Upload folder using huggingface_hub (part 32)
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- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00010/results/episode_98_success.json +1017 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00010/results/episode_99_success.json +1017 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00010/results/episode_9_success.json +1017 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00010/results/summary.json +9 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0000.h5 +3 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0001.h5 +3 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0002.h5 +3 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0003.h5 +3 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0004.h5 +3 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0005.h5 +3 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0006.h5 +3 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0007.h5 +3 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0008.h5 +3 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0009.h5 +3 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0010.h5 +3 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0011.h5 +3 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0012.h5 +3 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0013.h5 +3 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0014.h5 +3 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0015.h5 +3 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0016.h5 +3 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0017.h5 +3 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0018.h5 +3 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0019.h5 +3 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0020.h5 +3 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0021.h5 +3 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0022.h5 +3 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0023.h5 +3 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0024.h5 +3 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0025.h5 +3 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0026.h5 +3 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0027.h5 +3 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0028.h5 +3 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0029.h5 +3 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0030.h5 +3 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0031.h5 +3 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0032.h5 +3 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0033.h5 +3 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0034.h5 +3 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0035.h5 +3 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0036.h5 +3 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0038.h5 +3 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0039.h5 +3 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0040.h5 +3 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0041.h5 +3 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0042.h5 +3 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0043.h5 +3 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0044.h5 +3 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0045.h5 +3 -0
- ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00011/dataset/episode_0046.h5 +3 -0
ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00010/results/episode_98_success.json
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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_a",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_a",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_a",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.29158018524105034,
|
| 26 |
+
-0.18149583708016018,
|
| 27 |
+
1.004766687401264
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.004766687401264,
|
| 30 |
+
"required_z": 0.8611064484101213,
|
| 31 |
+
"initial_z": 0.7611064484101213,
|
| 32 |
+
"lift_margin": 0.14366023899114266,
|
| 33 |
+
"gripper_z": 1.0056096758588113,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.28808267629082424,
|
| 38 |
+
-0.1853768854093449,
|
| 39 |
+
1.0056096758588113
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.0034975089502261025,
|
| 43 |
+
0.003881048329184733,
|
| 44 |
+
-0.0008429884575473778
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.005224471742710386,
|
| 47 |
+
"object_to_gripper_z": -0.0008429884575473778,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.29158018524105034,
|
| 51 |
+
-0.20505542691457404,
|
| 52 |
+
1.004766687401264
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.2815458554503526,
|
| 56 |
+
-0.18149583708016018,
|
| 57 |
+
1.004766687401264
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.28656302034570147,
|
| 61 |
+
-0.1932756319973671,
|
| 62 |
+
1.004766687401264
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005017164895348869,
|
| 66 |
+
0.011779794917206932,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.025607460778341556,
|
| 70 |
+
"fingertip_max_gap": 0.09390056471398625,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.012803730389170778,
|
| 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": 1.004766687401264,
|
| 78 |
+
"object_top_z": 1.0547169254522426,
|
| 79 |
+
"finger_top_clearance": 0.049950238050978646,
|
| 80 |
+
"fingertip_min_top_clearance": 0.014985071415293576,
|
| 81 |
+
"object_projection_between_fingers": 0.8464521609828777,
|
| 82 |
+
"object_to_finger_line_xy": 0.009231867859855363,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.04945028235699313,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 3.407858844907968,
|
| 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": 164,
|
| 96 |
+
"max_stable_success_frames": 164,
|
| 97 |
+
"required_stable_lift_frames": 5
|
| 98 |
+
},
|
| 99 |
+
"failed_keys": [],
|
| 100 |
+
"failure_code": null,
|
| 101 |
+
"failure_messages": {},
|
| 102 |
+
"safety": {
|
| 103 |
+
"policy": {
|
| 104 |
+
"skill": "pick",
|
| 105 |
+
"target_object": "beaker_a",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_a"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/beaker_2"
|
| 112 |
+
],
|
| 113 |
+
"allowed_prim_substrings": [],
|
| 114 |
+
"robot_prim_substrings": [
|
| 115 |
+
"Robotiq2F85",
|
| 116 |
+
"Robotiq_2F_85",
|
| 117 |
+
"contact_sensor",
|
| 118 |
+
"dummy_base_prismatic_x_joint",
|
| 119 |
+
"dummy_base_prismatic_y_joint",
|
| 120 |
+
"dummy_base_revolute_z_joint",
|
| 121 |
+
"elbow_joint",
|
| 122 |
+
"festo",
|
| 123 |
+
"finger",
|
| 124 |
+
"fr3",
|
| 125 |
+
"fr3_duo_mobile",
|
| 126 |
+
"fr3_joint1",
|
| 127 |
+
"fr3_joint2",
|
| 128 |
+
"fr3_joint3",
|
| 129 |
+
"fr3_joint4",
|
| 130 |
+
"fr3_joint5",
|
| 131 |
+
"fr3_joint6",
|
| 132 |
+
"fr3_joint7",
|
| 133 |
+
"fr3_leftfinger",
|
| 134 |
+
"fr3_rightfinger",
|
| 135 |
+
"franka",
|
| 136 |
+
"geometry",
|
| 137 |
+
"gripper",
|
| 138 |
+
"gripper_center",
|
| 139 |
+
"joint1",
|
| 140 |
+
"joint2",
|
| 141 |
+
"joint3",
|
| 142 |
+
"joint4",
|
| 143 |
+
"joint5",
|
| 144 |
+
"joint6",
|
| 145 |
+
"joint7",
|
| 146 |
+
"left_inner_finger",
|
| 147 |
+
"lift2",
|
| 148 |
+
"mobile_rotate",
|
| 149 |
+
"mobile_translate_x",
|
| 150 |
+
"mobile_translate_y",
|
| 151 |
+
"panda_joint1",
|
| 152 |
+
"panda_joint2",
|
| 153 |
+
"panda_joint3",
|
| 154 |
+
"panda_joint4",
|
| 155 |
+
"panda_joint5",
|
| 156 |
+
"panda_joint6",
|
| 157 |
+
"panda_joint7",
|
| 158 |
+
"panda_leftfinger",
|
| 159 |
+
"panda_leftfingertip",
|
| 160 |
+
"panda_rightfinger",
|
| 161 |
+
"panda_rightfingertip",
|
| 162 |
+
"ridgebase",
|
| 163 |
+
"ridgebase_festo",
|
| 164 |
+
"ridgebase_fr3",
|
| 165 |
+
"ridgebase_rizon4",
|
| 166 |
+
"ridgebase_ur16e",
|
| 167 |
+
"ridgebase_ur5e",
|
| 168 |
+
"right_inner_finger",
|
| 169 |
+
"rizon4",
|
| 170 |
+
"robot",
|
| 171 |
+
"robotiq_2f85",
|
| 172 |
+
"shoulder_lift_joint",
|
| 173 |
+
"shoulder_pan_joint",
|
| 174 |
+
"split_aloha",
|
| 175 |
+
"tool_center",
|
| 176 |
+
"ur16e",
|
| 177 |
+
"ur5e",
|
| 178 |
+
"visuals",
|
| 179 |
+
"wrist",
|
| 180 |
+
"wrist_1_joint",
|
| 181 |
+
"wrist_2_joint",
|
| 182 |
+
"wrist_3_joint"
|
| 183 |
+
],
|
| 184 |
+
"ignored_prim_substrings": [
|
| 185 |
+
"base_link",
|
| 186 |
+
"caster",
|
| 187 |
+
"defaultgroundplane",
|
| 188 |
+
"desk",
|
| 189 |
+
"floor",
|
| 190 |
+
"ground",
|
| 191 |
+
"groundplane",
|
| 192 |
+
"link0",
|
| 193 |
+
"table",
|
| 194 |
+
"wheel",
|
| 195 |
+
"workbench"
|
| 196 |
+
],
|
| 197 |
+
"enabled": true
|
| 198 |
+
},
|
| 199 |
+
"status": "active",
|
| 200 |
+
"passed": true,
|
| 201 |
+
"source_missing": false,
|
| 202 |
+
"forbidden": [],
|
| 203 |
+
"disturbances": [],
|
| 204 |
+
"last_frame": {
|
| 205 |
+
"passed": true,
|
| 206 |
+
"source_missing": false,
|
| 207 |
+
"forbidden": [],
|
| 208 |
+
"allowed": [
|
| 209 |
+
{
|
| 210 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 211 |
+
"b": "/World/beaker_2/mesh"
|
| 212 |
+
},
|
| 213 |
+
{
|
| 214 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 215 |
+
"b": "/World/beaker_2/mesh"
|
| 216 |
+
}
|
| 217 |
+
],
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| 936 |
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"wrist_2_joint",
|
| 937 |
+
"wrist_3_joint"
|
| 938 |
+
],
|
| 939 |
+
"ignored_prim_substrings": [
|
| 940 |
+
"base_link",
|
| 941 |
+
"caster",
|
| 942 |
+
"defaultgroundplane",
|
| 943 |
+
"desk",
|
| 944 |
+
"floor",
|
| 945 |
+
"ground",
|
| 946 |
+
"groundplane",
|
| 947 |
+
"link0",
|
| 948 |
+
"table",
|
| 949 |
+
"wheel",
|
| 950 |
+
"workbench"
|
| 951 |
+
],
|
| 952 |
+
"enabled": true
|
| 953 |
+
},
|
| 954 |
+
"status": "active",
|
| 955 |
+
"passed": true,
|
| 956 |
+
"source_missing": false,
|
| 957 |
+
"forbidden": [],
|
| 958 |
+
"disturbances": [],
|
| 959 |
+
"last_frame": {
|
| 960 |
+
"passed": true,
|
| 961 |
+
"source_missing": false,
|
| 962 |
+
"forbidden": [],
|
| 963 |
+
"allowed": [],
|
| 964 |
+
"ignored": [],
|
| 965 |
+
"failed_keys": []
|
| 966 |
+
},
|
| 967 |
+
"failed_keys": []
|
| 968 |
+
}
|
| 969 |
+
},
|
| 970 |
+
"gripper": null,
|
| 971 |
+
"post_done_wait_frames": 0,
|
| 972 |
+
"post_done_wait_exhausted": false
|
| 973 |
+
},
|
| 974 |
+
"physical_semantics": {
|
| 975 |
+
"skill": "place",
|
| 976 |
+
"target": "beaker_a",
|
| 977 |
+
"attach_used": false,
|
| 978 |
+
"attach_object": null,
|
| 979 |
+
"attach_object_path": null,
|
| 980 |
+
"attach_allowed": false,
|
| 981 |
+
"ordinary_object_physical_only": true
|
| 982 |
+
}
|
| 983 |
+
}
|
| 984 |
+
],
|
| 985 |
+
"physical_semantics": {
|
| 986 |
+
"attach_records": [],
|
| 987 |
+
"ordinary_attach_violations": [],
|
| 988 |
+
"forbidden_shortcuts_absent": true
|
| 989 |
+
},
|
| 990 |
+
"h5_episode_index": 98,
|
| 991 |
+
"reproducibility": {
|
| 992 |
+
"enabled": true,
|
| 993 |
+
"action_seed": 3987082320295684552,
|
| 994 |
+
"physical_seed": 1590733738191871905,
|
| 995 |
+
"layout_id": "layout_00010",
|
| 996 |
+
"step_seeds": [
|
| 997 |
+
3913869556532046801,
|
| 998 |
+
6355663699133699465,
|
| 999 |
+
4530951244343176879
|
| 1000 |
+
],
|
| 1001 |
+
"workflow_spec_digest": "2e52b83b1304555728b236bde857f072e7e24bb8376a177ed6f38b387376bc8d",
|
| 1002 |
+
"strict_task_state": false,
|
| 1003 |
+
"allow_physical_randomization": true,
|
| 1004 |
+
"seed_source": "workflow.reproducibility",
|
| 1005 |
+
"task_island_state_digest": "0827794293e490d8fe18dd79f6ab7845a540c60ff89b7e9da01694f9ab5967d1",
|
| 1006 |
+
"visual_seed": 5675264886535704652,
|
| 1007 |
+
"episode_index": 98,
|
| 1008 |
+
"physical_randomization_enabled": true,
|
| 1009 |
+
"motion_controller_type": "ik_servo",
|
| 1010 |
+
"runtime_step_seeds": [
|
| 1011 |
+
3913869556532046801,
|
| 1012 |
+
6355663699133699465,
|
| 1013 |
+
4530951244343176879
|
| 1014 |
+
],
|
| 1015 |
+
"runtime_workflow_digest": "d979acce9e428a64c96b031f16cedcfeec6e7276cfebc783834b34be742107aa"
|
| 1016 |
+
}
|
| 1017 |
+
}
|
ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00010/results/episode_99_success.json
ADDED
|
@@ -0,0 +1,1017 @@
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|
| 1 |
+
{
|
| 2 |
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"episode": 99,
|
| 3 |
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|
| 4 |
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|
| 5 |
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|
| 6 |
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| 7 |
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| 8 |
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{
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| 9 |
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| 10 |
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"skill": "pick",
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| 11 |
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"target": "beaker_a",
|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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"arm": null,
|
| 16 |
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|
| 17 |
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|
| 18 |
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"skill": "pick",
|
| 19 |
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"target": "beaker_a",
|
| 20 |
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"passed": true,
|
| 21 |
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|
| 22 |
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"target": "beaker_a",
|
| 23 |
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|
| 24 |
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|
| 25 |
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|
| 26 |
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|
| 27 |
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| 28 |
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| 29 |
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|
| 30 |
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|
| 31 |
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|
| 32 |
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|
| 33 |
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|
| 34 |
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|
| 35 |
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|
| 36 |
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|
| 37 |
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|
| 38 |
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|
| 39 |
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|
| 40 |
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|
| 41 |
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|
| 42 |
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|
| 43 |
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| 44 |
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| 45 |
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| 46 |
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|
| 47 |
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|
| 48 |
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|
| 49 |
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|
| 50 |
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|
| 51 |
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|
| 52 |
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| 53 |
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| 54 |
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| 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
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| 68 |
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| 69 |
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|
| 70 |
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| 71 |
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|
| 72 |
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| 73 |
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|
| 74 |
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|
| 75 |
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| 76 |
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|
| 77 |
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| 78 |
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| 79 |
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| 80 |
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| 81 |
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| 82 |
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| 83 |
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| 84 |
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|
| 85 |
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|
| 86 |
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|
| 87 |
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|
| 88 |
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|
| 89 |
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|
| 90 |
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|
| 91 |
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0.0,
|
| 92 |
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0.0,
|
| 93 |
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|
| 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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|
| 101 |
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|
| 102 |
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|
| 103 |
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|
| 104 |
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|
| 105 |
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|
| 106 |
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|
| 107 |
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| 108 |
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|
| 109 |
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],
|
| 110 |
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| 111 |
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|
| 112 |
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],
|
| 113 |
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|
| 114 |
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|
| 115 |
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"Robotiq2F85",
|
| 116 |
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"Robotiq_2F_85",
|
| 117 |
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"contact_sensor",
|
| 118 |
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"dummy_base_prismatic_x_joint",
|
| 119 |
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"dummy_base_prismatic_y_joint",
|
| 120 |
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"dummy_base_revolute_z_joint",
|
| 121 |
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"elbow_joint",
|
| 122 |
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"festo",
|
| 123 |
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"finger",
|
| 124 |
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"fr3",
|
| 125 |
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"fr3_duo_mobile",
|
| 126 |
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"fr3_joint1",
|
| 127 |
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"fr3_joint2",
|
| 128 |
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"fr3_joint3",
|
| 129 |
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"fr3_joint4",
|
| 130 |
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"fr3_joint5",
|
| 131 |
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"fr3_joint6",
|
| 132 |
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"fr3_joint7",
|
| 133 |
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"fr3_leftfinger",
|
| 134 |
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"fr3_rightfinger",
|
| 135 |
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"franka",
|
| 136 |
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"geometry",
|
| 137 |
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"gripper",
|
| 138 |
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|
| 139 |
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"joint1",
|
| 140 |
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"joint2",
|
| 141 |
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"joint3",
|
| 142 |
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"joint4",
|
| 143 |
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"joint5",
|
| 144 |
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"joint6",
|
| 145 |
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"joint7",
|
| 146 |
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"left_inner_finger",
|
| 147 |
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"lift2",
|
| 148 |
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"mobile_rotate",
|
| 149 |
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"mobile_translate_x",
|
| 150 |
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"mobile_translate_y",
|
| 151 |
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"panda_joint1",
|
| 152 |
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"panda_joint2",
|
| 153 |
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"panda_joint3",
|
| 154 |
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"panda_joint4",
|
| 155 |
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"panda_joint5",
|
| 156 |
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"panda_joint6",
|
| 157 |
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"panda_joint7",
|
| 158 |
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"panda_leftfinger",
|
| 159 |
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"panda_leftfingertip",
|
| 160 |
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"panda_rightfinger",
|
| 161 |
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"panda_rightfingertip",
|
| 162 |
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"ridgebase",
|
| 163 |
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"ridgebase_festo",
|
| 164 |
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"ridgebase_fr3",
|
| 165 |
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"ridgebase_rizon4",
|
| 166 |
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"ridgebase_ur16e",
|
| 167 |
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"ridgebase_ur5e",
|
| 168 |
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"right_inner_finger",
|
| 169 |
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"rizon4",
|
| 170 |
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"robot",
|
| 171 |
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"robotiq_2f85",
|
| 172 |
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|
| 173 |
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"shoulder_pan_joint",
|
| 174 |
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"split_aloha",
|
| 175 |
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"tool_center",
|
| 176 |
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"ur16e",
|
| 177 |
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"ur5e",
|
| 178 |
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"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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|
| 183 |
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],
|
| 184 |
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|
| 185 |
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"base_link",
|
| 186 |
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|
| 187 |
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|
| 188 |
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"desk",
|
| 189 |
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|
| 190 |
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"ground",
|
| 191 |
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"groundplane",
|
| 192 |
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"link0",
|
| 193 |
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|
| 194 |
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"wheel",
|
| 195 |
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"workbench"
|
| 196 |
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],
|
| 197 |
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| 198 |
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},
|
| 199 |
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| 200 |
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| 201 |
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| 202 |
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| 203 |
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| 204 |
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| 205 |
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|
| 206 |
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|
| 207 |
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| 208 |
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"allowed": [
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| 209 |
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{
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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/beaker_2/mesh"
|
| 212 |
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},
|
| 213 |
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{
|
| 214 |
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"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 215 |
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"b": "/World/beaker_2/mesh"
|
| 216 |
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}
|
| 217 |
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],
|
| 218 |
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|
| 219 |
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|
| 220 |
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},
|
| 221 |
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|
| 222 |
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}
|
| 223 |
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},
|
| 224 |
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|
| 225 |
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|
| 226 |
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|
| 227 |
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},
|
| 228 |
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|
| 229 |
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|
| 230 |
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|
| 231 |
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|
| 232 |
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|
| 233 |
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|
| 234 |
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|
| 235 |
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|
| 236 |
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}
|
| 237 |
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},
|
| 238 |
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{
|
| 239 |
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|
| 240 |
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|
| 241 |
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|
| 242 |
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|
| 243 |
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|
| 244 |
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|
| 245 |
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|
| 246 |
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|
| 247 |
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"checker": "PourSuccessChecker",
|
| 248 |
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"skill": "pour",
|
| 249 |
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"target": "beaker_c",
|
| 250 |
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"passed": true,
|
| 251 |
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|
| 252 |
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|
| 253 |
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"held": "beaker_a",
|
| 254 |
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|
| 255 |
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0.033054660158042364
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|
| 973 |
+
},
|
| 974 |
+
"physical_semantics": {
|
| 975 |
+
"skill": "place",
|
| 976 |
+
"target": "beaker_a",
|
| 977 |
+
"attach_used": false,
|
| 978 |
+
"attach_object": null,
|
| 979 |
+
"attach_object_path": null,
|
| 980 |
+
"attach_allowed": false,
|
| 981 |
+
"ordinary_object_physical_only": true
|
| 982 |
+
}
|
| 983 |
+
}
|
| 984 |
+
],
|
| 985 |
+
"physical_semantics": {
|
| 986 |
+
"attach_records": [],
|
| 987 |
+
"ordinary_attach_violations": [],
|
| 988 |
+
"forbidden_shortcuts_absent": true
|
| 989 |
+
},
|
| 990 |
+
"h5_episode_index": 99,
|
| 991 |
+
"reproducibility": {
|
| 992 |
+
"enabled": true,
|
| 993 |
+
"action_seed": 3987082320295684552,
|
| 994 |
+
"physical_seed": 1590733738191871905,
|
| 995 |
+
"layout_id": "layout_00010",
|
| 996 |
+
"step_seeds": [
|
| 997 |
+
3913869556532046801,
|
| 998 |
+
6355663699133699465,
|
| 999 |
+
4530951244343176879
|
| 1000 |
+
],
|
| 1001 |
+
"workflow_spec_digest": "2e52b83b1304555728b236bde857f072e7e24bb8376a177ed6f38b387376bc8d",
|
| 1002 |
+
"strict_task_state": false,
|
| 1003 |
+
"allow_physical_randomization": true,
|
| 1004 |
+
"seed_source": "workflow.reproducibility",
|
| 1005 |
+
"task_island_state_digest": "02bae05f80f745d6204bde9b4d02f5dddb8e0df40a6a0717c75fd1ede93d38a5",
|
| 1006 |
+
"visual_seed": 8086241093919341457,
|
| 1007 |
+
"episode_index": 99,
|
| 1008 |
+
"physical_randomization_enabled": true,
|
| 1009 |
+
"motion_controller_type": "ik_servo",
|
| 1010 |
+
"runtime_step_seeds": [
|
| 1011 |
+
3913869556532046801,
|
| 1012 |
+
6355663699133699465,
|
| 1013 |
+
4530951244343176879
|
| 1014 |
+
],
|
| 1015 |
+
"runtime_workflow_digest": "d979acce9e428a64c96b031f16cedcfeec6e7276cfebc783834b34be742107aa"
|
| 1016 |
+
}
|
| 1017 |
+
}
|
ur5e/fastfix_v3/fast_3beaker_preloaded_mix_s03_pol_lou_00010/results/episode_9_success.json
ADDED
|
@@ -0,0 +1,1017 @@
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| 1 |
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{
|
| 2 |
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| 3 |
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|
| 4 |
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| 5 |
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| 6 |
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| 7 |
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| 8 |
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| 9 |
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| 10 |
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|
| 11 |
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|
| 12 |
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|
| 13 |
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|
| 14 |
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|
| 15 |
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|
| 16 |
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|
| 17 |
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|
| 18 |
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|
| 19 |
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|
| 20 |
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|
| 21 |
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| 22 |
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|
| 23 |
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| 24 |
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| 25 |
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| 26 |
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| 27 |
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| 28 |
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| 29 |
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| 30 |
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| 31 |
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| 32 |
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| 33 |
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| 34 |
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| 35 |
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| 36 |
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|
| 37 |
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| 38 |
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| 39 |
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| 40 |
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| 41 |
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| 42 |
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| 43 |
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| 44 |
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| 45 |
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| 47 |
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| 48 |
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| 49 |
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|
| 50 |
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|
| 51 |
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| 52 |
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|
| 66 |
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| 67 |
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| 68 |
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| 92 |
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| 93 |
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| 94 |
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| 98 |
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| 101 |
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| 102 |
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| 103 |
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| 104 |
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| 111 |
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| 112 |
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| 113 |
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| 114 |
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| 115 |
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| 116 |
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| 117 |
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| 118 |
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| 119 |
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| 120 |
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| 121 |
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|
| 122 |
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| 123 |
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| 124 |
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|
| 125 |
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| 126 |
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| 127 |
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| 128 |
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| 129 |
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|
| 130 |
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| 131 |
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| 132 |
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| 133 |
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| 134 |
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| 135 |
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| 136 |
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| 137 |
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| 138 |
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| 139 |
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| 140 |
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| 141 |
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| 142 |
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| 143 |
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| 144 |
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| 145 |
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| 146 |
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| 147 |
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| 148 |
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| 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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| 154 |
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| 155 |
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| 156 |
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| 157 |
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| 158 |
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| 159 |
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| 160 |
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| 161 |
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| 162 |
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| 163 |
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| 164 |
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| 165 |
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| 166 |
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| 167 |
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| 168 |
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| 169 |
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| 170 |
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| 171 |
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| 172 |
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| 173 |
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| 174 |
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| 175 |
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| 176 |
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| 177 |
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| 178 |
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| 179 |
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| 180 |
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| 181 |
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| 182 |
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| 183 |
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| 185 |
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| 187 |
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| 188 |
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| 189 |
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| 190 |
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| 191 |
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| 192 |
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| 193 |
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| 194 |
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| 195 |
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| 196 |
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| 197 |
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| 198 |
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| 200 |
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| 211 |
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| 212 |
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| 216 |
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