Upload folder using huggingface_hub (part 20)
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- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00010/results/episode_89_success.json +684 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00010/results/episode_8_success.json +684 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00010/results/episode_90_success.json +684 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00010/results/episode_91_success.json +684 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00010/results/episode_92_success.json +684 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00010/results/episode_93_success.json +684 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00010/results/episode_94_success.json +684 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00010/results/episode_95_success.json +684 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00010/results/episode_96_success.json +684 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00010/results/episode_97_success.json +684 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00010/results/episode_98_success.json +684 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00010/results/episode_99_success.json +684 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00010/results/episode_9_success.json +684 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00010/results/summary.json +9 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00011/dataset/episode_0001.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00011/dataset/episode_0002.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00011/dataset/episode_0005.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00011/dataset/episode_0006.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00011/dataset/episode_0007.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00011/dataset/episode_0008.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00011/dataset/episode_0009.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00011/dataset/episode_0010.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00011/dataset/episode_0013.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00011/dataset/episode_0015.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00011/dataset/episode_0016.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00011/dataset/episode_0017.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00011/dataset/episode_0018.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00011/dataset/episode_0020.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00011/dataset/episode_0024.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00011/dataset/episode_0025.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00011/dataset/episode_0028.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00011/dataset/episode_0030.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00011/dataset/episode_0032.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00011/dataset/episode_0033.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00011/dataset/episode_0034.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00011/dataset/episode_0035.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00011/dataset/episode_0037.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00011/dataset/episode_0038.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00011/dataset/episode_0039.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00011/dataset/episode_0040.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00011/dataset/episode_0042.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00011/dataset/episode_0043.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00011/dataset/episode_0044.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00011/dataset/episode_0045.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00011/dataset/episode_0046.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00011/dataset/episode_0047.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00011/dataset/episode_0048.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00011/dataset/episode_0050.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00011/dataset/episode_0052.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00011/dataset/episode_0054.h5 +3 -0
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00010/results/episode_89_success.json
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|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00010/results/episode_8_success.json
ADDED
|
@@ -0,0 +1,684 @@
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|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 8,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_b",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_b",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_b",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.23952376263820277,
|
| 26 |
+
-0.12054992095492612,
|
| 27 |
+
1.046611160565582
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.046611160565582,
|
| 30 |
+
"required_z": 0.8565867399301005,
|
| 31 |
+
"initial_z": 0.7565867399301005,
|
| 32 |
+
"lift_margin": 0.19002442063548142,
|
| 33 |
+
"gripper_z": 1.0501480185555938,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.23522762393589627,
|
| 38 |
+
-0.12485097068772291,
|
| 39 |
+
1.0501480185555938
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004296138702306496,
|
| 43 |
+
0.004301049732796797,
|
| 44 |
+
-0.00353685799001191
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.00607913123344505,
|
| 47 |
+
"object_to_gripper_z": -0.00353685799001191,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.23952376263820277,
|
| 51 |
+
-0.14473027090301369,
|
| 52 |
+
1.046611160565582
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.2289073461877689,
|
| 56 |
+
-0.12054992095492612,
|
| 57 |
+
1.046611160565582
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.23421555441298583,
|
| 61 |
+
-0.13264009592896991,
|
| 62 |
+
1.046611160565582
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005308208225216937,
|
| 66 |
+
0.0120901749740438,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.026408286992173905,
|
| 70 |
+
"fingertip_max_gap": 0.0925818509620304,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013204143496086966,
|
| 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": 1.046611160565582,
|
| 78 |
+
"object_top_z": 1.0921032385858473,
|
| 79 |
+
"finger_top_clearance": 0.04549207802026545,
|
| 80 |
+
"fingertip_min_top_clearance": 0.013647623406079668,
|
| 81 |
+
"object_projection_between_fingers": 0.8383873206388656,
|
| 82 |
+
"object_to_finger_line_xy": 0.00972076170795177,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.0487909254810152,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 1.8660401112114322,
|
| 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": 202,
|
| 96 |
+
"max_stable_success_frames": 202,
|
| 97 |
+
"required_stable_lift_frames": 5
|
| 98 |
+
},
|
| 99 |
+
"failed_keys": [],
|
| 100 |
+
"failure_code": null,
|
| 101 |
+
"failure_messages": {},
|
| 102 |
+
"safety": {
|
| 103 |
+
"policy": {
|
| 104 |
+
"skill": "pick",
|
| 105 |
+
"target_object": "beaker_b",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_b"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/target_beaker"
|
| 112 |
+
],
|
| 113 |
+
"allowed_prim_substrings": [],
|
| 114 |
+
"robot_prim_substrings": [
|
| 115 |
+
"Robotiq2F85",
|
| 116 |
+
"Robotiq_2F_85",
|
| 117 |
+
"contact_sensor",
|
| 118 |
+
"dummy_base_prismatic_x_joint",
|
| 119 |
+
"dummy_base_prismatic_y_joint",
|
| 120 |
+
"dummy_base_revolute_z_joint",
|
| 121 |
+
"elbow_joint",
|
| 122 |
+
"festo",
|
| 123 |
+
"finger",
|
| 124 |
+
"fr3",
|
| 125 |
+
"fr3_duo_mobile",
|
| 126 |
+
"fr3_joint1",
|
| 127 |
+
"fr3_joint2",
|
| 128 |
+
"fr3_joint3",
|
| 129 |
+
"fr3_joint4",
|
| 130 |
+
"fr3_joint5",
|
| 131 |
+
"fr3_joint6",
|
| 132 |
+
"fr3_joint7",
|
| 133 |
+
"fr3_leftfinger",
|
| 134 |
+
"fr3_rightfinger",
|
| 135 |
+
"franka",
|
| 136 |
+
"geometry",
|
| 137 |
+
"gripper",
|
| 138 |
+
"gripper_center",
|
| 139 |
+
"joint1",
|
| 140 |
+
"joint2",
|
| 141 |
+
"joint3",
|
| 142 |
+
"joint4",
|
| 143 |
+
"joint5",
|
| 144 |
+
"joint6",
|
| 145 |
+
"joint7",
|
| 146 |
+
"left_inner_finger",
|
| 147 |
+
"lift2",
|
| 148 |
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"held_object": "beaker_b",
|
| 529 |
+
"allowed_objects": [
|
| 530 |
+
"beaker_b"
|
| 531 |
+
],
|
| 532 |
+
"allowed_object_paths": [
|
| 533 |
+
"/World/target_beaker"
|
| 534 |
+
],
|
| 535 |
+
"allowed_prim_substrings": [],
|
| 536 |
+
"robot_prim_substrings": [
|
| 537 |
+
"Robotiq2F85",
|
| 538 |
+
"Robotiq_2F_85",
|
| 539 |
+
"contact_sensor",
|
| 540 |
+
"dummy_base_prismatic_x_joint",
|
| 541 |
+
"dummy_base_prismatic_y_joint",
|
| 542 |
+
"dummy_base_revolute_z_joint",
|
| 543 |
+
"elbow_joint",
|
| 544 |
+
"festo",
|
| 545 |
+
"finger",
|
| 546 |
+
"fr3",
|
| 547 |
+
"fr3_duo_mobile",
|
| 548 |
+
"fr3_joint1",
|
| 549 |
+
"fr3_joint2",
|
| 550 |
+
"fr3_joint3",
|
| 551 |
+
"fr3_joint4",
|
| 552 |
+
"fr3_joint5",
|
| 553 |
+
"fr3_joint6",
|
| 554 |
+
"fr3_joint7",
|
| 555 |
+
"fr3_leftfinger",
|
| 556 |
+
"fr3_rightfinger",
|
| 557 |
+
"franka",
|
| 558 |
+
"geometry",
|
| 559 |
+
"gripper",
|
| 560 |
+
"gripper_center",
|
| 561 |
+
"joint1",
|
| 562 |
+
"joint2",
|
| 563 |
+
"joint3",
|
| 564 |
+
"joint4",
|
| 565 |
+
"joint5",
|
| 566 |
+
"joint6",
|
| 567 |
+
"joint7",
|
| 568 |
+
"left_inner_finger",
|
| 569 |
+
"lift2",
|
| 570 |
+
"mobile_rotate",
|
| 571 |
+
"mobile_translate_x",
|
| 572 |
+
"mobile_translate_y",
|
| 573 |
+
"panda_joint1",
|
| 574 |
+
"panda_joint2",
|
| 575 |
+
"panda_joint3",
|
| 576 |
+
"panda_joint4",
|
| 577 |
+
"panda_joint5",
|
| 578 |
+
"panda_joint6",
|
| 579 |
+
"panda_joint7",
|
| 580 |
+
"panda_leftfinger",
|
| 581 |
+
"panda_leftfingertip",
|
| 582 |
+
"panda_rightfinger",
|
| 583 |
+
"panda_rightfingertip",
|
| 584 |
+
"ridgebase",
|
| 585 |
+
"ridgebase_festo",
|
| 586 |
+
"ridgebase_fr3",
|
| 587 |
+
"ridgebase_rizon4",
|
| 588 |
+
"ridgebase_ur16e",
|
| 589 |
+
"ridgebase_ur5e",
|
| 590 |
+
"right_inner_finger",
|
| 591 |
+
"rizon4",
|
| 592 |
+
"robot",
|
| 593 |
+
"robotiq_2f85",
|
| 594 |
+
"shoulder_lift_joint",
|
| 595 |
+
"shoulder_pan_joint",
|
| 596 |
+
"split_aloha",
|
| 597 |
+
"tool_center",
|
| 598 |
+
"ur16e",
|
| 599 |
+
"ur5e",
|
| 600 |
+
"visuals",
|
| 601 |
+
"wrist",
|
| 602 |
+
"wrist_1_joint",
|
| 603 |
+
"wrist_2_joint",
|
| 604 |
+
"wrist_3_joint"
|
| 605 |
+
],
|
| 606 |
+
"ignored_prim_substrings": [
|
| 607 |
+
"base_link",
|
| 608 |
+
"caster",
|
| 609 |
+
"defaultgroundplane",
|
| 610 |
+
"desk",
|
| 611 |
+
"floor",
|
| 612 |
+
"ground",
|
| 613 |
+
"groundplane",
|
| 614 |
+
"link0",
|
| 615 |
+
"table",
|
| 616 |
+
"wheel",
|
| 617 |
+
"workbench"
|
| 618 |
+
],
|
| 619 |
+
"enabled": true
|
| 620 |
+
},
|
| 621 |
+
"status": "active",
|
| 622 |
+
"passed": true,
|
| 623 |
+
"source_missing": false,
|
| 624 |
+
"forbidden": [],
|
| 625 |
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"disturbances": [],
|
| 626 |
+
"last_frame": {
|
| 627 |
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"passed": true,
|
| 628 |
+
"source_missing": false,
|
| 629 |
+
"forbidden": [],
|
| 630 |
+
"allowed": [],
|
| 631 |
+
"ignored": [],
|
| 632 |
+
"failed_keys": []
|
| 633 |
+
},
|
| 634 |
+
"failed_keys": []
|
| 635 |
+
}
|
| 636 |
+
},
|
| 637 |
+
"gripper": null,
|
| 638 |
+
"post_done_wait_frames": 0,
|
| 639 |
+
"post_done_wait_exhausted": false
|
| 640 |
+
},
|
| 641 |
+
"physical_semantics": {
|
| 642 |
+
"skill": "place",
|
| 643 |
+
"target": "beaker_b",
|
| 644 |
+
"attach_used": false,
|
| 645 |
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"attach_object": null,
|
| 646 |
+
"attach_object_path": null,
|
| 647 |
+
"attach_allowed": false,
|
| 648 |
+
"ordinary_object_physical_only": true
|
| 649 |
+
}
|
| 650 |
+
}
|
| 651 |
+
],
|
| 652 |
+
"physical_semantics": {
|
| 653 |
+
"attach_records": [],
|
| 654 |
+
"ordinary_attach_violations": [],
|
| 655 |
+
"forbidden_shortcuts_absent": true
|
| 656 |
+
},
|
| 657 |
+
"h5_episode_index": 8,
|
| 658 |
+
"reproducibility": {
|
| 659 |
+
"enabled": true,
|
| 660 |
+
"action_seed": 3987082320295684552,
|
| 661 |
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"physical_seed": 1590733738191871905,
|
| 662 |
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"layout_id": "layout_00010",
|
| 663 |
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"step_seeds": [
|
| 664 |
+
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|
| 665 |
+
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|
| 666 |
+
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|
| 667 |
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],
|
| 668 |
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"workflow_spec_digest": "79f06aa023e35d2a07f383ab66c2b31f758b3aa11b8214bcafaee52578f3961e",
|
| 669 |
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"strict_task_state": false,
|
| 670 |
+
"allow_physical_randomization": true,
|
| 671 |
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"seed_source": "workflow.reproducibility",
|
| 672 |
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"task_island_state_digest": "3567cac2dcc34fc78107763f58d956a6da9d39b7da82b236baea7cd102497edc",
|
| 673 |
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"visual_seed": 3605794247841858581,
|
| 674 |
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"episode_index": 8,
|
| 675 |
+
"physical_randomization_enabled": true,
|
| 676 |
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"motion_controller_type": "ik_servo",
|
| 677 |
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"runtime_step_seeds": [
|
| 678 |
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|
| 679 |
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|
| 680 |
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|
| 681 |
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],
|
| 682 |
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"runtime_workflow_digest": "8b6c377a096f8a963ee86017464f7445989d3123a5affc6131e6d5379d130737"
|
| 683 |
+
}
|
| 684 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00010/results/episode_90_success.json
ADDED
|
@@ -0,0 +1,684 @@
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|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00010/results/episode_91_success.json
ADDED
|
@@ -0,0 +1,684 @@
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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_b",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_b",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_b",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.24251741962904894,
|
| 26 |
+
-0.12271442745807168,
|
| 27 |
+
1.0458490981437074
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0458490981437074,
|
| 30 |
+
"required_z": 0.8565865664643199,
|
| 31 |
+
"initial_z": 0.7565865664643199,
|
| 32 |
+
"lift_margin": 0.18926253167938756,
|
| 33 |
+
"gripper_z": 1.049650735255413,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.23799205668478987,
|
| 38 |
+
-0.1271253698471015,
|
| 39 |
+
1.049650735255413
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004525362944259065,
|
| 43 |
+
0.004410942389029809,
|
| 44 |
+
-0.003801637111705558
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006319440049293377,
|
| 47 |
+
"object_to_gripper_z": -0.003801637111705558,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.24251741962904894,
|
| 51 |
+
-0.14713595173481092,
|
| 52 |
+
1.0458490981437074
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.23183742214003938,
|
| 56 |
+
-0.12271442745807168,
|
| 57 |
+
1.0458490981437074
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.23717742088454416,
|
| 61 |
+
-0.1349251895964413,
|
| 62 |
+
1.0458490981437074
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005339998744504776,
|
| 66 |
+
0.012210762138369607,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.026654703044014853,
|
| 70 |
+
"fingertip_max_gap": 0.09606292540984737,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013327351522007412,
|
| 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": 1.0458490981437074,
|
| 78 |
+
"object_top_z": 1.0927970890643597,
|
| 79 |
+
"finger_top_clearance": 0.04694799092065227,
|
| 80 |
+
"fingertip_min_top_clearance": 0.014084397276195681,
|
| 81 |
+
"object_projection_between_fingers": 0.8394558059755403,
|
| 82 |
+
"object_to_finger_line_xy": 0.009785208168429666,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.05053146270492369,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 2.6258868066840964,
|
| 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": 202,
|
| 96 |
+
"max_stable_success_frames": 202,
|
| 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 |
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|
| 496 |
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|
| 497 |
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|
| 498 |
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|
| 499 |
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|
| 500 |
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|
| 501 |
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"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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|
| 511 |
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|
| 512 |
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| 513 |
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|
| 514 |
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|
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|
| 516 |
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|
| 517 |
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|
| 518 |
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|
| 519 |
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|
| 520 |
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},
|
| 521 |
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|
| 522 |
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|
| 523 |
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|
| 524 |
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|
| 525 |
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|
| 526 |
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"skill": "place",
|
| 527 |
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|
| 528 |
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|
| 529 |
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"allowed_objects": [
|
| 530 |
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"beaker_b"
|
| 531 |
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],
|
| 532 |
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"allowed_object_paths": [
|
| 533 |
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"/World/target_beaker"
|
| 534 |
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],
|
| 535 |
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|
| 536 |
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"robot_prim_substrings": [
|
| 537 |
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"Robotiq2F85",
|
| 538 |
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|
| 539 |
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"contact_sensor",
|
| 540 |
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"dummy_base_prismatic_x_joint",
|
| 541 |
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"dummy_base_prismatic_y_joint",
|
| 542 |
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"dummy_base_revolute_z_joint",
|
| 543 |
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"elbow_joint",
|
| 544 |
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"festo",
|
| 545 |
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"finger",
|
| 546 |
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"fr3",
|
| 547 |
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"fr3_duo_mobile",
|
| 548 |
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"fr3_joint1",
|
| 549 |
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|
| 550 |
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"fr3_joint3",
|
| 551 |
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"fr3_joint4",
|
| 552 |
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"fr3_joint5",
|
| 553 |
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"fr3_joint6",
|
| 554 |
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"fr3_joint7",
|
| 555 |
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|
| 556 |
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"fr3_rightfinger",
|
| 557 |
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|
| 558 |
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|
| 559 |
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|
| 560 |
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|
| 561 |
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|
| 562 |
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|
| 563 |
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|
| 564 |
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|
| 565 |
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"joint5",
|
| 566 |
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"joint6",
|
| 567 |
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"joint7",
|
| 568 |
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"left_inner_finger",
|
| 569 |
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"lift2",
|
| 570 |
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"mobile_rotate",
|
| 571 |
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"mobile_translate_x",
|
| 572 |
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"mobile_translate_y",
|
| 573 |
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"panda_joint1",
|
| 574 |
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"panda_joint2",
|
| 575 |
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"panda_joint3",
|
| 576 |
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"panda_joint4",
|
| 577 |
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"panda_joint5",
|
| 578 |
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"panda_joint6",
|
| 579 |
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"panda_joint7",
|
| 580 |
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"panda_leftfinger",
|
| 581 |
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"panda_leftfingertip",
|
| 582 |
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"panda_rightfinger",
|
| 583 |
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"panda_rightfingertip",
|
| 584 |
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"ridgebase",
|
| 585 |
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"ridgebase_festo",
|
| 586 |
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"ridgebase_fr3",
|
| 587 |
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"ridgebase_rizon4",
|
| 588 |
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"ridgebase_ur16e",
|
| 589 |
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"ridgebase_ur5e",
|
| 590 |
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"right_inner_finger",
|
| 591 |
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"rizon4",
|
| 592 |
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"robot",
|
| 593 |
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"robotiq_2f85",
|
| 594 |
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"shoulder_lift_joint",
|
| 595 |
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"shoulder_pan_joint",
|
| 596 |
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"split_aloha",
|
| 597 |
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"tool_center",
|
| 598 |
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"ur16e",
|
| 599 |
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"ur5e",
|
| 600 |
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"visuals",
|
| 601 |
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"wrist",
|
| 602 |
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"wrist_1_joint",
|
| 603 |
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"wrist_2_joint",
|
| 604 |
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|
| 605 |
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],
|
| 606 |
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|
| 607 |
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"base_link",
|
| 608 |
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"caster",
|
| 609 |
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"defaultgroundplane",
|
| 610 |
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"desk",
|
| 611 |
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"floor",
|
| 612 |
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"ground",
|
| 613 |
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|
| 614 |
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"link0",
|
| 615 |
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"table",
|
| 616 |
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"wheel",
|
| 617 |
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"workbench"
|
| 618 |
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],
|
| 619 |
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"enabled": true
|
| 620 |
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|
| 621 |
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"status": "active",
|
| 622 |
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|
| 623 |
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|
| 624 |
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|
| 625 |
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|
| 626 |
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| 627 |
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|
| 628 |
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|
| 629 |
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| 630 |
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|
| 631 |
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|
| 632 |
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|
| 633 |
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|
| 634 |
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|
| 635 |
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|
| 636 |
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},
|
| 637 |
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|
| 638 |
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|
| 639 |
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|
| 640 |
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},
|
| 641 |
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|
| 642 |
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|
| 643 |
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|
| 644 |
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|
| 645 |
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|
| 646 |
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|
| 647 |
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|
| 648 |
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|
| 649 |
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}
|
| 650 |
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}
|
| 651 |
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],
|
| 652 |
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"physical_semantics": {
|
| 653 |
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"attach_records": [],
|
| 654 |
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|
| 655 |
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|
| 656 |
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},
|
| 657 |
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"h5_episode_index": 91,
|
| 658 |
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"reproducibility": {
|
| 659 |
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|
| 660 |
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|
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|
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|
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|
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|
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|
| 668 |
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| 669 |
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| 670 |
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|
| 671 |
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|
| 672 |
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|
| 673 |
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|
| 674 |
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|
| 675 |
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|
| 676 |
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|
| 677 |
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|
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|
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|
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|
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|
| 683 |
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}
|
| 684 |
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}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00010/results/episode_92_success.json
ADDED
|
@@ -0,0 +1,684 @@
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| 1 |
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| 2 |
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| 3 |
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| 4 |
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| 9 |
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| 10 |
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| 11 |
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| 12 |
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| 13 |
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| 14 |
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| 15 |
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| 16 |
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| 17 |
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| 18 |
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| 19 |
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| 20 |
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| 21 |
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| 22 |
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| 23 |
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| 24 |
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| 25 |
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| 30 |
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| 32 |
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| 33 |
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| 34 |
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| 36 |
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| 37 |
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| 51 |
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| 92 |
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| 111 |
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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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| 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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| 140 |
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| 143 |
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| 146 |
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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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| 166 |
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| 167 |
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| 169 |
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| 170 |
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| 171 |
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| 172 |
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| 173 |
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| 174 |
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| 175 |
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| 176 |
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| 177 |
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| 178 |
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| 179 |
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| 180 |
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| 182 |
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| 183 |
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| 185 |
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| 188 |
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| 189 |
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| 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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| 216 |
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| 250 |
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"task_island_state_digest": "b40676135b28dcac7f758dd55983e7fde34ce17b97f9b9d7ac4f322f2b271ff9",
|
| 673 |
+
"visual_seed": 2418567105895730559,
|
| 674 |
+
"episode_index": 92,
|
| 675 |
+
"physical_randomization_enabled": true,
|
| 676 |
+
"motion_controller_type": "ik_servo",
|
| 677 |
+
"runtime_step_seeds": [
|
| 678 |
+
3913869556532046801,
|
| 679 |
+
6355663699133699465,
|
| 680 |
+
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|
| 681 |
+
],
|
| 682 |
+
"runtime_workflow_digest": "8b6c377a096f8a963ee86017464f7445989d3123a5affc6131e6d5379d130737"
|
| 683 |
+
}
|
| 684 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00010/results/episode_93_success.json
ADDED
|
@@ -0,0 +1,684 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 93,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_b",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_b",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_b",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.2415544270234278,
|
| 26 |
+
-0.12432179640910661,
|
| 27 |
+
1.0445305058701744
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0445305058701744,
|
| 30 |
+
"required_z": 0.8565865629290129,
|
| 31 |
+
"initial_z": 0.7565865629290129,
|
| 32 |
+
"lift_margin": 0.18794394294116146,
|
| 33 |
+
"gripper_z": 1.048175928630465,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.2373060459708345,
|
| 38 |
+
-0.12863804820873992,
|
| 39 |
+
1.048175928630465
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004248381052593314,
|
| 43 |
+
0.004316251799633311,
|
| 44 |
+
-0.003645422760290673
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006056300121845983,
|
| 47 |
+
"object_to_gripper_z": -0.003645422760290673,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.2415544270234278,
|
| 51 |
+
-0.14833661976497733,
|
| 52 |
+
1.0445305058701744
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
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|
| 56 |
+
-0.12432179640910661,
|
| 57 |
+
1.0445305058701744
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.2361745124880935,
|
| 61 |
+
-0.13632920808704196,
|
| 62 |
+
1.0445305058701744
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.00537991453533429,
|
| 66 |
+
0.012007411677935356,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.026315122314815087,
|
| 70 |
+
"fingertip_max_gap": 0.09534085499557413,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
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|
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}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00010/results/episode_94_success.json
ADDED
|
@@ -0,0 +1,684 @@
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|
| 1 |
+
{
|
| 2 |
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"episode": 94,
|
| 3 |
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"success": true,
|
| 4 |
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"passed_steps": 3,
|
| 5 |
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|
| 6 |
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"step_accuracy": "3/3",
|
| 7 |
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"step_details": [
|
| 8 |
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{
|
| 9 |
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"step_index": 0,
|
| 10 |
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"skill": "pick",
|
| 11 |
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"target": "beaker_b",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_b",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
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"target": "beaker_b",
|
| 23 |
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"active_arm": null,
|
| 24 |
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"object_position": [
|
| 25 |
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|
| 26 |
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-0.12388677948359741,
|
| 27 |
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|
| 28 |
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],
|
| 29 |
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"current_z": 1.0459898284113691,
|
| 30 |
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"required_z": 0.8565866676968193,
|
| 31 |
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"initial_z": 0.7565866676968194,
|
| 32 |
+
"lift_margin": 0.18940316071454977,
|
| 33 |
+
"gripper_z": 1.0496100633805259,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
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"virtual_attach_allowed": false,
|
| 36 |
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"gripper_position": [
|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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],
|
| 41 |
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|
| 42 |
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|
| 43 |
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|
| 44 |
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|
| 45 |
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],
|
| 46 |
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|
| 47 |
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|
| 48 |
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|
| 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 |
+
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_b",
|
| 106 |
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|
| 107 |
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"allowed_objects": [
|
| 108 |
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"beaker_b"
|
| 109 |
+
],
|
| 110 |
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"allowed_object_paths": [
|
| 111 |
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"/World/target_beaker"
|
| 112 |
+
],
|
| 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 |
+
"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 |
+
"fr3_joint2",
|
| 128 |
+
"fr3_joint3",
|
| 129 |
+
"fr3_joint4",
|
| 130 |
+
"fr3_joint5",
|
| 131 |
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"fr3_joint6",
|
| 132 |
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"fr3_joint7",
|
| 133 |
+
"fr3_leftfinger",
|
| 134 |
+
"fr3_rightfinger",
|
| 135 |
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"franka",
|
| 136 |
+
"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 |
+
"lift2",
|
| 148 |
+
"mobile_rotate",
|
| 149 |
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"mobile_translate_x",
|
| 150 |
+
"mobile_translate_y",
|
| 151 |
+
"panda_joint1",
|
| 152 |
+
"panda_joint2",
|
| 153 |
+
"panda_joint3",
|
| 154 |
+
"panda_joint4",
|
| 155 |
+
"panda_joint5",
|
| 156 |
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"panda_joint6",
|
| 157 |
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"panda_joint7",
|
| 158 |
+
"panda_leftfinger",
|
| 159 |
+
"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 |
+
"ridgebase_ur5e",
|
| 168 |
+
"right_inner_finger",
|
| 169 |
+
"rizon4",
|
| 170 |
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"robot",
|
| 171 |
+
"robotiq_2f85",
|
| 172 |
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"shoulder_lift_joint",
|
| 173 |
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"shoulder_pan_joint",
|
| 174 |
+
"split_aloha",
|
| 175 |
+
"tool_center",
|
| 176 |
+
"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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"source_missing": false,
|
| 202 |
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|
| 203 |
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"disturbances": [],
|
| 204 |
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"last_frame": {
|
| 205 |
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"passed": true,
|
| 206 |
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"source_missing": false,
|
| 207 |
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|
| 208 |
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"allowed": [
|
| 209 |
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{
|
| 210 |
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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",
|
| 211 |
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"b": "/World/target_beaker/mesh"
|
| 212 |
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},
|
| 213 |
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{
|
| 214 |
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"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 215 |
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"b": "/World/target_beaker/mesh"
|
| 216 |
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}
|
| 217 |
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],
|
| 218 |
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|
| 219 |
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|
| 220 |
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},
|
| 221 |
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"failed_keys": []
|
| 222 |
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}
|
| 223 |
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},
|
| 224 |
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"gripper": null,
|
| 225 |
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"post_done_wait_frames": 0,
|
| 226 |
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"post_done_wait_exhausted": false
|
| 227 |
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},
|
| 228 |
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"physical_semantics": {
|
| 229 |
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"skill": "pick",
|
| 230 |
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"target": "beaker_b",
|
| 231 |
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"attach_used": false,
|
| 232 |
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|
| 233 |
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|
| 234 |
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"attach_allowed": false,
|
| 235 |
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"ordinary_object_physical_only": true
|
| 236 |
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}
|
| 237 |
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},
|
| 238 |
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{
|
| 239 |
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"step_index": 1,
|
| 240 |
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"skill": "shake",
|
| 241 |
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"target": "beaker_b",
|
| 242 |
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"success": true,
|
| 243 |
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"reason": "executed",
|
| 244 |
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"debug": {
|
| 245 |
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"arm": null,
|
| 246 |
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"checker": {
|
| 247 |
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"checker": "ShakeSuccessChecker",
|
| 248 |
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"skill": "shake",
|
| 249 |
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"target": "beaker_b",
|
| 250 |
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"passed": true,
|
| 251 |
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| 637 |
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|
| 638 |
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|
| 639 |
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|
| 640 |
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},
|
| 641 |
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|
| 642 |
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"skill": "place",
|
| 643 |
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"target": "beaker_b",
|
| 644 |
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|
| 645 |
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|
| 646 |
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|
| 647 |
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|
| 648 |
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|
| 649 |
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|
| 650 |
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|
| 651 |
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],
|
| 652 |
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"physical_semantics": {
|
| 653 |
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"attach_records": [],
|
| 654 |
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"ordinary_attach_violations": [],
|
| 655 |
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|
| 656 |
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},
|
| 657 |
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"h5_episode_index": 94,
|
| 658 |
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"reproducibility": {
|
| 659 |
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"enabled": true,
|
| 660 |
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"action_seed": 3987082320295684552,
|
| 661 |
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"physical_seed": 1590733738191871905,
|
| 662 |
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| 663 |
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|
| 664 |
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|
| 665 |
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| 666 |
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|
| 667 |
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|
| 668 |
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| 669 |
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|
| 670 |
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|
| 671 |
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|
| 672 |
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| 673 |
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|
| 674 |
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|
| 675 |
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|
| 676 |
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| 677 |
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| 678 |
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|
| 679 |
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| 682 |
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|
| 683 |
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}
|
| 684 |
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}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00010/results/episode_95_success.json
ADDED
|
@@ -0,0 +1,684 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 95,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_b",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_b",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_b",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.2369360365164617,
|
| 26 |
+
-0.11474539619751462,
|
| 27 |
+
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|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0447953318412975,
|
| 30 |
+
"required_z": 0.8565865402129863,
|
| 31 |
+
"initial_z": 0.7565865402129863,
|
| 32 |
+
"lift_margin": 0.18820879162831117,
|
| 33 |
+
"gripper_z": 1.048620207316048,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.23246403515742867,
|
| 38 |
+
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|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00010/results/episode_96_success.json
ADDED
|
@@ -0,0 +1,684 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"episode": 96,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_b",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_b",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_b",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.2391439720831587,
|
| 26 |
+
-0.11437478694961493,
|
| 27 |
+
1.0473195009655594
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0473195009655594,
|
| 30 |
+
"required_z": 0.8565865891922314,
|
| 31 |
+
"initial_z": 0.7565865891922314,
|
| 32 |
+
"lift_margin": 0.19073291177332796,
|
| 33 |
+
"gripper_z": 1.0510869584101556,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.23463300920684718,
|
| 38 |
+
-0.11881080169823889,
|
| 39 |
+
1.0510869584101556
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004510962876311531,
|
| 43 |
+
0.0044360147486239565,
|
| 44 |
+
-0.0037674574445962783
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006326690518862928,
|
| 47 |
+
"object_to_gripper_z": -0.0037674574445962783,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.2391439720831587,
|
| 51 |
+
-0.13869662350755899,
|
| 52 |
+
1.0473195009655594
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.22830262263661283,
|
| 56 |
+
-0.11437478694961493,
|
| 57 |
+
1.0473195009655594
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.23372329735988578,
|
| 61 |
+
-0.12653570522858695,
|
| 62 |
+
1.0473195009655594
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005420674723272928,
|
| 66 |
+
0.012160918278972019,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.026628679865390706,
|
| 70 |
+
"fingertip_max_gap": 0.09447417202679206,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013314339932695343,
|
| 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": 1.0473195009655594,
|
| 78 |
+
"object_top_z": 1.0937223695695946,
|
| 79 |
+
"finger_top_clearance": 0.0464028686040352,
|
| 80 |
+
"fingertip_min_top_clearance": 0.013920860581210526,
|
| 81 |
+
"object_projection_between_fingers": 0.8342447040290781,
|
| 82 |
+
"object_to_finger_line_xy": 0.009902163030212897,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.049737086013396034,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 2.067993015077408,
|
| 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": 203,
|
| 96 |
+
"max_stable_success_frames": 203,
|
| 97 |
+
"required_stable_lift_frames": 5
|
| 98 |
+
},
|
| 99 |
+
"failed_keys": [],
|
| 100 |
+
"failure_code": null,
|
| 101 |
+
"failure_messages": {},
|
| 102 |
+
"safety": {
|
| 103 |
+
"policy": {
|
| 104 |
+
"skill": "pick",
|
| 105 |
+
"target_object": "beaker_b",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_b"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/target_beaker"
|
| 112 |
+
],
|
| 113 |
+
"allowed_prim_substrings": [],
|
| 114 |
+
"robot_prim_substrings": [
|
| 115 |
+
"Robotiq2F85",
|
| 116 |
+
"Robotiq_2F_85",
|
| 117 |
+
"contact_sensor",
|
| 118 |
+
"dummy_base_prismatic_x_joint",
|
| 119 |
+
"dummy_base_prismatic_y_joint",
|
| 120 |
+
"dummy_base_revolute_z_joint",
|
| 121 |
+
"elbow_joint",
|
| 122 |
+
"festo",
|
| 123 |
+
"finger",
|
| 124 |
+
"fr3",
|
| 125 |
+
"fr3_duo_mobile",
|
| 126 |
+
"fr3_joint1",
|
| 127 |
+
"fr3_joint2",
|
| 128 |
+
"fr3_joint3",
|
| 129 |
+
"fr3_joint4",
|
| 130 |
+
"fr3_joint5",
|
| 131 |
+
"fr3_joint6",
|
| 132 |
+
"fr3_joint7",
|
| 133 |
+
"fr3_leftfinger",
|
| 134 |
+
"fr3_rightfinger",
|
| 135 |
+
"franka",
|
| 136 |
+
"geometry",
|
| 137 |
+
"gripper",
|
| 138 |
+
"gripper_center",
|
| 139 |
+
"joint1",
|
| 140 |
+
"joint2",
|
| 141 |
+
"joint3",
|
| 142 |
+
"joint4",
|
| 143 |
+
"joint5",
|
| 144 |
+
"joint6",
|
| 145 |
+
"joint7",
|
| 146 |
+
"left_inner_finger",
|
| 147 |
+
"lift2",
|
| 148 |
+
"mobile_rotate",
|
| 149 |
+
"mobile_translate_x",
|
| 150 |
+
"mobile_translate_y",
|
| 151 |
+
"panda_joint1",
|
| 152 |
+
"panda_joint2",
|
| 153 |
+
"panda_joint3",
|
| 154 |
+
"panda_joint4",
|
| 155 |
+
"panda_joint5",
|
| 156 |
+
"panda_joint6",
|
| 157 |
+
"panda_joint7",
|
| 158 |
+
"panda_leftfinger",
|
| 159 |
+
"panda_leftfingertip",
|
| 160 |
+
"panda_rightfinger",
|
| 161 |
+
"panda_rightfingertip",
|
| 162 |
+
"ridgebase",
|
| 163 |
+
"ridgebase_festo",
|
| 164 |
+
"ridgebase_fr3",
|
| 165 |
+
"ridgebase_rizon4",
|
| 166 |
+
"ridgebase_ur16e",
|
| 167 |
+
"ridgebase_ur5e",
|
| 168 |
+
"right_inner_finger",
|
| 169 |
+
"rizon4",
|
| 170 |
+
"robot",
|
| 171 |
+
"robotiq_2f85",
|
| 172 |
+
"shoulder_lift_joint",
|
| 173 |
+
"shoulder_pan_joint",
|
| 174 |
+
"split_aloha",
|
| 175 |
+
"tool_center",
|
| 176 |
+
"ur16e",
|
| 177 |
+
"ur5e",
|
| 178 |
+
"visuals",
|
| 179 |
+
"wrist",
|
| 180 |
+
"wrist_1_joint",
|
| 181 |
+
"wrist_2_joint",
|
| 182 |
+
"wrist_3_joint"
|
| 183 |
+
],
|
| 184 |
+
"ignored_prim_substrings": [
|
| 185 |
+
"base_link",
|
| 186 |
+
"caster",
|
| 187 |
+
"defaultgroundplane",
|
| 188 |
+
"desk",
|
| 189 |
+
"floor",
|
| 190 |
+
"ground",
|
| 191 |
+
"groundplane",
|
| 192 |
+
"link0",
|
| 193 |
+
"table",
|
| 194 |
+
"wheel",
|
| 195 |
+
"workbench"
|
| 196 |
+
],
|
| 197 |
+
"enabled": true
|
| 198 |
+
},
|
| 199 |
+
"status": "active",
|
| 200 |
+
"passed": true,
|
| 201 |
+
"source_missing": false,
|
| 202 |
+
"forbidden": [],
|
| 203 |
+
"disturbances": [],
|
| 204 |
+
"last_frame": {
|
| 205 |
+
"passed": true,
|
| 206 |
+
"source_missing": false,
|
| 207 |
+
"forbidden": [],
|
| 208 |
+
"allowed": [
|
| 209 |
+
{
|
| 210 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 211 |
+
"b": "/World/target_beaker/mesh"
|
| 212 |
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+
"robotiq_2f85",
|
| 594 |
+
"shoulder_lift_joint",
|
| 595 |
+
"shoulder_pan_joint",
|
| 596 |
+
"split_aloha",
|
| 597 |
+
"tool_center",
|
| 598 |
+
"ur16e",
|
| 599 |
+
"ur5e",
|
| 600 |
+
"visuals",
|
| 601 |
+
"wrist",
|
| 602 |
+
"wrist_1_joint",
|
| 603 |
+
"wrist_2_joint",
|
| 604 |
+
"wrist_3_joint"
|
| 605 |
+
],
|
| 606 |
+
"ignored_prim_substrings": [
|
| 607 |
+
"base_link",
|
| 608 |
+
"caster",
|
| 609 |
+
"defaultgroundplane",
|
| 610 |
+
"desk",
|
| 611 |
+
"floor",
|
| 612 |
+
"ground",
|
| 613 |
+
"groundplane",
|
| 614 |
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"link0",
|
| 615 |
+
"table",
|
| 616 |
+
"wheel",
|
| 617 |
+
"workbench"
|
| 618 |
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],
|
| 619 |
+
"enabled": true
|
| 620 |
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},
|
| 621 |
+
"status": "active",
|
| 622 |
+
"passed": true,
|
| 623 |
+
"source_missing": false,
|
| 624 |
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"forbidden": [],
|
| 625 |
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"disturbances": [],
|
| 626 |
+
"last_frame": {
|
| 627 |
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"passed": true,
|
| 628 |
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"source_missing": false,
|
| 629 |
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"forbidden": [],
|
| 630 |
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"allowed": [],
|
| 631 |
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"ignored": [],
|
| 632 |
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"failed_keys": []
|
| 633 |
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},
|
| 634 |
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"failed_keys": []
|
| 635 |
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}
|
| 636 |
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},
|
| 637 |
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"gripper": null,
|
| 638 |
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"post_done_wait_frames": 0,
|
| 639 |
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"post_done_wait_exhausted": false
|
| 640 |
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},
|
| 641 |
+
"physical_semantics": {
|
| 642 |
+
"skill": "place",
|
| 643 |
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"target": "beaker_b",
|
| 644 |
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"attach_used": false,
|
| 645 |
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"attach_object": null,
|
| 646 |
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"attach_object_path": null,
|
| 647 |
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"attach_allowed": false,
|
| 648 |
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"ordinary_object_physical_only": true
|
| 649 |
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}
|
| 650 |
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}
|
| 651 |
+
],
|
| 652 |
+
"physical_semantics": {
|
| 653 |
+
"attach_records": [],
|
| 654 |
+
"ordinary_attach_violations": [],
|
| 655 |
+
"forbidden_shortcuts_absent": true
|
| 656 |
+
},
|
| 657 |
+
"h5_episode_index": 96,
|
| 658 |
+
"reproducibility": {
|
| 659 |
+
"enabled": true,
|
| 660 |
+
"action_seed": 3987082320295684552,
|
| 661 |
+
"physical_seed": 1590733738191871905,
|
| 662 |
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"layout_id": "layout_00010",
|
| 663 |
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"step_seeds": [
|
| 664 |
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|
| 665 |
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|
| 666 |
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|
| 667 |
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],
|
| 668 |
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"workflow_spec_digest": "79f06aa023e35d2a07f383ab66c2b31f758b3aa11b8214bcafaee52578f3961e",
|
| 669 |
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"strict_task_state": false,
|
| 670 |
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"allow_physical_randomization": true,
|
| 671 |
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"seed_source": "workflow.reproducibility",
|
| 672 |
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"task_island_state_digest": "9a1d400f1fdbd70e3398f53ad9f3a3f12e1f2c69a96c42d90c30630b7028da19",
|
| 673 |
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"visual_seed": 8122597779598859970,
|
| 674 |
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"episode_index": 96,
|
| 675 |
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"physical_randomization_enabled": true,
|
| 676 |
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"motion_controller_type": "ik_servo",
|
| 677 |
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"runtime_step_seeds": [
|
| 678 |
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|
| 679 |
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|
| 680 |
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|
| 681 |
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],
|
| 682 |
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"runtime_workflow_digest": "8b6c377a096f8a963ee86017464f7445989d3123a5affc6131e6d5379d130737"
|
| 683 |
+
}
|
| 684 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00010/results/episode_97_success.json
ADDED
|
@@ -0,0 +1,684 @@
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|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00010/results/episode_98_success.json
ADDED
|
@@ -0,0 +1,684 @@
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|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 98,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_b",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_b",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_b",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.2419863825688336,
|
| 26 |
+
-0.1233761365703869,
|
| 27 |
+
1.046899286370282
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.046899286370282,
|
| 30 |
+
"required_z": 0.856586622970591,
|
| 31 |
+
"initial_z": 0.756586622970591,
|
| 32 |
+
"lift_margin": 0.190312663399691,
|
| 33 |
+
"gripper_z": 1.0504542599706843,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.23766836636675973,
|
| 38 |
+
-0.12775906407702559,
|
| 39 |
+
1.0504542599706843
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.0043180162020738655,
|
| 43 |
+
0.004382927506638684,
|
| 44 |
+
-0.0035549736004023558
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006152667506847937,
|
| 47 |
+
"object_to_gripper_z": -0.0035549736004023558,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.2419863825688336,
|
| 51 |
+
-0.1474203897732437,
|
| 52 |
+
1.046899286370282
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.2311030653231241,
|
| 56 |
+
-0.1233761365703869,
|
| 57 |
+
1.046899286370282
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.23654472394597886,
|
| 61 |
+
-0.1353982631718153,
|
| 62 |
+
1.046899286370282
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005441658622854728,
|
| 66 |
+
0.012022126601428401,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.026392663873770813,
|
| 70 |
+
"fingertip_max_gap": 0.09226136450792885,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013196331936885403,
|
| 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": 1.046899286370282,
|
| 78 |
+
"object_top_z": 1.0924984140374392,
|
| 79 |
+
"finger_top_clearance": 0.045599127667157235,
|
| 80 |
+
"fingertip_min_top_clearance": 0.01367973830014717,
|
| 81 |
+
"object_projection_between_fingers": 0.8299580313866208,
|
| 82 |
+
"object_to_finger_line_xy": 0.00991492320723705,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.04863068225396443,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 1.3425496292394636,
|
| 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": 204,
|
| 96 |
+
"max_stable_success_frames": 204,
|
| 97 |
+
"required_stable_lift_frames": 5
|
| 98 |
+
},
|
| 99 |
+
"failed_keys": [],
|
| 100 |
+
"failure_code": null,
|
| 101 |
+
"failure_messages": {},
|
| 102 |
+
"safety": {
|
| 103 |
+
"policy": {
|
| 104 |
+
"skill": "pick",
|
| 105 |
+
"target_object": "beaker_b",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_b"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/target_beaker"
|
| 112 |
+
],
|
| 113 |
+
"allowed_prim_substrings": [],
|
| 114 |
+
"robot_prim_substrings": [
|
| 115 |
+
"Robotiq2F85",
|
| 116 |
+
"Robotiq_2F_85",
|
| 117 |
+
"contact_sensor",
|
| 118 |
+
"dummy_base_prismatic_x_joint",
|
| 119 |
+
"dummy_base_prismatic_y_joint",
|
| 120 |
+
"dummy_base_revolute_z_joint",
|
| 121 |
+
"elbow_joint",
|
| 122 |
+
"festo",
|
| 123 |
+
"finger",
|
| 124 |
+
"fr3",
|
| 125 |
+
"fr3_duo_mobile",
|
| 126 |
+
"fr3_joint1",
|
| 127 |
+
"fr3_joint2",
|
| 128 |
+
"fr3_joint3",
|
| 129 |
+
"fr3_joint4",
|
| 130 |
+
"fr3_joint5",
|
| 131 |
+
"fr3_joint6",
|
| 132 |
+
"fr3_joint7",
|
| 133 |
+
"fr3_leftfinger",
|
| 134 |
+
"fr3_rightfinger",
|
| 135 |
+
"franka",
|
| 136 |
+
"geometry",
|
| 137 |
+
"gripper",
|
| 138 |
+
"gripper_center",
|
| 139 |
+
"joint1",
|
| 140 |
+
"joint2",
|
| 141 |
+
"joint3",
|
| 142 |
+
"joint4",
|
| 143 |
+
"joint5",
|
| 144 |
+
"joint6",
|
| 145 |
+
"joint7",
|
| 146 |
+
"left_inner_finger",
|
| 147 |
+
"lift2",
|
| 148 |
+
"mobile_rotate",
|
| 149 |
+
"mobile_translate_x",
|
| 150 |
+
"mobile_translate_y",
|
| 151 |
+
"panda_joint1",
|
| 152 |
+
"panda_joint2",
|
| 153 |
+
"panda_joint3",
|
| 154 |
+
"panda_joint4",
|
| 155 |
+
"panda_joint5",
|
| 156 |
+
"panda_joint6",
|
| 157 |
+
"panda_joint7",
|
| 158 |
+
"panda_leftfinger",
|
| 159 |
+
"panda_leftfingertip",
|
| 160 |
+
"panda_rightfinger",
|
| 161 |
+
"panda_rightfingertip",
|
| 162 |
+
"ridgebase",
|
| 163 |
+
"ridgebase_festo",
|
| 164 |
+
"ridgebase_fr3",
|
| 165 |
+
"ridgebase_rizon4",
|
| 166 |
+
"ridgebase_ur16e",
|
| 167 |
+
"ridgebase_ur5e",
|
| 168 |
+
"right_inner_finger",
|
| 169 |
+
"rizon4",
|
| 170 |
+
"robot",
|
| 171 |
+
"robotiq_2f85",
|
| 172 |
+
"shoulder_lift_joint",
|
| 173 |
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"fr3_joint6",
|
| 554 |
+
"fr3_joint7",
|
| 555 |
+
"fr3_leftfinger",
|
| 556 |
+
"fr3_rightfinger",
|
| 557 |
+
"franka",
|
| 558 |
+
"geometry",
|
| 559 |
+
"gripper",
|
| 560 |
+
"gripper_center",
|
| 561 |
+
"joint1",
|
| 562 |
+
"joint2",
|
| 563 |
+
"joint3",
|
| 564 |
+
"joint4",
|
| 565 |
+
"joint5",
|
| 566 |
+
"joint6",
|
| 567 |
+
"joint7",
|
| 568 |
+
"left_inner_finger",
|
| 569 |
+
"lift2",
|
| 570 |
+
"mobile_rotate",
|
| 571 |
+
"mobile_translate_x",
|
| 572 |
+
"mobile_translate_y",
|
| 573 |
+
"panda_joint1",
|
| 574 |
+
"panda_joint2",
|
| 575 |
+
"panda_joint3",
|
| 576 |
+
"panda_joint4",
|
| 577 |
+
"panda_joint5",
|
| 578 |
+
"panda_joint6",
|
| 579 |
+
"panda_joint7",
|
| 580 |
+
"panda_leftfinger",
|
| 581 |
+
"panda_leftfingertip",
|
| 582 |
+
"panda_rightfinger",
|
| 583 |
+
"panda_rightfingertip",
|
| 584 |
+
"ridgebase",
|
| 585 |
+
"ridgebase_festo",
|
| 586 |
+
"ridgebase_fr3",
|
| 587 |
+
"ridgebase_rizon4",
|
| 588 |
+
"ridgebase_ur16e",
|
| 589 |
+
"ridgebase_ur5e",
|
| 590 |
+
"right_inner_finger",
|
| 591 |
+
"rizon4",
|
| 592 |
+
"robot",
|
| 593 |
+
"robotiq_2f85",
|
| 594 |
+
"shoulder_lift_joint",
|
| 595 |
+
"shoulder_pan_joint",
|
| 596 |
+
"split_aloha",
|
| 597 |
+
"tool_center",
|
| 598 |
+
"ur16e",
|
| 599 |
+
"ur5e",
|
| 600 |
+
"visuals",
|
| 601 |
+
"wrist",
|
| 602 |
+
"wrist_1_joint",
|
| 603 |
+
"wrist_2_joint",
|
| 604 |
+
"wrist_3_joint"
|
| 605 |
+
],
|
| 606 |
+
"ignored_prim_substrings": [
|
| 607 |
+
"base_link",
|
| 608 |
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"caster",
|
| 609 |
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"defaultgroundplane",
|
| 610 |
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"desk",
|
| 611 |
+
"floor",
|
| 612 |
+
"ground",
|
| 613 |
+
"groundplane",
|
| 614 |
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"link0",
|
| 615 |
+
"table",
|
| 616 |
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"wheel",
|
| 617 |
+
"workbench"
|
| 618 |
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],
|
| 619 |
+
"enabled": true
|
| 620 |
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},
|
| 621 |
+
"status": "active",
|
| 622 |
+
"passed": true,
|
| 623 |
+
"source_missing": false,
|
| 624 |
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"forbidden": [],
|
| 625 |
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"disturbances": [],
|
| 626 |
+
"last_frame": {
|
| 627 |
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"passed": true,
|
| 628 |
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"source_missing": false,
|
| 629 |
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"forbidden": [],
|
| 630 |
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"allowed": [],
|
| 631 |
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"ignored": [],
|
| 632 |
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"failed_keys": []
|
| 633 |
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},
|
| 634 |
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"failed_keys": []
|
| 635 |
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}
|
| 636 |
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},
|
| 637 |
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"gripper": null,
|
| 638 |
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"post_done_wait_frames": 0,
|
| 639 |
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"post_done_wait_exhausted": false
|
| 640 |
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},
|
| 641 |
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"physical_semantics": {
|
| 642 |
+
"skill": "place",
|
| 643 |
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"target": "beaker_b",
|
| 644 |
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"attach_used": false,
|
| 645 |
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"attach_object": null,
|
| 646 |
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"attach_object_path": null,
|
| 647 |
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"attach_allowed": false,
|
| 648 |
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"ordinary_object_physical_only": true
|
| 649 |
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}
|
| 650 |
+
}
|
| 651 |
+
],
|
| 652 |
+
"physical_semantics": {
|
| 653 |
+
"attach_records": [],
|
| 654 |
+
"ordinary_attach_violations": [],
|
| 655 |
+
"forbidden_shortcuts_absent": true
|
| 656 |
+
},
|
| 657 |
+
"h5_episode_index": 98,
|
| 658 |
+
"reproducibility": {
|
| 659 |
+
"enabled": true,
|
| 660 |
+
"action_seed": 3987082320295684552,
|
| 661 |
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"physical_seed": 1590733738191871905,
|
| 662 |
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"layout_id": "layout_00010",
|
| 663 |
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"step_seeds": [
|
| 664 |
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|
| 665 |
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|
| 666 |
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|
| 667 |
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],
|
| 668 |
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"workflow_spec_digest": "79f06aa023e35d2a07f383ab66c2b31f758b3aa11b8214bcafaee52578f3961e",
|
| 669 |
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"strict_task_state": false,
|
| 670 |
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"allow_physical_randomization": true,
|
| 671 |
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"seed_source": "workflow.reproducibility",
|
| 672 |
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"task_island_state_digest": "71d2c76215a545f6de71d31bb179df7851bd4249f7b8f23c56477b0d346b8273",
|
| 673 |
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"visual_seed": 3907106942760690839,
|
| 674 |
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"episode_index": 98,
|
| 675 |
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"physical_randomization_enabled": true,
|
| 676 |
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"motion_controller_type": "ik_servo",
|
| 677 |
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"runtime_step_seeds": [
|
| 678 |
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|
| 679 |
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|
| 680 |
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|
| 681 |
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],
|
| 682 |
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"runtime_workflow_digest": "8b6c377a096f8a963ee86017464f7445989d3123a5affc6131e6d5379d130737"
|
| 683 |
+
}
|
| 684 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00010/results/episode_99_success.json
ADDED
|
@@ -0,0 +1,684 @@
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|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_poo_00010/results/episode_9_success.json
ADDED
|
@@ -0,0 +1,684 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"episode": 9,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_b",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_b",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_b",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.23875656073893617,
|
| 26 |
+
-0.12424731960344734,
|
| 27 |
+
1.0456431978220944
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0456431978220944,
|
| 30 |
+
"required_z": 0.8565866728664174,
|
| 31 |
+
"initial_z": 0.7565866728664175,
|
| 32 |
+
"lift_margin": 0.18905652495567693,
|
| 33 |
+
"gripper_z": 1.0493276602968704,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.234537474645745,
|
| 38 |
+
-0.12847212777515854,
|
| 39 |
+
1.0493276602968704
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.00421908609319116,
|
| 43 |
+
0.004224808171711197,
|
| 44 |
+
-0.0036844624747760513
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.005970736265278911,
|
| 47 |
+
"object_to_gripper_z": -0.0036844624747760513,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.23875656073893617,
|
| 51 |
+
-0.1484266786362144,
|
| 52 |
+
1.0456431978220944
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.2283435143955196,
|
| 56 |
+
-0.12424731960344734,
|
| 57 |
+
1.0456431978220944
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.23355003756722786,
|
| 61 |
+
-0.13633699911983088,
|
| 62 |
+
1.0456431978220944
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005206523171708305,
|
| 66 |
+
0.012089679516383539,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.026326278456811836,
|
| 70 |
+
"fingertip_max_gap": 0.0940030674104802,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013163139228405937,
|
| 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": 1.0456431978220944,
|
| 78 |
+
"object_top_z": 1.0921405154712551,
|
| 79 |
+
"finger_top_clearance": 0.04649731764916076,
|
| 80 |
+
"fingertip_min_top_clearance": 0.013949195294748246,
|
| 81 |
+
"object_projection_between_fingers": 0.8435496059633116,
|
| 82 |
+
"object_to_finger_line_xy": 0.00956385789869073,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.0495015337052401,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 1.561780405387126,
|
| 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": 202,
|
| 96 |
+
"max_stable_success_frames": 202,
|
| 97 |
+
"required_stable_lift_frames": 5
|
| 98 |
+
},
|
| 99 |
+
"failed_keys": [],
|
| 100 |
+
"failure_code": null,
|
| 101 |
+
"failure_messages": {},
|
| 102 |
+
"safety": {
|
| 103 |
+
"policy": {
|
| 104 |
+
"skill": "pick",
|
| 105 |
+
"target_object": "beaker_b",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_b"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/target_beaker"
|
| 112 |
+
],
|
| 113 |
+
"allowed_prim_substrings": [],
|
| 114 |
+
"robot_prim_substrings": [
|
| 115 |
+
"Robotiq2F85",
|
| 116 |
+
"Robotiq_2F_85",
|
| 117 |
+
"contact_sensor",
|
| 118 |
+
"dummy_base_prismatic_x_joint",
|
| 119 |
+
"dummy_base_prismatic_y_joint",
|
| 120 |
+
"dummy_base_revolute_z_joint",
|
| 121 |
+
"elbow_joint",
|
| 122 |
+
"festo",
|
| 123 |
+
"finger",
|
| 124 |
+
"fr3",
|
| 125 |
+
"fr3_duo_mobile",
|
| 126 |
+
"fr3_joint1",
|
| 127 |
+
"fr3_joint2",
|
| 128 |
+
"fr3_joint3",
|
| 129 |
+
"fr3_joint4",
|
| 130 |
+
"fr3_joint5",
|
| 131 |
+
"fr3_joint6",
|
| 132 |
+
"fr3_joint7",
|
| 133 |
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