Upload folder using huggingface_hub (part 10)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00039/results/episode_69_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00039/results/episode_70_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00039/results/episode_71_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00039/results/episode_75_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00039/results/episode_76_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00039/results/episode_7_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00039/results/episode_80_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00039/results/episode_81_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00039/results/episode_82_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00039/results/episode_84_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00039/results/episode_85_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00039/results/episode_86_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00039/results/episode_87_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00039/results/episode_88_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00039/results/episode_89_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00039/results/episode_8_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00039/results/episode_90_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00039/results/episode_91_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00039/results/episode_92_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00039/results/episode_93_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00039/results/episode_94_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00039/results/episode_95_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00039/results/episode_96_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00039/results/episode_97_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00039/results/episode_99_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00039/results/summary.json +9 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00040/dataset/episode_0000.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00040/dataset/episode_0001.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00040/dataset/episode_0004.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00040/dataset/episode_0005.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00040/dataset/episode_0006.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00040/dataset/episode_0007.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00040/dataset/episode_0008.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00040/dataset/episode_0009.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00040/dataset/episode_0012.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00040/dataset/episode_0013.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00040/dataset/episode_0016.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00040/dataset/episode_0017.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00040/dataset/episode_0019.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00040/dataset/episode_0021.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00040/dataset/episode_0022.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00040/dataset/episode_0023.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00040/dataset/episode_0024.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00040/dataset/episode_0025.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00040/dataset/episode_0027.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00040/dataset/episode_0028.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00040/dataset/episode_0029.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00040/dataset/episode_0032.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00040/dataset/episode_0034.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00040/dataset/episode_0035.h5 +3 -0
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00039/results/episode_69_success.json
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|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00039/results/episode_70_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"episode": 70,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_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 |
+
0.1710919743429764,
|
| 26 |
+
0.2816073241328725,
|
| 27 |
+
1.0466009821223232
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0466009821223232,
|
| 30 |
+
"required_z": 0.8611069848519243,
|
| 31 |
+
"initial_z": 0.7611069848519243,
|
| 32 |
+
"lift_margin": 0.18549399727039895,
|
| 33 |
+
"gripper_z": 1.0517410134639418,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.166288506322024,
|
| 38 |
+
0.27689572802097273,
|
| 39 |
+
1.0517410134639418
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004803468020952412,
|
| 43 |
+
0.004711596111899752,
|
| 44 |
+
-0.005140031341618556
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.0067284799880791306,
|
| 47 |
+
"object_to_gripper_z": -0.005140031341618556,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.1710919743429764,
|
| 51 |
+
0.25729728966035786,
|
| 52 |
+
1.0466009821223232
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.1595265153899162,
|
| 56 |
+
0.2816073241328725,
|
| 57 |
+
1.0466009821223232
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.1653092448664463,
|
| 61 |
+
0.26945230689661515,
|
| 62 |
+
1.0466009821223232
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005782729476530107,
|
| 66 |
+
0.012155017236257337,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.026920951261977532,
|
| 70 |
+
"fingertip_max_gap": 0.09102933692410742,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013460475630988792,
|
| 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": 1.0466009821223232,
|
| 78 |
+
"object_top_z": 1.096378236285749,
|
| 79 |
+
"finger_top_clearance": 0.04977725416342582,
|
| 80 |
+
"fingertip_min_top_clearance": 0.014933176249027763,
|
| 81 |
+
"object_projection_between_fingers": 0.8154368730350482,
|
| 82 |
+
"object_to_finger_line_xy": 0.010443787929457198,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.04801466846205371,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 1.0275775279583934,
|
| 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": 207,
|
| 96 |
+
"max_stable_success_frames": 207,
|
| 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 |
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| 527 |
+
"target_object": "inspection_platform",
|
| 528 |
+
"held_object": "beaker_a",
|
| 529 |
+
"allowed_objects": [
|
| 530 |
+
"beaker_a",
|
| 531 |
+
"inspection_platform"
|
| 532 |
+
],
|
| 533 |
+
"allowed_object_paths": [
|
| 534 |
+
"/World/beaker_2",
|
| 535 |
+
"/World/target_plat"
|
| 536 |
+
],
|
| 537 |
+
"allowed_prim_substrings": [],
|
| 538 |
+
"robot_prim_substrings": [
|
| 539 |
+
"Robotiq2F85",
|
| 540 |
+
"Robotiq_2F_85",
|
| 541 |
+
"contact_sensor",
|
| 542 |
+
"dummy_base_prismatic_x_joint",
|
| 543 |
+
"dummy_base_prismatic_y_joint",
|
| 544 |
+
"dummy_base_revolute_z_joint",
|
| 545 |
+
"elbow_joint",
|
| 546 |
+
"festo",
|
| 547 |
+
"finger",
|
| 548 |
+
"fr3",
|
| 549 |
+
"fr3_duo_mobile",
|
| 550 |
+
"fr3_joint1",
|
| 551 |
+
"fr3_joint2",
|
| 552 |
+
"fr3_joint3",
|
| 553 |
+
"fr3_joint4",
|
| 554 |
+
"fr3_joint5",
|
| 555 |
+
"fr3_joint6",
|
| 556 |
+
"fr3_joint7",
|
| 557 |
+
"fr3_leftfinger",
|
| 558 |
+
"fr3_rightfinger",
|
| 559 |
+
"franka",
|
| 560 |
+
"geometry",
|
| 561 |
+
"gripper",
|
| 562 |
+
"gripper_center",
|
| 563 |
+
"joint1",
|
| 564 |
+
"joint2",
|
| 565 |
+
"joint3",
|
| 566 |
+
"joint4",
|
| 567 |
+
"joint5",
|
| 568 |
+
"joint6",
|
| 569 |
+
"joint7",
|
| 570 |
+
"left_inner_finger",
|
| 571 |
+
"lift2",
|
| 572 |
+
"mobile_rotate",
|
| 573 |
+
"mobile_translate_x",
|
| 574 |
+
"mobile_translate_y",
|
| 575 |
+
"panda_joint1",
|
| 576 |
+
"panda_joint2",
|
| 577 |
+
"panda_joint3",
|
| 578 |
+
"panda_joint4",
|
| 579 |
+
"panda_joint5",
|
| 580 |
+
"panda_joint6",
|
| 581 |
+
"panda_joint7",
|
| 582 |
+
"panda_leftfinger",
|
| 583 |
+
"panda_leftfingertip",
|
| 584 |
+
"panda_rightfinger",
|
| 585 |
+
"panda_rightfingertip",
|
| 586 |
+
"ridgebase",
|
| 587 |
+
"ridgebase_festo",
|
| 588 |
+
"ridgebase_fr3",
|
| 589 |
+
"ridgebase_rizon4",
|
| 590 |
+
"ridgebase_ur16e",
|
| 591 |
+
"ridgebase_ur5e",
|
| 592 |
+
"right_inner_finger",
|
| 593 |
+
"rizon4",
|
| 594 |
+
"robot",
|
| 595 |
+
"robotiq_2f85",
|
| 596 |
+
"shoulder_lift_joint",
|
| 597 |
+
"shoulder_pan_joint",
|
| 598 |
+
"split_aloha",
|
| 599 |
+
"tool_center",
|
| 600 |
+
"ur16e",
|
| 601 |
+
"ur5e",
|
| 602 |
+
"visuals",
|
| 603 |
+
"wrist",
|
| 604 |
+
"wrist_1_joint",
|
| 605 |
+
"wrist_2_joint",
|
| 606 |
+
"wrist_3_joint"
|
| 607 |
+
],
|
| 608 |
+
"ignored_prim_substrings": [
|
| 609 |
+
"base_link",
|
| 610 |
+
"caster",
|
| 611 |
+
"defaultgroundplane",
|
| 612 |
+
"desk",
|
| 613 |
+
"floor",
|
| 614 |
+
"ground",
|
| 615 |
+
"groundplane",
|
| 616 |
+
"link0",
|
| 617 |
+
"table",
|
| 618 |
+
"wheel",
|
| 619 |
+
"workbench"
|
| 620 |
+
],
|
| 621 |
+
"enabled": true
|
| 622 |
+
},
|
| 623 |
+
"status": "active",
|
| 624 |
+
"passed": true,
|
| 625 |
+
"source_missing": false,
|
| 626 |
+
"forbidden": [],
|
| 627 |
+
"disturbances": [],
|
| 628 |
+
"last_frame": {
|
| 629 |
+
"passed": true,
|
| 630 |
+
"source_missing": false,
|
| 631 |
+
"forbidden": [],
|
| 632 |
+
"allowed": [],
|
| 633 |
+
"ignored": [],
|
| 634 |
+
"failed_keys": []
|
| 635 |
+
},
|
| 636 |
+
"failed_keys": []
|
| 637 |
+
}
|
| 638 |
+
},
|
| 639 |
+
"gripper": null,
|
| 640 |
+
"post_done_wait_frames": 0,
|
| 641 |
+
"post_done_wait_exhausted": false
|
| 642 |
+
},
|
| 643 |
+
"physical_semantics": {
|
| 644 |
+
"skill": "place",
|
| 645 |
+
"target": "inspection_platform",
|
| 646 |
+
"attach_used": false,
|
| 647 |
+
"attach_object": null,
|
| 648 |
+
"attach_object_path": null,
|
| 649 |
+
"attach_allowed": false,
|
| 650 |
+
"ordinary_object_physical_only": true
|
| 651 |
+
}
|
| 652 |
+
}
|
| 653 |
+
],
|
| 654 |
+
"physical_semantics": {
|
| 655 |
+
"attach_records": [],
|
| 656 |
+
"ordinary_attach_violations": [],
|
| 657 |
+
"forbidden_shortcuts_absent": true
|
| 658 |
+
},
|
| 659 |
+
"h5_episode_index": 70,
|
| 660 |
+
"reproducibility": {
|
| 661 |
+
"enabled": true,
|
| 662 |
+
"action_seed": 8331033651181015606,
|
| 663 |
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"physical_seed": 6959019944354800999,
|
| 664 |
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"layout_id": "layout_00039",
|
| 665 |
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"step_seeds": [
|
| 666 |
+
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|
| 667 |
+
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|
| 668 |
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|
| 669 |
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],
|
| 670 |
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"workflow_spec_digest": "629ef07efb7c20f41bdf2934e284ac78301062b0c23de9158dc2a57ca01e9359",
|
| 671 |
+
"strict_task_state": false,
|
| 672 |
+
"allow_physical_randomization": true,
|
| 673 |
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"seed_source": "workflow.reproducibility",
|
| 674 |
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"task_island_state_digest": "8cbb2fa8d575d53be23e9e591e7bf5caece69400d97d057279006c033fee2474",
|
| 675 |
+
"visual_seed": 6602425556511548142,
|
| 676 |
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"episode_index": 70,
|
| 677 |
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"physical_randomization_enabled": true,
|
| 678 |
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"motion_controller_type": "ik_servo",
|
| 679 |
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"runtime_step_seeds": [
|
| 680 |
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|
| 681 |
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|
| 682 |
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|
| 683 |
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],
|
| 684 |
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"runtime_workflow_digest": "4a8c4c9d7495de1d65ddf164d00afb4eeed43420dbae6cf326ab91ca227d9243"
|
| 685 |
+
}
|
| 686 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00039/results/episode_71_success.json
ADDED
|
@@ -0,0 +1,686 @@
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| 18 |
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|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00039/results/episode_75_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 75,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_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 |
+
0.16373450933885955,
|
| 26 |
+
0.2771027217601014,
|
| 27 |
+
1.04875558222886
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.04875558222886,
|
| 30 |
+
"required_z": 0.8611066272240556,
|
| 31 |
+
"initial_z": 0.7611066272240556,
|
| 32 |
+
"lift_margin": 0.18764895500480427,
|
| 33 |
+
"gripper_z": 1.054013967374216,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.15966097243452984,
|
| 38 |
+
0.27281509459481795,
|
| 39 |
+
1.054013967374216
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004073536904329711,
|
| 43 |
+
0.00428762716528347,
|
| 44 |
+
-0.005258385145356037
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.005914173621006814,
|
| 47 |
+
"object_to_gripper_z": -0.005258385145356037,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.16373450933885955,
|
| 51 |
+
0.25321554051245226,
|
| 52 |
+
1.04875558222886
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.15289787791712478,
|
| 56 |
+
0.2771027217601014,
|
| 57 |
+
1.04875558222886
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.15831619362799215,
|
| 61 |
+
0.26515913113627687,
|
| 62 |
+
1.04875558222886
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.0054183157108674,
|
| 66 |
+
0.011943590623824551,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.02623032612318366,
|
| 70 |
+
"fingertip_max_gap": 0.09310485692173295,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013115163061591809,
|
| 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": 1.04875558222886,
|
| 78 |
+
"object_top_z": 1.0996164295978479,
|
| 79 |
+
"finger_top_clearance": 0.050860847368987994,
|
| 80 |
+
"fingertip_min_top_clearance": 0.015258254210696414,
|
| 81 |
+
"object_projection_between_fingers": 0.8293205541693274,
|
| 82 |
+
"object_to_finger_line_xy": 0.009868599333050534,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.04905242846086648,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 1.3677340577114796,
|
| 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": 210,
|
| 96 |
+
"max_stable_success_frames": 210,
|
| 97 |
+
"required_stable_lift_frames": 5
|
| 98 |
+
},
|
| 99 |
+
"failed_keys": [],
|
| 100 |
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|
| 500 |
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|
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|
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|
| 530 |
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|
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|
| 532 |
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],
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|
| 534 |
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|
| 535 |
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|
| 536 |
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],
|
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|
| 538 |
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|
| 539 |
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|
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|
| 541 |
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|
| 542 |
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|
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|
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| 558 |
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|
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|
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|
| 563 |
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|
| 565 |
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|
| 566 |
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|
| 567 |
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|
| 568 |
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|
| 569 |
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|
| 570 |
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|
| 571 |
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|
| 572 |
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|
| 573 |
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|
| 574 |
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|
| 575 |
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|
| 576 |
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|
| 577 |
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|
| 578 |
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|
| 579 |
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|
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|
| 581 |
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|
| 582 |
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|
| 583 |
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|
| 584 |
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|
| 585 |
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|
| 586 |
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|
| 587 |
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|
| 588 |
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| 589 |
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|
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|
| 592 |
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|
| 593 |
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|
| 594 |
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|
| 595 |
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|
| 596 |
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|
| 597 |
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|
| 598 |
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|
| 599 |
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|
| 600 |
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|
| 601 |
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|
| 602 |
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|
| 603 |
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|
| 604 |
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|
| 605 |
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| 606 |
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|
| 607 |
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|
| 609 |
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|
| 612 |
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| 613 |
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|
| 615 |
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| 616 |
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| 617 |
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| 619 |
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| 621 |
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| 622 |
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| 623 |
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| 624 |
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| 626 |
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| 644 |
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|
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|
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],
|
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|
| 655 |
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|
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|
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|
| 660 |
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|
| 685 |
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}
|
| 686 |
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}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00039/results/episode_76_success.json
ADDED
|
@@ -0,0 +1,686 @@
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| 1 |
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{
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| 2 |
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| 3 |
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| 4 |
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| 5 |
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| 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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| 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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| 49 |
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| 51 |
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| 112 |
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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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| 120 |
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| 122 |
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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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| 146 |
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| 147 |
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| 148 |
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| 149 |
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| 150 |
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| 151 |
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| 152 |
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| 153 |
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| 158 |
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| 159 |
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| 160 |
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| 161 |
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| 162 |
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| 163 |
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| 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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| 182 |
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| 183 |
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| 185 |
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| 188 |
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| 191 |
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| 192 |
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| 193 |
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|
| 667 |
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|
| 668 |
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|
| 669 |
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],
|
| 670 |
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"workflow_spec_digest": "629ef07efb7c20f41bdf2934e284ac78301062b0c23de9158dc2a57ca01e9359",
|
| 671 |
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"strict_task_state": false,
|
| 672 |
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"allow_physical_randomization": true,
|
| 673 |
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"seed_source": "workflow.reproducibility",
|
| 674 |
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"task_island_state_digest": "c1575f10b8cc47fcea09cc9a17988fb2f00397c25a215a3f079851d431a59520",
|
| 675 |
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"visual_seed": 1886003208516633011,
|
| 676 |
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"episode_index": 76,
|
| 677 |
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"physical_randomization_enabled": true,
|
| 678 |
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"motion_controller_type": "ik_servo",
|
| 679 |
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"runtime_step_seeds": [
|
| 680 |
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|
| 681 |
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| 682 |
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| 683 |
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|
| 684 |
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"runtime_workflow_digest": "4a8c4c9d7495de1d65ddf164d00afb4eeed43420dbae6cf326ab91ca227d9243"
|
| 685 |
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}
|
| 686 |
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}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00039/results/episode_7_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 7,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_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 |
+
0.16400648181567434,
|
| 26 |
+
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|
| 27 |
+
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|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0468652638868892,
|
| 30 |
+
"required_z": 0.8611068060379896,
|
| 31 |
+
"initial_z": 0.7611068060379896,
|
| 32 |
+
"lift_margin": 0.18575845784889955,
|
| 33 |
+
"gripper_z": 1.052220884792453,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
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|
| 38 |
+
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|
| 39 |
+
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|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
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|
| 43 |
+
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|
| 44 |
+
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|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.005842408533838299,
|
| 47 |
+
"object_to_gripper_z": -0.0053556209055638515,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
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"finger_a": [
|
| 50 |
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|
| 51 |
+
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|
| 52 |
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|
| 53 |
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],
|
| 54 |
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"finger_b": [
|
| 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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"finger_midpoint": [
|
| 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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| 571 |
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| 572 |
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| 603 |
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|
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}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00039/results/episode_80_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 80,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_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 |
+
0.16319869206854334,
|
| 26 |
+
0.2767520194181338,
|
| 27 |
+
1.0470191878927442
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0470191878927442,
|
| 30 |
+
"required_z": 0.8611068060379898,
|
| 31 |
+
"initial_z": 0.7611068060379899,
|
| 32 |
+
"lift_margin": 0.18591238185475434,
|
| 33 |
+
"gripper_z": 1.0523592322676187,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.1591544220627224,
|
| 38 |
+
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|
| 39 |
+
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|
| 40 |
+
],
|
| 41 |
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"object_minus_gripper": [
|
| 42 |
+
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|
| 43 |
+
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|
| 44 |
+
-0.005340044374874564
|
| 45 |
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],
|
| 46 |
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"object_to_gripper_xy": 0.005892493400632697,
|
| 47 |
+
"object_to_gripper_z": -0.005340044374874564,
|
| 48 |
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"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
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|
| 51 |
+
0.2529036731090261,
|
| 52 |
+
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|
| 53 |
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],
|
| 54 |
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"finger_b": [
|
| 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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"finger_gap": 0.0262053605783265,
|
| 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 |
+
"object_position_origin": "center",
|
| 77 |
+
"object_center_z_for_grasp": 1.0470191878927442,
|
| 78 |
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|
| 79 |
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|
| 80 |
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"fingertip_min_top_clearance": 0.015149958542696473,
|
| 81 |
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"object_projection_between_fingers": 0.8282019705491236,
|
| 82 |
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"object_to_finger_line_xy": 0.009884787982917453,
|
| 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": 0.048515142770114955,
|
| 86 |
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"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 0.9148717458310751,
|
| 89 |
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"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": 208,
|
| 96 |
+
"max_stable_success_frames": 208,
|
| 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 |
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"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 |
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"allowed": [
|
| 209 |
+
{
|
| 210 |
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"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 211 |
+
"b": "/World/beaker_2/mesh"
|
| 212 |
+
},
|
| 213 |
+
{
|
| 214 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 215 |
+
"b": "/World/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 |
+
},
|
| 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 |
+
"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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"attach_object_path": null,
|
| 234 |
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"attach_allowed": false,
|
| 235 |
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"ordinary_object_physical_only": true
|
| 236 |
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}
|
| 237 |
+
},
|
| 238 |
+
{
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| 624 |
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|
| 625 |
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|
| 626 |
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| 627 |
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|
| 628 |
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|
| 629 |
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|
| 630 |
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|
| 631 |
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| 632 |
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|
| 633 |
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|
| 634 |
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|
| 635 |
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| 636 |
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| 637 |
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| 638 |
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| 639 |
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| 640 |
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|
| 641 |
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|
| 642 |
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| 643 |
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|
| 644 |
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|
| 645 |
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|
| 646 |
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|
| 647 |
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| 648 |
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|
| 649 |
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|
| 650 |
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|
| 651 |
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|
| 652 |
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|
| 653 |
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|
| 654 |
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|
| 655 |
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|
| 656 |
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| 657 |
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|
| 658 |
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|
| 659 |
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|
| 660 |
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|
| 661 |
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|
| 662 |
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| 663 |
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| 666 |
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| 672 |
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|
| 673 |
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| 674 |
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| 685 |
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|
| 686 |
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}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00039/results/episode_81_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"episode": 81,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_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 |
+
0.1642919099402181,
|
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|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00039/results/episode_82_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"episode": 82,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_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 |
+
0.16980250476847908,
|
| 26 |
+
0.28169970840931785,
|
| 27 |
+
1.0497648058650373
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0497648058650373,
|
| 30 |
+
"required_z": 0.8611069848519242,
|
| 31 |
+
"initial_z": 0.7611069848519242,
|
| 32 |
+
"lift_margin": 0.18865782101311313,
|
| 33 |
+
"gripper_z": 1.0550434441675138,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.16521002243387845,
|
| 38 |
+
0.277144784877258,
|
| 39 |
+
1.0550434441675138
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004592482334600634,
|
| 43 |
+
0.004554923532059829,
|
| 44 |
+
-0.005278638302476546
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006468247241450444,
|
| 47 |
+
"object_to_gripper_z": -0.005278638302476546,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.16980250476847908,
|
| 51 |
+
0.25745147501862914,
|
| 52 |
+
1.0497648058650373
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.15857617389587908,
|
| 56 |
+
0.28169970840931785,
|
| 57 |
+
1.0497648058650373
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.16418933933217908,
|
| 61 |
+
0.2695755917139735,
|
| 62 |
+
1.0497648058650373
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005613165436299999,
|
| 66 |
+
0.012124116695344356,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.026720915542518427,
|
| 70 |
+
"fingertip_max_gap": 0.09288688641563461,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013360457771259214,
|
| 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": 1.0497648058650373,
|
| 78 |
+
"object_top_z": 1.1003664068673602,
|
| 79 |
+
"finger_top_clearance": 0.050601601002322916,
|
| 80 |
+
"fingertip_min_top_clearance": 0.01518048030069689,
|
| 81 |
+
"object_projection_between_fingers": 0.8234884993202307,
|
| 82 |
+
"object_to_finger_line_xy": 0.010187476199561486,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.04894344320781731,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 1.4821271366732873,
|
| 89 |
+
"object_max_tilt_deg": 15.0,
|
| 90 |
+
"object_upright_axis_local": [
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
1.0
|
| 94 |
+
],
|
| 95 |
+
"stable_success_frames": 212,
|
| 96 |
+
"max_stable_success_frames": 212,
|
| 97 |
+
"required_stable_lift_frames": 5
|
| 98 |
+
},
|
| 99 |
+
"failed_keys": [],
|
| 100 |
+
"failure_code": null,
|
| 101 |
+
"failure_messages": {},
|
| 102 |
+
"safety": {
|
| 103 |
+
"policy": {
|
| 104 |
+
"skill": "pick",
|
| 105 |
+
"target_object": "beaker_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 |
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| 578 |
+
"panda_joint4",
|
| 579 |
+
"panda_joint5",
|
| 580 |
+
"panda_joint6",
|
| 581 |
+
"panda_joint7",
|
| 582 |
+
"panda_leftfinger",
|
| 583 |
+
"panda_leftfingertip",
|
| 584 |
+
"panda_rightfinger",
|
| 585 |
+
"panda_rightfingertip",
|
| 586 |
+
"ridgebase",
|
| 587 |
+
"ridgebase_festo",
|
| 588 |
+
"ridgebase_fr3",
|
| 589 |
+
"ridgebase_rizon4",
|
| 590 |
+
"ridgebase_ur16e",
|
| 591 |
+
"ridgebase_ur5e",
|
| 592 |
+
"right_inner_finger",
|
| 593 |
+
"rizon4",
|
| 594 |
+
"robot",
|
| 595 |
+
"robotiq_2f85",
|
| 596 |
+
"shoulder_lift_joint",
|
| 597 |
+
"shoulder_pan_joint",
|
| 598 |
+
"split_aloha",
|
| 599 |
+
"tool_center",
|
| 600 |
+
"ur16e",
|
| 601 |
+
"ur5e",
|
| 602 |
+
"visuals",
|
| 603 |
+
"wrist",
|
| 604 |
+
"wrist_1_joint",
|
| 605 |
+
"wrist_2_joint",
|
| 606 |
+
"wrist_3_joint"
|
| 607 |
+
],
|
| 608 |
+
"ignored_prim_substrings": [
|
| 609 |
+
"base_link",
|
| 610 |
+
"caster",
|
| 611 |
+
"defaultgroundplane",
|
| 612 |
+
"desk",
|
| 613 |
+
"floor",
|
| 614 |
+
"ground",
|
| 615 |
+
"groundplane",
|
| 616 |
+
"link0",
|
| 617 |
+
"table",
|
| 618 |
+
"wheel",
|
| 619 |
+
"workbench"
|
| 620 |
+
],
|
| 621 |
+
"enabled": true
|
| 622 |
+
},
|
| 623 |
+
"status": "active",
|
| 624 |
+
"passed": true,
|
| 625 |
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"source_missing": false,
|
| 626 |
+
"forbidden": [],
|
| 627 |
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"disturbances": [],
|
| 628 |
+
"last_frame": {
|
| 629 |
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"passed": true,
|
| 630 |
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"source_missing": false,
|
| 631 |
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"forbidden": [],
|
| 632 |
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"allowed": [],
|
| 633 |
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"ignored": [],
|
| 634 |
+
"failed_keys": []
|
| 635 |
+
},
|
| 636 |
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"failed_keys": []
|
| 637 |
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}
|
| 638 |
+
},
|
| 639 |
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"gripper": null,
|
| 640 |
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"post_done_wait_frames": 0,
|
| 641 |
+
"post_done_wait_exhausted": false
|
| 642 |
+
},
|
| 643 |
+
"physical_semantics": {
|
| 644 |
+
"skill": "place",
|
| 645 |
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"target": "inspection_platform",
|
| 646 |
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"attach_used": false,
|
| 647 |
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"attach_object": null,
|
| 648 |
+
"attach_object_path": null,
|
| 649 |
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"attach_allowed": false,
|
| 650 |
+
"ordinary_object_physical_only": true
|
| 651 |
+
}
|
| 652 |
+
}
|
| 653 |
+
],
|
| 654 |
+
"physical_semantics": {
|
| 655 |
+
"attach_records": [],
|
| 656 |
+
"ordinary_attach_violations": [],
|
| 657 |
+
"forbidden_shortcuts_absent": true
|
| 658 |
+
},
|
| 659 |
+
"h5_episode_index": 82,
|
| 660 |
+
"reproducibility": {
|
| 661 |
+
"enabled": true,
|
| 662 |
+
"action_seed": 8331033651181015606,
|
| 663 |
+
"physical_seed": 6959019944354800999,
|
| 664 |
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"layout_id": "layout_00039",
|
| 665 |
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"step_seeds": [
|
| 666 |
+
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|
| 667 |
+
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|
| 668 |
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|
| 669 |
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],
|
| 670 |
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"workflow_spec_digest": "629ef07efb7c20f41bdf2934e284ac78301062b0c23de9158dc2a57ca01e9359",
|
| 671 |
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"strict_task_state": false,
|
| 672 |
+
"allow_physical_randomization": true,
|
| 673 |
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"seed_source": "workflow.reproducibility",
|
| 674 |
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"task_island_state_digest": "510b7ce54b3f3c15df9d088811813d41b2155bb3a79132486fd81e0497903ba6",
|
| 675 |
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"visual_seed": 6730317342084236904,
|
| 676 |
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"episode_index": 82,
|
| 677 |
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"physical_randomization_enabled": true,
|
| 678 |
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"motion_controller_type": "ik_servo",
|
| 679 |
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"runtime_step_seeds": [
|
| 680 |
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|
| 681 |
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|
| 682 |
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|
| 683 |
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],
|
| 684 |
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"runtime_workflow_digest": "4a8c4c9d7495de1d65ddf164d00afb4eeed43420dbae6cf326ab91ca227d9243"
|
| 685 |
+
}
|
| 686 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00039/results/episode_84_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00039/results/episode_85_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"episode": 85,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_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 |
+
0.17179094564799308,
|
| 26 |
+
0.283456965822448,
|
| 27 |
+
1.0467939268474034
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0467939268474034,
|
| 30 |
+
"required_z": 0.8611065676194108,
|
| 31 |
+
"initial_z": 0.7611065676194109,
|
| 32 |
+
"lift_margin": 0.1856873592279925,
|
| 33 |
+
"gripper_z": 1.0519828036798573,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.1671177376654329,
|
| 38 |
+
0.27881778246811934,
|
| 39 |
+
1.0519828036798573
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004673207982560185,
|
| 43 |
+
0.004639183354328669,
|
| 44 |
+
-0.005188876832453948
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006584899015424947,
|
| 47 |
+
"object_to_gripper_z": -0.005188876832453948,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.17179094564799308,
|
| 51 |
+
0.2592242303339613,
|
| 52 |
+
1.0467939268474034
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.160347587852815,
|
| 56 |
+
0.283456965822448,
|
| 57 |
+
1.0467939268474034
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.16606926675040404,
|
| 61 |
+
0.27134059807820465,
|
| 62 |
+
1.0467939268474034
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005721678897589039,
|
| 66 |
+
0.01211636774424335,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.02679880420622207,
|
| 70 |
+
"fingertip_max_gap": 0.0928090136498382,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013399402103111035,
|
| 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": 1.0467939268474034,
|
| 78 |
+
"object_top_z": 1.0975386583816213,
|
| 79 |
+
"finger_top_clearance": 0.05074473153421799,
|
| 80 |
+
"fingertip_min_top_clearance": 0.015223419460265362,
|
| 81 |
+
"object_projection_between_fingers": 0.817662446799794,
|
| 82 |
+
"object_to_finger_line_xy": 0.010347620752655776,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.048904506824919106,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 1.268512903371778,
|
| 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": 208,
|
| 96 |
+
"max_stable_success_frames": 208,
|
| 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 |
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"panda_joint2",
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| 534 |
+
"/World/beaker_2",
|
| 535 |
+
"/World/target_plat"
|
| 536 |
+
],
|
| 537 |
+
"allowed_prim_substrings": [],
|
| 538 |
+
"robot_prim_substrings": [
|
| 539 |
+
"Robotiq2F85",
|
| 540 |
+
"Robotiq_2F_85",
|
| 541 |
+
"contact_sensor",
|
| 542 |
+
"dummy_base_prismatic_x_joint",
|
| 543 |
+
"dummy_base_prismatic_y_joint",
|
| 544 |
+
"dummy_base_revolute_z_joint",
|
| 545 |
+
"elbow_joint",
|
| 546 |
+
"festo",
|
| 547 |
+
"finger",
|
| 548 |
+
"fr3",
|
| 549 |
+
"fr3_duo_mobile",
|
| 550 |
+
"fr3_joint1",
|
| 551 |
+
"fr3_joint2",
|
| 552 |
+
"fr3_joint3",
|
| 553 |
+
"fr3_joint4",
|
| 554 |
+
"fr3_joint5",
|
| 555 |
+
"fr3_joint6",
|
| 556 |
+
"fr3_joint7",
|
| 557 |
+
"fr3_leftfinger",
|
| 558 |
+
"fr3_rightfinger",
|
| 559 |
+
"franka",
|
| 560 |
+
"geometry",
|
| 561 |
+
"gripper",
|
| 562 |
+
"gripper_center",
|
| 563 |
+
"joint1",
|
| 564 |
+
"joint2",
|
| 565 |
+
"joint3",
|
| 566 |
+
"joint4",
|
| 567 |
+
"joint5",
|
| 568 |
+
"joint6",
|
| 569 |
+
"joint7",
|
| 570 |
+
"left_inner_finger",
|
| 571 |
+
"lift2",
|
| 572 |
+
"mobile_rotate",
|
| 573 |
+
"mobile_translate_x",
|
| 574 |
+
"mobile_translate_y",
|
| 575 |
+
"panda_joint1",
|
| 576 |
+
"panda_joint2",
|
| 577 |
+
"panda_joint3",
|
| 578 |
+
"panda_joint4",
|
| 579 |
+
"panda_joint5",
|
| 580 |
+
"panda_joint6",
|
| 581 |
+
"panda_joint7",
|
| 582 |
+
"panda_leftfinger",
|
| 583 |
+
"panda_leftfingertip",
|
| 584 |
+
"panda_rightfinger",
|
| 585 |
+
"panda_rightfingertip",
|
| 586 |
+
"ridgebase",
|
| 587 |
+
"ridgebase_festo",
|
| 588 |
+
"ridgebase_fr3",
|
| 589 |
+
"ridgebase_rizon4",
|
| 590 |
+
"ridgebase_ur16e",
|
| 591 |
+
"ridgebase_ur5e",
|
| 592 |
+
"right_inner_finger",
|
| 593 |
+
"rizon4",
|
| 594 |
+
"robot",
|
| 595 |
+
"robotiq_2f85",
|
| 596 |
+
"shoulder_lift_joint",
|
| 597 |
+
"shoulder_pan_joint",
|
| 598 |
+
"split_aloha",
|
| 599 |
+
"tool_center",
|
| 600 |
+
"ur16e",
|
| 601 |
+
"ur5e",
|
| 602 |
+
"visuals",
|
| 603 |
+
"wrist",
|
| 604 |
+
"wrist_1_joint",
|
| 605 |
+
"wrist_2_joint",
|
| 606 |
+
"wrist_3_joint"
|
| 607 |
+
],
|
| 608 |
+
"ignored_prim_substrings": [
|
| 609 |
+
"base_link",
|
| 610 |
+
"caster",
|
| 611 |
+
"defaultgroundplane",
|
| 612 |
+
"desk",
|
| 613 |
+
"floor",
|
| 614 |
+
"ground",
|
| 615 |
+
"groundplane",
|
| 616 |
+
"link0",
|
| 617 |
+
"table",
|
| 618 |
+
"wheel",
|
| 619 |
+
"workbench"
|
| 620 |
+
],
|
| 621 |
+
"enabled": true
|
| 622 |
+
},
|
| 623 |
+
"status": "active",
|
| 624 |
+
"passed": true,
|
| 625 |
+
"source_missing": false,
|
| 626 |
+
"forbidden": [],
|
| 627 |
+
"disturbances": [],
|
| 628 |
+
"last_frame": {
|
| 629 |
+
"passed": true,
|
| 630 |
+
"source_missing": false,
|
| 631 |
+
"forbidden": [],
|
| 632 |
+
"allowed": [],
|
| 633 |
+
"ignored": [],
|
| 634 |
+
"failed_keys": []
|
| 635 |
+
},
|
| 636 |
+
"failed_keys": []
|
| 637 |
+
}
|
| 638 |
+
},
|
| 639 |
+
"gripper": null,
|
| 640 |
+
"post_done_wait_frames": 0,
|
| 641 |
+
"post_done_wait_exhausted": false
|
| 642 |
+
},
|
| 643 |
+
"physical_semantics": {
|
| 644 |
+
"skill": "place",
|
| 645 |
+
"target": "inspection_platform",
|
| 646 |
+
"attach_used": false,
|
| 647 |
+
"attach_object": null,
|
| 648 |
+
"attach_object_path": null,
|
| 649 |
+
"attach_allowed": false,
|
| 650 |
+
"ordinary_object_physical_only": true
|
| 651 |
+
}
|
| 652 |
+
}
|
| 653 |
+
],
|
| 654 |
+
"physical_semantics": {
|
| 655 |
+
"attach_records": [],
|
| 656 |
+
"ordinary_attach_violations": [],
|
| 657 |
+
"forbidden_shortcuts_absent": true
|
| 658 |
+
},
|
| 659 |
+
"h5_episode_index": 85,
|
| 660 |
+
"reproducibility": {
|
| 661 |
+
"enabled": true,
|
| 662 |
+
"action_seed": 8331033651181015606,
|
| 663 |
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"physical_seed": 6959019944354800999,
|
| 664 |
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"layout_id": "layout_00039",
|
| 665 |
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"step_seeds": [
|
| 666 |
+
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|
| 667 |
+
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|
| 668 |
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|
| 669 |
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],
|
| 670 |
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"workflow_spec_digest": "629ef07efb7c20f41bdf2934e284ac78301062b0c23de9158dc2a57ca01e9359",
|
| 671 |
+
"strict_task_state": false,
|
| 672 |
+
"allow_physical_randomization": true,
|
| 673 |
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"seed_source": "workflow.reproducibility",
|
| 674 |
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"task_island_state_digest": "91c1a0698107909d129d2035945503be599a32bd561ffd4c643b474079c91a62",
|
| 675 |
+
"visual_seed": 3739046758629650173,
|
| 676 |
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"episode_index": 85,
|
| 677 |
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"physical_randomization_enabled": true,
|
| 678 |
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"motion_controller_type": "ik_servo",
|
| 679 |
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"runtime_step_seeds": [
|
| 680 |
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|
| 681 |
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|
| 682 |
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|
| 683 |
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],
|
| 684 |
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"runtime_workflow_digest": "4a8c4c9d7495de1d65ddf164d00afb4eeed43420dbae6cf326ab91ca227d9243"
|
| 685 |
+
}
|
| 686 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00039/results/episode_86_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00039/results/episode_87_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 87,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_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 |
+
0.16456732573856273,
|
| 26 |
+
0.27549929238180565,
|
| 27 |
+
1.0467378899342878
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0467378899342878,
|
| 30 |
+
"required_z": 0.8611066868287001,
|
| 31 |
+
"initial_z": 0.7611066868287001,
|
| 32 |
+
"lift_margin": 0.18563120310558778,
|
| 33 |
+
"gripper_z": 1.052556829581692,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.1605186845360633,
|
| 38 |
+
0.2713548627035224,
|
| 39 |
+
1.052556829581692
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004048641202499426,
|
| 43 |
+
0.004144429678283268,
|
| 44 |
+
-0.005818939647404209
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.005793771909974636,
|
| 47 |
+
"object_to_gripper_z": -0.005818939647404209,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.16456732573856273,
|
| 51 |
+
0.251339274362965,
|
| 52 |
+
1.0467378899342878
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.15435280655195235,
|
| 56 |
+
0.27549929238180565,
|
| 57 |
+
1.0467378899342878
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.15946006614525754,
|
| 61 |
+
0.2634192833723853,
|
| 62 |
+
1.0467378899342878
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005107259593305186,
|
| 66 |
+
0.012080009009420356,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.02623057134117243,
|
| 70 |
+
"fingertip_max_gap": 0.09339242465457687,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013115285670586242,
|
| 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": 1.0467378899342878,
|
| 78 |
+
"object_top_z": 1.0972348598519592,
|
| 79 |
+
"finger_top_clearance": 0.050496969917671386,
|
| 80 |
+
"fingertip_min_top_clearance": 0.015149090975301415,
|
| 81 |
+
"object_projection_between_fingers": 0.8483577022224735,
|
| 82 |
+
"object_to_finger_line_xy": 0.009408219302297136,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.049196212327288436,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 2.080130967329503,
|
| 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": 205,
|
| 96 |
+
"max_stable_success_frames": 205,
|
| 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 |
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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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|
| 504 |
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|
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|
| 509 |
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| 510 |
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| 511 |
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|
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|
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|
| 518 |
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|
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|
| 520 |
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},
|
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|
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|
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|
| 524 |
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|
| 525 |
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|
| 526 |
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"skill": "place",
|
| 527 |
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|
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|
| 529 |
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|
| 530 |
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"beaker_a",
|
| 531 |
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|
| 532 |
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],
|
| 533 |
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|
| 534 |
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"/World/beaker_2",
|
| 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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|
| 541 |
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|
| 542 |
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|
| 543 |
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|
| 544 |
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|
| 545 |
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|
| 546 |
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|
| 547 |
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|
| 548 |
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|
| 549 |
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|
| 550 |
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|
| 551 |
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|
| 552 |
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|
| 553 |
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|
| 554 |
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|
| 555 |
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|
| 556 |
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"fr3_joint7",
|
| 557 |
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|
| 558 |
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|
| 559 |
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|
| 560 |
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|
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|
| 562 |
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|
| 563 |
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|
| 564 |
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|
| 565 |
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|
| 566 |
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|
| 567 |
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"joint5",
|
| 568 |
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|
| 569 |
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|
| 570 |
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"left_inner_finger",
|
| 571 |
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|
| 572 |
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"mobile_rotate",
|
| 573 |
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"mobile_translate_x",
|
| 574 |
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"mobile_translate_y",
|
| 575 |
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"panda_joint1",
|
| 576 |
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"panda_joint2",
|
| 577 |
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"panda_joint3",
|
| 578 |
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"panda_joint4",
|
| 579 |
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|
| 580 |
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|
| 581 |
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|
| 582 |
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"panda_leftfinger",
|
| 583 |
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"panda_leftfingertip",
|
| 584 |
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"panda_rightfinger",
|
| 585 |
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|
| 586 |
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|
| 587 |
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|
| 588 |
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"ridgebase_fr3",
|
| 589 |
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|
| 590 |
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|
| 591 |
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|
| 592 |
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"right_inner_finger",
|
| 593 |
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"rizon4",
|
| 594 |
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"robot",
|
| 595 |
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"robotiq_2f85",
|
| 596 |
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|
| 597 |
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|
| 598 |
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"split_aloha",
|
| 599 |
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|
| 600 |
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"ur16e",
|
| 601 |
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"ur5e",
|
| 602 |
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"visuals",
|
| 603 |
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"wrist",
|
| 604 |
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"wrist_1_joint",
|
| 605 |
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"wrist_2_joint",
|
| 606 |
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|
| 607 |
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],
|
| 608 |
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|
| 609 |
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|
| 610 |
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|
| 611 |
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"defaultgroundplane",
|
| 612 |
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"desk",
|
| 613 |
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"floor",
|
| 614 |
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"ground",
|
| 615 |
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|
| 616 |
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|
| 617 |
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| 618 |
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|
| 619 |
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|
| 620 |
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],
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| 621 |
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"enabled": true
|
| 622 |
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| 623 |
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| 624 |
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| 625 |
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| 626 |
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| 628 |
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| 629 |
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| 631 |
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| 632 |
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|
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|
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|
| 642 |
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|
| 643 |
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|
| 644 |
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|
| 645 |
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|
| 646 |
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|
| 647 |
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| 648 |
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|
| 649 |
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|
| 651 |
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|
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}
|
| 653 |
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],
|
| 654 |
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"physical_semantics": {
|
| 655 |
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|
| 656 |
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|
| 657 |
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|
| 658 |
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},
|
| 659 |
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"h5_episode_index": 87,
|
| 660 |
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|
| 661 |
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|
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|
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|
| 678 |
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|
| 685 |
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}
|
| 686 |
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}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00039/results/episode_88_success.json
ADDED
|
@@ -0,0 +1,686 @@
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| 1 |
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| 2 |
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| 3 |
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| 4 |
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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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| 25 |
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| 30 |
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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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| 115 |
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| 117 |
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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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| 135 |
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| 148 |
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| 149 |
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| 150 |
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| 151 |
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| 152 |
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| 160 |
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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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| 182 |
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"strict_task_state": false,
|
| 672 |
+
"allow_physical_randomization": true,
|
| 673 |
+
"seed_source": "workflow.reproducibility",
|
| 674 |
+
"task_island_state_digest": "bccfafae872b1b2c7cfbcc0adf1f334db97cda8f818c4cd6c1af8688ff438fb6",
|
| 675 |
+
"visual_seed": 7622710156685517389,
|
| 676 |
+
"episode_index": 88,
|
| 677 |
+
"physical_randomization_enabled": true,
|
| 678 |
+
"motion_controller_type": "ik_servo",
|
| 679 |
+
"runtime_step_seeds": [
|
| 680 |
+
4887968345217639400,
|
| 681 |
+
6663623205631486271,
|
| 682 |
+
6438046553819096418
|
| 683 |
+
],
|
| 684 |
+
"runtime_workflow_digest": "4a8c4c9d7495de1d65ddf164d00afb4eeed43420dbae6cf326ab91ca227d9243"
|
| 685 |
+
}
|
| 686 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00039/results/episode_89_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"episode": 89,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_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 |
+
0.17000671692871214,
|
| 26 |
+
0.28009335243665745,
|
| 27 |
+
1.0495879818900682
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0495879818900682,
|
| 30 |
+
"required_z": 0.8611068060379897,
|
| 31 |
+
"initial_z": 0.7611068060379897,
|
| 32 |
+
"lift_margin": 0.18848117585207846,
|
| 33 |
+
"gripper_z": 1.0547768081426452,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.16542355117411295,
|
| 38 |
+
0.2754767033874097,
|
| 39 |
+
1.0547768081426452
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004583165754599189,
|
| 43 |
+
0.004616649049247745,
|
| 44 |
+
-0.005188826252576995
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006505294518932318,
|
| 47 |
+
"object_to_gripper_z": -0.005188826252576995,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.17000671692871214,
|
| 51 |
+
0.2559721631571534,
|
| 52 |
+
1.0495879818900682
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
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0.1585323318899782,
|
| 56 |
+
0.28009335243665745,
|
| 57 |
+
1.0495879818900682
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.16426952440934517,
|
| 61 |
+
0.2680327577969054,
|
| 62 |
+
1.0495879818900682
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
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0.005737192519366968,
|
| 66 |
+
0.012060594639752065,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.02671129506921713,
|
| 70 |
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| 571 |
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| 603 |
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|
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}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00039/results/episode_8_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
| 1 |
+
{
|
| 2 |
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"episode": 8,
|
| 3 |
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"success": true,
|
| 4 |
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|
| 5 |
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|
| 6 |
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"step_accuracy": "3/3",
|
| 7 |
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|
| 8 |
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{
|
| 9 |
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"step_index": 0,
|
| 10 |
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"skill": "pick",
|
| 11 |
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"target": "beaker_a",
|
| 12 |
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"success": true,
|
| 13 |
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"reason": "executed",
|
| 14 |
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"debug": {
|
| 15 |
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"arm": null,
|
| 16 |
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"checker": {
|
| 17 |
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"checker": "PickSuccessChecker",
|
| 18 |
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"skill": "pick",
|
| 19 |
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"target": "beaker_a",
|
| 20 |
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"passed": true,
|
| 21 |
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"metrics": {
|
| 22 |
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"target": "beaker_a",
|
| 23 |
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"active_arm": null,
|
| 24 |
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"object_position": [
|
| 25 |
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|
| 26 |
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0.2735772339684738,
|
| 27 |
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|
| 28 |
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],
|
| 29 |
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"current_z": 1.0499771448199633,
|
| 30 |
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"required_z": 0.8611066868287004,
|
| 31 |
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"initial_z": 0.7611066868287004,
|
| 32 |
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"lift_margin": 0.1888704579912629,
|
| 33 |
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"gripper_z": 1.0552502998333313,
|
| 34 |
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"force_virtual_attach": false,
|
| 35 |
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"virtual_attach_allowed": false,
|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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],
|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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"finger_a": [
|
| 50 |
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|
| 51 |
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|
| 52 |
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|
| 53 |
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|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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],
|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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],
|
| 64 |
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|
| 65 |
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|
| 66 |
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|
| 67 |
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0.0
|
| 68 |
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],
|
| 69 |
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|
| 70 |
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|
| 71 |
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|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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|
| 82 |
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|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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0.0,
|
| 92 |
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0.0,
|
| 93 |
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1.0
|
| 94 |
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],
|
| 95 |
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|
| 96 |
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|
| 97 |
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|
| 98 |
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},
|
| 99 |
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|
| 100 |
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"failure_code": null,
|
| 101 |
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|
| 102 |
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"safety": {
|
| 103 |
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"policy": {
|
| 104 |
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"skill": "pick",
|
| 105 |
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"target_object": "beaker_a",
|
| 106 |
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|
| 107 |
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|
| 108 |
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"beaker_a"
|
| 109 |
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],
|
| 110 |
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"allowed_object_paths": [
|
| 111 |
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"/World/beaker_2"
|
| 112 |
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],
|
| 113 |
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"allowed_prim_substrings": [],
|
| 114 |
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"robot_prim_substrings": [
|
| 115 |
+
"Robotiq2F85",
|
| 116 |
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"Robotiq_2F_85",
|
| 117 |
+
"contact_sensor",
|
| 118 |
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"dummy_base_prismatic_x_joint",
|
| 119 |
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"dummy_base_prismatic_y_joint",
|
| 120 |
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"dummy_base_revolute_z_joint",
|
| 121 |
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"elbow_joint",
|
| 122 |
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"festo",
|
| 123 |
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"finger",
|
| 124 |
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"fr3",
|
| 125 |
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"fr3_duo_mobile",
|
| 126 |
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"fr3_joint1",
|
| 127 |
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"fr3_joint2",
|
| 128 |
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"fr3_joint3",
|
| 129 |
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"fr3_joint4",
|
| 130 |
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"fr3_joint5",
|
| 131 |
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"fr3_joint6",
|
| 132 |
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"fr3_joint7",
|
| 133 |
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"fr3_leftfinger",
|
| 134 |
+
"fr3_rightfinger",
|
| 135 |
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"franka",
|
| 136 |
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"geometry",
|
| 137 |
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"gripper",
|
| 138 |
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"gripper_center",
|
| 139 |
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"joint1",
|
| 140 |
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"joint2",
|
| 141 |
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"joint3",
|
| 142 |
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"joint4",
|
| 143 |
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"joint5",
|
| 144 |
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"joint6",
|
| 145 |
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"joint7",
|
| 146 |
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"left_inner_finger",
|
| 147 |
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"lift2",
|
| 148 |
+
"mobile_rotate",
|
| 149 |
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"mobile_translate_x",
|
| 150 |
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"mobile_translate_y",
|
| 151 |
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"panda_joint1",
|
| 152 |
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"panda_joint2",
|
| 153 |
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"panda_joint3",
|
| 154 |
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"panda_joint4",
|
| 155 |
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"panda_joint5",
|
| 156 |
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"panda_joint6",
|
| 157 |
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"panda_joint7",
|
| 158 |
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"panda_leftfinger",
|
| 159 |
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"panda_leftfingertip",
|
| 160 |
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"panda_rightfinger",
|
| 161 |
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"panda_rightfingertip",
|
| 162 |
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"ridgebase",
|
| 163 |
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"ridgebase_festo",
|
| 164 |
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"ridgebase_fr3",
|
| 165 |
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"ridgebase_rizon4",
|
| 166 |
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"ridgebase_ur16e",
|
| 167 |
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"ridgebase_ur5e",
|
| 168 |
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"right_inner_finger",
|
| 169 |
+
"rizon4",
|
| 170 |
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"robot",
|
| 171 |
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"robotiq_2f85",
|
| 172 |
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"shoulder_lift_joint",
|
| 173 |
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"shoulder_pan_joint",
|
| 174 |
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"split_aloha",
|
| 175 |
+
"tool_center",
|
| 176 |
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"ur16e",
|
| 177 |
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"ur5e",
|
| 178 |
+
"visuals",
|
| 179 |
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"wrist",
|
| 180 |
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"wrist_1_joint",
|
| 181 |
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"wrist_2_joint",
|
| 182 |
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"wrist_3_joint"
|
| 183 |
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],
|
| 184 |
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|
| 185 |
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"base_link",
|
| 186 |
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"caster",
|
| 187 |
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"defaultgroundplane",
|
| 188 |
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"desk",
|
| 189 |
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"floor",
|
| 190 |
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"ground",
|
| 191 |
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"groundplane",
|
| 192 |
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"link0",
|
| 193 |
+
"table",
|
| 194 |
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"wheel",
|
| 195 |
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"workbench"
|
| 196 |
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],
|
| 197 |
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"enabled": true
|
| 198 |
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},
|
| 199 |
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|
| 200 |
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"passed": true,
|
| 201 |
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|
| 202 |
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|
| 203 |
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"disturbances": [],
|
| 204 |
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|
| 205 |
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"passed": true,
|
| 206 |
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"source_missing": false,
|
| 207 |
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|
| 208 |
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"allowed": [
|
| 209 |
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{
|
| 210 |
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"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 211 |
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"b": "/World/beaker_2/mesh"
|
| 212 |
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},
|
| 213 |
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{
|
| 214 |
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"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 215 |
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"b": "/World/beaker_2/mesh"
|
| 216 |
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}
|
| 217 |
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],
|
| 218 |
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|
| 219 |
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|
| 220 |
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},
|
| 221 |
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|
| 222 |
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}
|
| 223 |
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},
|
| 224 |
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"gripper": null,
|
| 225 |
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"post_done_wait_frames": 0,
|
| 226 |
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"post_done_wait_exhausted": false
|
| 227 |
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},
|
| 228 |
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"physical_semantics": {
|
| 229 |
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"skill": "pick",
|
| 230 |
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"target": "beaker_a",
|
| 231 |
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"attach_used": false,
|
| 232 |
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|
| 233 |
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|
| 234 |
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"attach_allowed": false,
|
| 235 |
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"ordinary_object_physical_only": true
|
| 236 |
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}
|
| 237 |
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},
|
| 238 |
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{
|
| 239 |
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"step_index": 1,
|
| 240 |
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"skill": "shake",
|
| 241 |
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"target": "beaker_a",
|
| 242 |
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"success": true,
|
| 243 |
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"reason": "executed",
|
| 244 |
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"debug": {
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|
| 630 |
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|
| 631 |
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| 632 |
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| 633 |
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|
| 634 |
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|
| 635 |
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| 636 |
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| 637 |
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| 638 |
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| 640 |
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|
| 641 |
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|
| 642 |
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| 643 |
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|
| 644 |
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| 645 |
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| 646 |
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|
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| 649 |
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| 650 |
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|
| 651 |
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|
| 652 |
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|
| 653 |
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],
|
| 654 |
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|
| 655 |
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|
| 656 |
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| 657 |
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|
| 658 |
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|
| 659 |
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"h5_episode_index": 8,
|
| 660 |
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|
| 661 |
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|
| 662 |
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| 663 |
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| 665 |
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| 672 |
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|
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| 674 |
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| 685 |
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}
|
| 686 |
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}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00039/results/episode_90_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"episode": 90,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_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 |
+
0.16879208934610004,
|
| 26 |
+
0.27870343087487515,
|
| 27 |
+
1.0478726647435872
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0478726647435872,
|
| 30 |
+
"required_z": 0.8611069252472793,
|
| 31 |
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|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00039/results/episode_91_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"episode": 91,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_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 |
+
0.16433904938940921,
|
| 26 |
+
0.28274778582811144,
|
| 27 |
+
1.0471316581628876
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0471316581628876,
|
| 30 |
+
"required_z": 0.8611066868287004,
|
| 31 |
+
"initial_z": 0.7611066868287004,
|
| 32 |
+
"lift_margin": 0.18602497133418716,
|
| 33 |
+
"gripper_z": 1.052810282632151,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.15995571183389684,
|
| 38 |
+
0.27822243893522447,
|
| 39 |
+
1.052810282632151
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004383337555512373,
|
| 43 |
+
0.004525346892886972,
|
| 44 |
+
-0.005678624469263482
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006300191475386042,
|
| 47 |
+
"object_to_gripper_z": -0.005678624469263482,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.16433904938940921,
|
| 51 |
+
0.25879381799702394,
|
| 52 |
+
1.0471316581628876
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.15296163676667343,
|
| 56 |
+
0.28274778582811144,
|
| 57 |
+
1.0471316581628876
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.15865034307804132,
|
| 61 |
+
0.2707708019125677,
|
| 62 |
+
1.0471316581628876
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.0056887063113678915,
|
| 66 |
+
0.011976983915543749,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.026518636707809136,
|
| 70 |
+
"fingertip_max_gap": 0.09390482737066622,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013259318353904568,
|
| 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": 1.0471316581628876,
|
| 78 |
+
"object_top_z": 1.0985056653059404,
|
| 79 |
+
"finger_top_clearance": 0.05137400714305285,
|
| 80 |
+
"fingertip_min_top_clearance": 0.015412202142915887,
|
| 81 |
+
"object_projection_between_fingers": 0.8159293142595754,
|
| 82 |
+
"object_to_finger_line_xy": 0.010277080943824188,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.04945241368533311,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 1.5762182314827562,
|
| 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": 209,
|
| 96 |
+
"max_stable_success_frames": 209,
|
| 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 |
+
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+
"panda_leftfingertip",
|
| 584 |
+
"panda_rightfinger",
|
| 585 |
+
"panda_rightfingertip",
|
| 586 |
+
"ridgebase",
|
| 587 |
+
"ridgebase_festo",
|
| 588 |
+
"ridgebase_fr3",
|
| 589 |
+
"ridgebase_rizon4",
|
| 590 |
+
"ridgebase_ur16e",
|
| 591 |
+
"ridgebase_ur5e",
|
| 592 |
+
"right_inner_finger",
|
| 593 |
+
"rizon4",
|
| 594 |
+
"robot",
|
| 595 |
+
"robotiq_2f85",
|
| 596 |
+
"shoulder_lift_joint",
|
| 597 |
+
"shoulder_pan_joint",
|
| 598 |
+
"split_aloha",
|
| 599 |
+
"tool_center",
|
| 600 |
+
"ur16e",
|
| 601 |
+
"ur5e",
|
| 602 |
+
"visuals",
|
| 603 |
+
"wrist",
|
| 604 |
+
"wrist_1_joint",
|
| 605 |
+
"wrist_2_joint",
|
| 606 |
+
"wrist_3_joint"
|
| 607 |
+
],
|
| 608 |
+
"ignored_prim_substrings": [
|
| 609 |
+
"base_link",
|
| 610 |
+
"caster",
|
| 611 |
+
"defaultgroundplane",
|
| 612 |
+
"desk",
|
| 613 |
+
"floor",
|
| 614 |
+
"ground",
|
| 615 |
+
"groundplane",
|
| 616 |
+
"link0",
|
| 617 |
+
"table",
|
| 618 |
+
"wheel",
|
| 619 |
+
"workbench"
|
| 620 |
+
],
|
| 621 |
+
"enabled": true
|
| 622 |
+
},
|
| 623 |
+
"status": "active",
|
| 624 |
+
"passed": true,
|
| 625 |
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"source_missing": false,
|
| 626 |
+
"forbidden": [],
|
| 627 |
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"disturbances": [],
|
| 628 |
+
"last_frame": {
|
| 629 |
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"passed": true,
|
| 630 |
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"source_missing": false,
|
| 631 |
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"forbidden": [],
|
| 632 |
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"allowed": [],
|
| 633 |
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"ignored": [],
|
| 634 |
+
"failed_keys": []
|
| 635 |
+
},
|
| 636 |
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"failed_keys": []
|
| 637 |
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}
|
| 638 |
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},
|
| 639 |
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"gripper": null,
|
| 640 |
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"post_done_wait_frames": 0,
|
| 641 |
+
"post_done_wait_exhausted": false
|
| 642 |
+
},
|
| 643 |
+
"physical_semantics": {
|
| 644 |
+
"skill": "place",
|
| 645 |
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"target": "inspection_platform",
|
| 646 |
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"attach_used": false,
|
| 647 |
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"attach_object": null,
|
| 648 |
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"attach_object_path": null,
|
| 649 |
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"attach_allowed": false,
|
| 650 |
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"ordinary_object_physical_only": true
|
| 651 |
+
}
|
| 652 |
+
}
|
| 653 |
+
],
|
| 654 |
+
"physical_semantics": {
|
| 655 |
+
"attach_records": [],
|
| 656 |
+
"ordinary_attach_violations": [],
|
| 657 |
+
"forbidden_shortcuts_absent": true
|
| 658 |
+
},
|
| 659 |
+
"h5_episode_index": 91,
|
| 660 |
+
"reproducibility": {
|
| 661 |
+
"enabled": true,
|
| 662 |
+
"action_seed": 8331033651181015606,
|
| 663 |
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"physical_seed": 6959019944354800999,
|
| 664 |
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"layout_id": "layout_00039",
|
| 665 |
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"step_seeds": [
|
| 666 |
+
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|
| 667 |
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|
| 668 |
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|
| 669 |
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],
|
| 670 |
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"workflow_spec_digest": "629ef07efb7c20f41bdf2934e284ac78301062b0c23de9158dc2a57ca01e9359",
|
| 671 |
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"strict_task_state": false,
|
| 672 |
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"allow_physical_randomization": true,
|
| 673 |
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"seed_source": "workflow.reproducibility",
|
| 674 |
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"task_island_state_digest": "887cef7f80fe82f48dedc36f946f6434647e3d46e22b39f8156a1b54fec6f7ff",
|
| 675 |
+
"visual_seed": 977076966200863245,
|
| 676 |
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"episode_index": 91,
|
| 677 |
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"physical_randomization_enabled": true,
|
| 678 |
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"motion_controller_type": "ik_servo",
|
| 679 |
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"runtime_step_seeds": [
|
| 680 |
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|
| 681 |
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|
| 682 |
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|
| 683 |
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],
|
| 684 |
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"runtime_workflow_digest": "4a8c4c9d7495de1d65ddf164d00afb4eeed43420dbae6cf326ab91ca227d9243"
|
| 685 |
+
}
|
| 686 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00039/results/episode_92_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00039/results/episode_93_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 93,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_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 |
+
0.16783190572782314,
|
| 26 |
+
0.27903435778750657,
|
| 27 |
+
1.0476061025524999
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0476061025524999,
|
| 30 |
+
"required_z": 0.8611068060379896,
|
| 31 |
+
"initial_z": 0.7611068060379896,
|
| 32 |
+
"lift_margin": 0.18649929651451025,
|
| 33 |
+
"gripper_z": 1.0531709665345323,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.16326414248677376,
|
| 38 |
+
0.2745346148425617,
|
| 39 |
+
1.0531709665345323
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004567763241049377,
|
| 43 |
+
0.004499742944944873,
|
| 44 |
+
-0.005564863982032486
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006411875513206964,
|
| 47 |
+
"object_to_gripper_z": -0.005564863982032486,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.16783190572782314,
|
| 51 |
+
0.2547041071149048,
|
| 52 |
+
1.0476061025524999
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.15680020670627604,
|
| 56 |
+
0.27903435778750657,
|
| 57 |
+
1.0476061025524999
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.1623160562170496,
|
| 61 |
+
0.2668692324512057,
|
| 62 |
+
1.0476061025524999
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005515849510773552,
|
| 66 |
+
0.012165125336300875,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.026714405871994258,
|
| 70 |
+
"fingertip_max_gap": 0.1003860553336926,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013357202935997129,
|
| 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": 1.0476061025524999,
|
| 78 |
+
"object_top_z": 1.1023121142032142,
|
| 79 |
+
"finger_top_clearance": 0.054706011650714315,
|
| 80 |
+
"fingertip_min_top_clearance": 0.016411803495214292,
|
| 81 |
+
"object_projection_between_fingers": 0.8294727576301407,
|
| 82 |
+
"object_to_finger_line_xy": 0.01004716346023309,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.052693027666846304,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 3.718139397281238,
|
| 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": 210,
|
| 96 |
+
"max_stable_success_frames": 210,
|
| 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 |
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+
"Robotiq2F85",
|
| 540 |
+
"Robotiq_2F_85",
|
| 541 |
+
"contact_sensor",
|
| 542 |
+
"dummy_base_prismatic_x_joint",
|
| 543 |
+
"dummy_base_prismatic_y_joint",
|
| 544 |
+
"dummy_base_revolute_z_joint",
|
| 545 |
+
"elbow_joint",
|
| 546 |
+
"festo",
|
| 547 |
+
"finger",
|
| 548 |
+
"fr3",
|
| 549 |
+
"fr3_duo_mobile",
|
| 550 |
+
"fr3_joint1",
|
| 551 |
+
"fr3_joint2",
|
| 552 |
+
"fr3_joint3",
|
| 553 |
+
"fr3_joint4",
|
| 554 |
+
"fr3_joint5",
|
| 555 |
+
"fr3_joint6",
|
| 556 |
+
"fr3_joint7",
|
| 557 |
+
"fr3_leftfinger",
|
| 558 |
+
"fr3_rightfinger",
|
| 559 |
+
"franka",
|
| 560 |
+
"geometry",
|
| 561 |
+
"gripper",
|
| 562 |
+
"gripper_center",
|
| 563 |
+
"joint1",
|
| 564 |
+
"joint2",
|
| 565 |
+
"joint3",
|
| 566 |
+
"joint4",
|
| 567 |
+
"joint5",
|
| 568 |
+
"joint6",
|
| 569 |
+
"joint7",
|
| 570 |
+
"left_inner_finger",
|
| 571 |
+
"lift2",
|
| 572 |
+
"mobile_rotate",
|
| 573 |
+
"mobile_translate_x",
|
| 574 |
+
"mobile_translate_y",
|
| 575 |
+
"panda_joint1",
|
| 576 |
+
"panda_joint2",
|
| 577 |
+
"panda_joint3",
|
| 578 |
+
"panda_joint4",
|
| 579 |
+
"panda_joint5",
|
| 580 |
+
"panda_joint6",
|
| 581 |
+
"panda_joint7",
|
| 582 |
+
"panda_leftfinger",
|
| 583 |
+
"panda_leftfingertip",
|
| 584 |
+
"panda_rightfinger",
|
| 585 |
+
"panda_rightfingertip",
|
| 586 |
+
"ridgebase",
|
| 587 |
+
"ridgebase_festo",
|
| 588 |
+
"ridgebase_fr3",
|
| 589 |
+
"ridgebase_rizon4",
|
| 590 |
+
"ridgebase_ur16e",
|
| 591 |
+
"ridgebase_ur5e",
|
| 592 |
+
"right_inner_finger",
|
| 593 |
+
"rizon4",
|
| 594 |
+
"robot",
|
| 595 |
+
"robotiq_2f85",
|
| 596 |
+
"shoulder_lift_joint",
|
| 597 |
+
"shoulder_pan_joint",
|
| 598 |
+
"split_aloha",
|
| 599 |
+
"tool_center",
|
| 600 |
+
"ur16e",
|
| 601 |
+
"ur5e",
|
| 602 |
+
"visuals",
|
| 603 |
+
"wrist",
|
| 604 |
+
"wrist_1_joint",
|
| 605 |
+
"wrist_2_joint",
|
| 606 |
+
"wrist_3_joint"
|
| 607 |
+
],
|
| 608 |
+
"ignored_prim_substrings": [
|
| 609 |
+
"base_link",
|
| 610 |
+
"caster",
|
| 611 |
+
"defaultgroundplane",
|
| 612 |
+
"desk",
|
| 613 |
+
"floor",
|
| 614 |
+
"ground",
|
| 615 |
+
"groundplane",
|
| 616 |
+
"link0",
|
| 617 |
+
"table",
|
| 618 |
+
"wheel",
|
| 619 |
+
"workbench"
|
| 620 |
+
],
|
| 621 |
+
"enabled": true
|
| 622 |
+
},
|
| 623 |
+
"status": "active",
|
| 624 |
+
"passed": true,
|
| 625 |
+
"source_missing": false,
|
| 626 |
+
"forbidden": [],
|
| 627 |
+
"disturbances": [],
|
| 628 |
+
"last_frame": {
|
| 629 |
+
"passed": true,
|
| 630 |
+
"source_missing": false,
|
| 631 |
+
"forbidden": [],
|
| 632 |
+
"allowed": [],
|
| 633 |
+
"ignored": [],
|
| 634 |
+
"failed_keys": []
|
| 635 |
+
},
|
| 636 |
+
"failed_keys": []
|
| 637 |
+
}
|
| 638 |
+
},
|
| 639 |
+
"gripper": null,
|
| 640 |
+
"post_done_wait_frames": 0,
|
| 641 |
+
"post_done_wait_exhausted": false
|
| 642 |
+
},
|
| 643 |
+
"physical_semantics": {
|
| 644 |
+
"skill": "place",
|
| 645 |
+
"target": "inspection_platform",
|
| 646 |
+
"attach_used": false,
|
| 647 |
+
"attach_object": null,
|
| 648 |
+
"attach_object_path": null,
|
| 649 |
+
"attach_allowed": false,
|
| 650 |
+
"ordinary_object_physical_only": true
|
| 651 |
+
}
|
| 652 |
+
}
|
| 653 |
+
],
|
| 654 |
+
"physical_semantics": {
|
| 655 |
+
"attach_records": [],
|
| 656 |
+
"ordinary_attach_violations": [],
|
| 657 |
+
"forbidden_shortcuts_absent": true
|
| 658 |
+
},
|
| 659 |
+
"h5_episode_index": 93,
|
| 660 |
+
"reproducibility": {
|
| 661 |
+
"enabled": true,
|
| 662 |
+
"action_seed": 8331033651181015606,
|
| 663 |
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"physical_seed": 6959019944354800999,
|
| 664 |
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"layout_id": "layout_00039",
|
| 665 |
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"step_seeds": [
|
| 666 |
+
4887968345217639400,
|
| 667 |
+
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|
| 668 |
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|
| 669 |
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],
|
| 670 |
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"workflow_spec_digest": "629ef07efb7c20f41bdf2934e284ac78301062b0c23de9158dc2a57ca01e9359",
|
| 671 |
+
"strict_task_state": false,
|
| 672 |
+
"allow_physical_randomization": true,
|
| 673 |
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"seed_source": "workflow.reproducibility",
|
| 674 |
+
"task_island_state_digest": "2f86ad71491e2a4a90b2d3a27e75ed6e077938fbd4f6ed4eca2fc60190db51bb",
|
| 675 |
+
"visual_seed": 6995882107660213630,
|
| 676 |
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"episode_index": 93,
|
| 677 |
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"physical_randomization_enabled": true,
|
| 678 |
+
"motion_controller_type": "ik_servo",
|
| 679 |
+
"runtime_step_seeds": [
|
| 680 |
+
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|
| 681 |
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|
| 682 |
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|
| 683 |
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],
|
| 684 |
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"runtime_workflow_digest": "4a8c4c9d7495de1d65ddf164d00afb4eeed43420dbae6cf326ab91ca227d9243"
|
| 685 |
+
}
|
| 686 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00039/results/episode_94_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00039/results/episode_95_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 95,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_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 |
+
0.1705415366723551,
|
| 26 |
+
0.2854475446431563,
|
| 27 |
+
1.0497529244326724
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0497529244326724,
|
| 30 |
+
"required_z": 0.8611068060379897,
|
| 31 |
+
"initial_z": 0.7611068060379897,
|
| 32 |
+
"lift_margin": 0.1886461183946827,
|
| 33 |
+
"gripper_z": 1.0549031983549753,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.16582753634813285,
|
| 38 |
+
0.2807052417074331,
|
| 39 |
+
1.0549031983549753
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004714000324222256,
|
| 43 |
+
0.004742302935723197,
|
| 44 |
+
-0.005150273922302828
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006686646109293985,
|
| 47 |
+
"object_to_gripper_z": -0.005150273922302828,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.1705415366723551,
|
| 51 |
+
0.2613268736270185,
|
| 52 |
+
1.0497529244326724
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.1587725140286377,
|
| 56 |
+
0.2854475446431563,
|
| 57 |
+
1.0497529244326724
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.16465702535049642,
|
| 61 |
+
0.2733872091350874,
|
| 62 |
+
1.0497529244326724
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.0058845113218586875,
|
| 66 |
+
0.012060335508068898,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.026838715771383005,
|
| 70 |
+
"fingertip_max_gap": 0.09095445436386504,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013419357885691496,
|
| 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": 1.0497529244326724,
|
| 78 |
+
"object_top_z": 1.099532192888812,
|
| 79 |
+
"finger_top_clearance": 0.04977926845613956,
|
| 80 |
+
"fingertip_min_top_clearance": 0.014933780536841834,
|
| 81 |
+
"object_projection_between_fingers": 0.8077097187093559,
|
| 82 |
+
"object_to_finger_line_xy": 0.010577135127801828,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.04797722718193252,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 0.9260052311009666,
|
| 89 |
+
"object_max_tilt_deg": 15.0,
|
| 90 |
+
"object_upright_axis_local": [
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
1.0
|
| 94 |
+
],
|
| 95 |
+
"stable_success_frames": 213,
|
| 96 |
+
"max_stable_success_frames": 213,
|
| 97 |
+
"required_stable_lift_frames": 5
|
| 98 |
+
},
|
| 99 |
+
"failed_keys": [],
|
| 100 |
+
"failure_code": null,
|
| 101 |
+
"failure_messages": {},
|
| 102 |
+
"safety": {
|
| 103 |
+
"policy": {
|
| 104 |
+
"skill": "pick",
|
| 105 |
+
"target_object": "beaker_a",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_a"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/beaker_2"
|
| 112 |
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],
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"release_finger_gap": 0.07531210971665486,
|
| 501 |
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"release_finger_gap_metric": "3d_contact_pad_distance",
|
| 502 |
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|
| 503 |
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|
| 504 |
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|
| 505 |
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|
| 506 |
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|
| 507 |
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|
| 508 |
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|
| 509 |
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|
| 510 |
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"virtual_attach_allowed": false,
|
| 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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|
| 516 |
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|
| 517 |
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|
| 518 |
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|
| 519 |
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|
| 520 |
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},
|
| 521 |
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|
| 522 |
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|
| 523 |
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|
| 524 |
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"safety": {
|
| 525 |
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"policy": {
|
| 526 |
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"skill": "place",
|
| 527 |
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"target_object": "inspection_platform",
|
| 528 |
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"held_object": "beaker_a",
|
| 529 |
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"allowed_objects": [
|
| 530 |
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"beaker_a",
|
| 531 |
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"inspection_platform"
|
| 532 |
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],
|
| 533 |
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"allowed_object_paths": [
|
| 534 |
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"/World/beaker_2",
|
| 535 |
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"/World/target_plat"
|
| 536 |
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],
|
| 537 |
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"allowed_prim_substrings": [],
|
| 538 |
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"robot_prim_substrings": [
|
| 539 |
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"Robotiq2F85",
|
| 540 |
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"Robotiq_2F_85",
|
| 541 |
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"contact_sensor",
|
| 542 |
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"dummy_base_prismatic_x_joint",
|
| 543 |
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"dummy_base_prismatic_y_joint",
|
| 544 |
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"dummy_base_revolute_z_joint",
|
| 545 |
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"elbow_joint",
|
| 546 |
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"festo",
|
| 547 |
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"finger",
|
| 548 |
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"fr3",
|
| 549 |
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"fr3_duo_mobile",
|
| 550 |
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"fr3_joint1",
|
| 551 |
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"fr3_joint2",
|
| 552 |
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"fr3_joint3",
|
| 553 |
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"fr3_joint4",
|
| 554 |
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"fr3_joint5",
|
| 555 |
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"fr3_joint6",
|
| 556 |
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"fr3_joint7",
|
| 557 |
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"fr3_leftfinger",
|
| 558 |
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"fr3_rightfinger",
|
| 559 |
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|
| 560 |
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|
| 561 |
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"gripper",
|
| 562 |
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|
| 563 |
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"joint1",
|
| 564 |
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"joint2",
|
| 565 |
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"joint3",
|
| 566 |
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"joint4",
|
| 567 |
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"joint5",
|
| 568 |
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"joint6",
|
| 569 |
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"joint7",
|
| 570 |
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"left_inner_finger",
|
| 571 |
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"lift2",
|
| 572 |
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"mobile_rotate",
|
| 573 |
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"mobile_translate_x",
|
| 574 |
+
"mobile_translate_y",
|
| 575 |
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"panda_joint1",
|
| 576 |
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"panda_joint2",
|
| 577 |
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"panda_joint3",
|
| 578 |
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"panda_joint4",
|
| 579 |
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"panda_joint5",
|
| 580 |
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"panda_joint6",
|
| 581 |
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"panda_joint7",
|
| 582 |
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"panda_leftfinger",
|
| 583 |
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"panda_leftfingertip",
|
| 584 |
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"panda_rightfinger",
|
| 585 |
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"panda_rightfingertip",
|
| 586 |
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"ridgebase",
|
| 587 |
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"ridgebase_festo",
|
| 588 |
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"ridgebase_fr3",
|
| 589 |
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"ridgebase_rizon4",
|
| 590 |
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"ridgebase_ur16e",
|
| 591 |
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"ridgebase_ur5e",
|
| 592 |
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"right_inner_finger",
|
| 593 |
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"rizon4",
|
| 594 |
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"robot",
|
| 595 |
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"robotiq_2f85",
|
| 596 |
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"shoulder_lift_joint",
|
| 597 |
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"shoulder_pan_joint",
|
| 598 |
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"split_aloha",
|
| 599 |
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"tool_center",
|
| 600 |
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"ur16e",
|
| 601 |
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"ur5e",
|
| 602 |
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"visuals",
|
| 603 |
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"wrist",
|
| 604 |
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"wrist_1_joint",
|
| 605 |
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"wrist_2_joint",
|
| 606 |
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"wrist_3_joint"
|
| 607 |
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],
|
| 608 |
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"ignored_prim_substrings": [
|
| 609 |
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"base_link",
|
| 610 |
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"caster",
|
| 611 |
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"defaultgroundplane",
|
| 612 |
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"desk",
|
| 613 |
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"floor",
|
| 614 |
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"ground",
|
| 615 |
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"groundplane",
|
| 616 |
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"link0",
|
| 617 |
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"table",
|
| 618 |
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"wheel",
|
| 619 |
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"workbench"
|
| 620 |
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],
|
| 621 |
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"enabled": true
|
| 622 |
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},
|
| 623 |
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"status": "active",
|
| 624 |
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"passed": true,
|
| 625 |
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|
| 626 |
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|
| 627 |
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|
| 628 |
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|
| 629 |
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|
| 630 |
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|
| 631 |
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|
| 632 |
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|
| 633 |
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|
| 634 |
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|
| 635 |
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| 636 |
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"failed_keys": []
|
| 637 |
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}
|
| 638 |
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},
|
| 639 |
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|
| 640 |
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|
| 641 |
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|
| 642 |
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},
|
| 643 |
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"physical_semantics": {
|
| 644 |
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"skill": "place",
|
| 645 |
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"target": "inspection_platform",
|
| 646 |
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|
| 647 |
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|
| 648 |
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|
| 649 |
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"attach_allowed": false,
|
| 650 |
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"ordinary_object_physical_only": true
|
| 651 |
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}
|
| 652 |
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}
|
| 653 |
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],
|
| 654 |
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"physical_semantics": {
|
| 655 |
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"attach_records": [],
|
| 656 |
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"ordinary_attach_violations": [],
|
| 657 |
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"forbidden_shortcuts_absent": true
|
| 658 |
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},
|
| 659 |
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"h5_episode_index": 95,
|
| 660 |
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"reproducibility": {
|
| 661 |
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"enabled": true,
|
| 662 |
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|
| 663 |
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|
| 664 |
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|
| 665 |
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|
| 666 |
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|
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|
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|
| 669 |
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|
| 670 |
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|
| 671 |
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|
| 672 |
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|
| 673 |
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|
| 674 |
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|
| 675 |
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|
| 676 |
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|
| 677 |
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|
| 678 |
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|
| 679 |
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|
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|
| 681 |
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|
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|
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|
| 684 |
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|
| 685 |
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}
|
| 686 |
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}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00039/results/episode_96_success.json
ADDED
|
@@ -0,0 +1,686 @@
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| 1 |
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{
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| 2 |
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| 3 |
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| 4 |
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| 5 |
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| 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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| 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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| 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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| 57 |
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| 67 |
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| 68 |
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| 91 |
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| 92 |
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| 93 |
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| 94 |
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| 98 |
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| 99 |
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| 100 |
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| 101 |
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| 102 |
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| 103 |
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| 104 |
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| 105 |
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| 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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"lift2",
|
| 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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| 210 |
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| 211 |
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| 212 |
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},
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| 214 |
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"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
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| 215 |
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| 216 |
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| 249 |
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| 250 |
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|
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|
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"task_island_state_digest": "5c04e2760f653307f41d9e96d62704ac76d91780dbf4f53c41f1bc146128d034",
|
| 675 |
+
"visual_seed": 4753508464514030307,
|
| 676 |
+
"episode_index": 96,
|
| 677 |
+
"physical_randomization_enabled": true,
|
| 678 |
+
"motion_controller_type": "ik_servo",
|
| 679 |
+
"runtime_step_seeds": [
|
| 680 |
+
4887968345217639400,
|
| 681 |
+
6663623205631486271,
|
| 682 |
+
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|
| 683 |
+
],
|
| 684 |
+
"runtime_workflow_digest": "4a8c4c9d7495de1d65ddf164d00afb4eeed43420dbae6cf326ab91ca227d9243"
|
| 685 |
+
}
|
| 686 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00039/results/episode_97_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 97,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_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 |
+
0.16429366559167408,
|
| 26 |
+
0.2786641438589504,
|
| 27 |
+
1.048921914735967
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.048921914735967,
|
| 30 |
+
"required_z": 0.8611069252472796,
|
| 31 |
+
"initial_z": 0.7611069252472796,
|
| 32 |
+
"lift_margin": 0.18781498948868736,
|
| 33 |
+
"gripper_z": 1.0545026764681824,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.1605201220520161,
|
| 38 |
+
0.2745831941661364,
|
| 39 |
+
1.0545026764681824
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.0037735435396579753,
|
| 43 |
+
0.004080949692813973,
|
| 44 |
+
-0.005580761732215445
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.0055582174517531165,
|
| 47 |
+
"object_to_gripper_z": -0.005580761732215445,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.16429366559167408,
|
| 51 |
+
0.25489090655371527,
|
| 52 |
+
1.048921914735967
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
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|
| 56 |
+
0.2786641438589504,
|
| 57 |
+
1.048921914735967
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
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|
| 61 |
+
0.2667775252063328,
|
| 62 |
+
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|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
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0.005205492827357494,
|
| 66 |
+
0.011886618652617587,
|
| 67 |
+
0.0
|
| 68 |
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],
|
| 69 |
+
"finger_gap": 0.025952946543190494,
|
| 70 |
+
"fingertip_max_gap": 0.1010587753601212,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
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|
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|
| 571 |
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| 572 |
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| 603 |
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|
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|
| 686 |
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}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00039/results/episode_99_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 99,
|
| 3 |
+
"success": true,
|
| 4 |
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"passed_steps": 3,
|
| 5 |
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"total_steps": 3,
|
| 6 |
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"step_accuracy": "3/3",
|
| 7 |
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"step_details": [
|
| 8 |
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{
|
| 9 |
+
"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 |
+
0.1702228352361038,
|
| 26 |
+
0.2816840864105499,
|
| 27 |
+
1.0461571778570633
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0461571778570633,
|
| 30 |
+
"required_z": 0.8611067464333452,
|
| 31 |
+
"initial_z": 0.7611067464333452,
|
| 32 |
+
"lift_margin": 0.18505043142371813,
|
| 33 |
+
"gripper_z": 1.052344339445047,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
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"gripper_position": [
|
| 37 |
+
0.16509953231238486,
|
| 38 |
+
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|
| 39 |
+
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|
| 40 |
+
],
|
| 41 |
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"object_minus_gripper": [
|
| 42 |
+
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|
| 43 |
+
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|
| 44 |
+
-0.006187161587983603
|
| 45 |
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],
|
| 46 |
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"object_to_gripper_xy": 0.007100656707583984,
|
| 47 |
+
"object_to_gripper_z": -0.006187161587983603,
|
| 48 |
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"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
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|
| 51 |
+
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|
| 52 |
+
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|
| 53 |
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],
|
| 54 |
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|
| 55 |
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|
| 56 |
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|
| 57 |
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|
| 58 |
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],
|
| 59 |
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|
| 60 |
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|
| 61 |
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|
| 62 |
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|
| 63 |
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],
|
| 64 |
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|
| 65 |
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0.005808246838690939,
|
| 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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"finger_midpoint_minus_object_z": 0.0,
|
| 76 |
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|
| 77 |
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|
| 78 |
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|
| 79 |
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|
| 80 |
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|
| 81 |
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"object_projection_between_fingers": 0.8189404799233115,
|
| 82 |
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"object_to_finger_line_xy": 0.010512384318214078,
|
| 83 |
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|
| 84 |
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|
| 85 |
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|
| 86 |
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"require_object_upright": true,
|
| 87 |
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"object_upright_reference_source": "scene_initial",
|
| 88 |
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"object_tilt_deg": 2.6140676677003345,
|
| 89 |
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|
| 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": 207,
|
| 96 |
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"max_stable_success_frames": 207,
|
| 97 |
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"required_stable_lift_frames": 5
|
| 98 |
+
},
|
| 99 |
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"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 |
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"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 |
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"status": "active",
|
| 200 |
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"passed": true,
|
| 201 |
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"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 |
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"allowed": [
|
| 209 |
+
{
|
| 210 |
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"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 211 |
+
"b": "/World/beaker_2/mesh"
|
| 212 |
+
},
|
| 213 |
+
{
|
| 214 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 215 |
+
"b": "/World/beaker_2/mesh"
|
| 216 |
+
}
|
| 217 |
+
],
|
| 218 |
+
"ignored": [],
|
| 219 |
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"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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"attach_object_path": null,
|
| 234 |
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"attach_allowed": false,
|
| 235 |
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"ordinary_object_physical_only": true
|
| 236 |
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}
|
| 237 |
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},
|
| 238 |
+
{
|
| 239 |
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"step_index": 1,
|
| 240 |
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"skill": "shake",
|
| 241 |
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"target": "beaker_a",
|
| 242 |
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"success": true,
|
| 243 |
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"reason": "executed",
|
| 244 |
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"debug": {
|
| 245 |
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"arm": null,
|
| 246 |
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"checker": {
|
| 247 |
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"checker": "ShakeSuccessChecker",
|
| 248 |
+
"skill": "shake",
|
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