Upload folder using huggingface_hub (part 11)

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ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00027/resolved_config.yaml

@@ -0,0 +1,215 @@
+name: fast_2beaker_central_longmix_s03_psl_knn_00027
+task_type: workflow
+controller_type: workflow
+mode: collect
+usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd
+max_episodes: 100
+infer:
+  type: local
+  obs_names:
+    camera_1_rgb: camera_1_rgb
+    camera_2_rgb: camera_2_rgb
+  policy_model_path: ''
+  policy_config_path: ''
+  normalizer_path: ''
+  host: 127.0.0.1
+  port: 8000
+  n_obs_steps: 1
+  timeout: 30
+  max_retries: 3
+task:
+  max_steps: 14000
+workflow:
+  table_prim_path: /World/table
+  language_instruction: Pick up beaker a from home. Shake the current contents of
+    beaker a once. Place beaker a at inspection platform.
+  layout_id: layout_00027
+  reproducibility:
+    enabled: true
+    layout_id: layout_00027
+    action_seed: 4586557938971780878
+    step_seeds:
+    - 3977492345803872476
+    - 6024422583905249305
+    - 3187439485679853542
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.2961
+      - 0.2961
+      'y':
+      - -0.1944
+      - -0.1944
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.27
+      - 0.27
+      'y':
+      - -0.001
+      - -0.001
+      z:
+      - 0.0
+      - 0.0
+    role: receiver
+  - name: inspection_platform
+    path: /World/target_plat
+    position_range:
+      x:
+      - 0.2351
+      - 0.2351
+      'y':
+      - 0.1442
+      - 0.1442
+      z:
+      - 0.0
+      - 0.0
+    role: placement_target
+  steps:
+  - skill: pick
+    target_object: beaker_a
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.01
+      - 0.04
+      - 0.04
+      - 0.006
+      - 0.04
+      pre_offset_x: 0.05
+      pre_offset_z: 0.05
+      after_offset_z: 0.3
+      gripper_distances: 0.019
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: true
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params:
+        smooth_close: true
+  - skill: shake
+    target_object: beaker_a
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      shake_distance: 0.08
+      shake_center_offset_z: 0.0
+      fallback_height_offset: 0.23
+      events_dt:
+      - 0.04
+      - 0.018
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.015
+      position_only: true
+      position_threshold: 0.04
+  - skill: place
+    target_object: inspection_platform
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.01
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.2
+      place_offset_z: 0.05
+      target_z_offset: 0.0
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      position_threshold: 0.015
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.04
+cameras:
+- prim_path: /World/Camera1
+  name: camera_1
+  translation:
+  - 2.129903
+  - 0.0
+  - 2.075001
+  resolution:
+  - 512
+  - 512
+  focal_length: 3.5
+  orientation:
+  - 0.61237
+  - 0.35355
+  - 0.35355
+  - 0.61237
+  image_type: rgb
+- prim_path: /World/Camera2
+  name: camera_2
+  translation:
+  - 0.1
+  - 0.0
+  - 2.65
+  resolution:
+  - 512
+  - 512
+  focal_length: 2.825
+  orientation:
+  - 0.70711
+  - 0
+  - 0
+  - -0.70711
+  image_type: rgb
+- prim_path: /World/Camera3
+  name: camera_3
+  translation:
+  - 0.2
+  - -3.01678
+  - 1.16281
+  resolution:
+  - 512
+  - 512
+  focal_length: 4
+  orientation:
+  - 0.7681
+  - 0.63858
+  - -0.03028
+  - -0.03642
+  image_type: rgb
+  track_end_effector: true
+robot:
+  type: ur5e
+  position:
+  - -0.27
+  - 0.0
+  - 0.71
+collector:
+  type: default
+  compression: gzip
+multi_run:
+  run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00027
+motion_controller: ik_servo
+max_consecutive_failures: 20
+video:
+  playback_speed: 1
+  render_every_n_steps: 3

ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00027/results/episode_0_success.json

@@ -0,0 +1,686 @@
+{
+  "episode": 0,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
+  "step_accuracy": "3/3",
+  "step_details": [
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+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
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+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
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+            "active_arm": null,
+            "object_position": [
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+              1.0529575845800268
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+            "virtual_attach_allowed": false,
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+              1.0543390679326419
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+            "object_to_gripper_z": -0.0013814833526151205,
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+              -0.21806138930637323,
+              1.0529575845800268
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+              1.0529575845800268
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+              -0.2064736654697511,
+              1.0529575845800268
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+            "object_minus_finger_midpoint": [
+              0.005190701694721633,
+              0.011587723836622155,
+              0.0
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+            "finger_gap": 0.025394387395438915,
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+            "object_to_finger_midpoint_xy": 0.01269719369771948,
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+            "object_upright_reference_source": "scene_initial",
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+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
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+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
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+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
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+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
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+                "table",
+                "wheel",
+                "workbench"
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+                  "b": "/World/beaker_2/mesh"
+                },
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+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
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+                "/World/beaker_2"
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+}

ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00027/results/episode_100_success.json

@@ -0,0 +1,686 @@
+{
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+}

ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00027/results/episode_101_success.json

@@ -0,0 +1,686 @@
+{
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+}

ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00027/results/episode_103_success.json

@@ -0,0 +1,686 @@
+{
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+}

ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00027/results/episode_104_success.json

@@ -0,0 +1,686 @@
+{
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+}

ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00027/results/episode_105_success.json

@@ -0,0 +1,686 @@
+{
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+}

ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00027/results/episode_106_success.json

@@ -0,0 +1,686 @@
+{
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+}

ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00027/results/episode_107_success.json

@@ -0,0 +1,686 @@
+{
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+}

ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00027/results/episode_10_success.json

@@ -0,0 +1,686 @@
+{
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+}

ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00027/results/episode_110_success.json

@@ -0,0 +1,686 @@
+{
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+}

ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00027/results/episode_111_success.json

@@ -0,0 +1,686 @@
+{
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+}

ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00027/results/episode_112_success.json

@@ -0,0 +1,686 @@
+{
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+}

ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00027/results/episode_114_success.json

@@ -0,0 +1,686 @@
+{
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+}

ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00027/results/episode_118_success.json

@@ -0,0 +1,686 @@
+{
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+}

ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00027/results/episode_119_success.json

@@ -0,0 +1,686 @@
+{
+  "episode": 119,
+  "success": true,
+  "passed_steps": 3,
+  "total_steps": 3,
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+  }
+}

ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00027/results/episode_120_success.json

@@ -0,0 +1,686 @@
+{
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+}

ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00027/results/episode_121_success.json

@@ -0,0 +1,686 @@
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+}

ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00027/results/episode_124_success.json

@@ -0,0 +1,686 @@
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+}

ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00027/results/episode_125_success.json

@@ -0,0 +1,686 @@
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+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
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+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "inspection_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 125,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 4586557938971780878,
+    "physical_seed": 7721071036537636492,
+    "layout_id": "layout_00027",
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+    "workflow_spec_digest": "78ed3e44b4db9a470e13db3741252449161cbf65ca768622370678b44aec10b4",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bbc0fa5fdae7f7b88993607574d018fa361ee9b0df0dce32b7af6957eeb8dd2d",
+    "visual_seed": 3749014191693112677,
+    "episode_index": 28,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
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+    "runtime_workflow_digest": "f2101eaa1483332ddfa70d8a41824f59b2564e446600a59507ec50101e03cbe7"
+  }
+}