_index": 99,
|
| 1670 |
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"physical_randomization_enabled": true,
|
| 1671 |
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"motion_controller_type": "ik_servo",
|
| 1672 |
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"runtime_step_seeds": [
|
| 1673 |
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|
| 1674 |
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|
| 1675 |
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|
| 1676 |
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|
| 1677 |
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|
| 1678 |
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|
| 1679 |
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],
|
| 1680 |
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"runtime_workflow_digest": "012ac824bce7356dc0c747a9ed080b80168df6a68e7b455f826f99865582f134"
|
| 1681 |
+
}
|
| 1682 |
+
}
|
ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htf_00041/results/episode_9_success.json
ADDED
|
@@ -0,0 +1,1682 @@
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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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| 7 |
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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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| 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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| 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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| 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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| 53 |
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| 54 |
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| 56 |
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| 57 |
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| 58 |
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| 60 |
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| 62 |
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| 63 |
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| 65 |
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| 66 |
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| 67 |
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| 68 |
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| 69 |
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| 70 |
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| 74 |
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| 75 |
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| 76 |
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| 77 |
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| 86 |
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| 87 |
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| 88 |
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| 91 |
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| 92 |
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| 93 |
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| 94 |
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| 95 |
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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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| 103 |
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| 104 |
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| 105 |
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|
| 106 |
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| 107 |
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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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| 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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| 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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| 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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| 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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| 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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| 209 |
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| 210 |
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| 211 |
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| 212 |
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},
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| 213 |
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{
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| 214 |
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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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| 215 |
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| 216 |
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}
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| 217 |
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],
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| 219 |
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| 223 |
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| 227 |
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},
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| 231 |
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| 234 |
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| 236 |
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}
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| 237 |
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},
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| 238 |
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{
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| 239 |
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| 240 |
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| 242 |
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| 243 |
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| 244 |
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| 246 |
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| 247 |
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| 248 |
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| 249 |
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| 250 |
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| 251 |
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|
| 253 |
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|
| 254 |
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|
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|
| 256 |
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