Upload folder using huggingface_hub (part 5)
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- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00008/results/episode_68_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00008/results/episode_69_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00008/results/episode_6_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00008/results/episode_70_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00008/results/episode_72_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00008/results/episode_73_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00008/results/episode_74_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00008/results/episode_75_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00008/results/episode_79_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00008/results/episode_7_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00008/results/episode_80_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00008/results/episode_81_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00008/results/episode_82_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00008/results/episode_83_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00008/results/episode_84_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00008/results/episode_86_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00008/results/episode_87_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00008/results/episode_88_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00008/results/episode_89_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00008/results/episode_90_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00008/results/episode_91_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00008/results/episode_93_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00008/results/episode_94_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00008/results/episode_95_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00008/results/episode_96_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00008/results/episode_97_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00008/results/episode_9_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00008/results/summary.json +9 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00009/dataset/episode_0001.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00009/dataset/episode_0002.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00009/dataset/episode_0004.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00009/dataset/episode_0005.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00009/dataset/episode_0007.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00009/dataset/episode_0009.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00009/dataset/episode_0011.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00009/dataset/episode_0014.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00009/dataset/episode_0015.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00009/dataset/episode_0017.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00009/dataset/episode_0018.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00009/dataset/episode_0021.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00009/dataset/episode_0022.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00009/dataset/episode_0024.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00009/dataset/episode_0025.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00009/dataset/episode_0027.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00009/dataset/episode_0030.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00009/dataset/episode_0032.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00009/dataset/episode_0033.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00009/dataset/episode_0034.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00009/dataset/episode_0035.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00009/dataset/episode_0036.h5 +3 -0
ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00008/results/episode_68_success.json
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|
ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00008/results/episode_69_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"episode": 69,
|
| 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 |
+
0.28095738468769166,
|
| 26 |
+
-0.09016909809930135,
|
| 27 |
+
1.0514783487148334
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0514783487148334,
|
| 30 |
+
"required_z": 0.8611065080147662,
|
| 31 |
+
"initial_z": 0.7611065080147662,
|
| 32 |
+
"lift_margin": 0.19037184070006719,
|
| 33 |
+
"gripper_z": 1.0554787532607757,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.27693433521447086,
|
| 38 |
+
-0.09447000260049696,
|
| 39 |
+
1.0554787532607757
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004023049473220797,
|
| 43 |
+
0.004300904501195607,
|
| 44 |
+
-0.004000404545942304
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.005889202542992283,
|
| 47 |
+
"object_to_gripper_z": -0.004000404545942304,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.28095738468769166,
|
| 51 |
+
-0.11375537942154888,
|
| 52 |
+
1.0514783487148334
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.26996182735823304,
|
| 56 |
+
-0.09016909809930135,
|
| 57 |
+
1.0514783487148334
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.2754596060229624,
|
| 61 |
+
-0.10196223876042512,
|
| 62 |
+
1.0514783487148334
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.00549777866472928,
|
| 66 |
+
0.011793140661123774,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.0260233538883368,
|
| 70 |
+
"fingertip_max_gap": 0.10018734342428742,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013011676944168394,
|
| 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": 1.0514783487148334,
|
| 78 |
+
"object_top_z": 1.1051417308125018,
|
| 79 |
+
"finger_top_clearance": 0.05366338209766841,
|
| 80 |
+
"fingertip_min_top_clearance": 0.016099014629300506,
|
| 81 |
+
"object_projection_between_fingers": 0.8214713343018996,
|
| 82 |
+
"object_to_finger_line_xy": 0.009965829522986488,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.052593671712143714,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 4.034451638430373,
|
| 89 |
+
"object_max_tilt_deg": 15.0,
|
| 90 |
+
"object_upright_axis_local": [
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
1.0
|
| 94 |
+
],
|
| 95 |
+
"stable_success_frames": 209,
|
| 96 |
+
"max_stable_success_frames": 209,
|
| 97 |
+
"required_stable_lift_frames": 5
|
| 98 |
+
},
|
| 99 |
+
"failed_keys": [],
|
| 100 |
+
"failure_code": null,
|
| 101 |
+
"failure_messages": {},
|
| 102 |
+
"safety": {
|
| 103 |
+
"policy": {
|
| 104 |
+
"skill": "pick",
|
| 105 |
+
"target_object": "beaker_a",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_a"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/beaker_2"
|
| 112 |
+
],
|
| 113 |
+
"allowed_prim_substrings": [],
|
| 114 |
+
"robot_prim_substrings": [
|
| 115 |
+
"Robotiq2F85",
|
| 116 |
+
"Robotiq_2F_85",
|
| 117 |
+
"contact_sensor",
|
| 118 |
+
"dummy_base_prismatic_x_joint",
|
| 119 |
+
"dummy_base_prismatic_y_joint",
|
| 120 |
+
"dummy_base_revolute_z_joint",
|
| 121 |
+
"elbow_joint",
|
| 122 |
+
"festo",
|
| 123 |
+
"finger",
|
| 124 |
+
"fr3",
|
| 125 |
+
"fr3_duo_mobile",
|
| 126 |
+
"fr3_joint1",
|
| 127 |
+
"fr3_joint2",
|
| 128 |
+
"fr3_joint3",
|
| 129 |
+
"fr3_joint4",
|
| 130 |
+
"fr3_joint5",
|
| 131 |
+
"fr3_joint6",
|
| 132 |
+
"fr3_joint7",
|
| 133 |
+
"fr3_leftfinger",
|
| 134 |
+
"fr3_rightfinger",
|
| 135 |
+
"franka",
|
| 136 |
+
"geometry",
|
| 137 |
+
"gripper",
|
| 138 |
+
"gripper_center",
|
| 139 |
+
"joint1",
|
| 140 |
+
"joint2",
|
| 141 |
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|
| 523 |
+
"failure_messages": {},
|
| 524 |
+
"safety": {
|
| 525 |
+
"policy": {
|
| 526 |
+
"skill": "place",
|
| 527 |
+
"target_object": "inspection_platform",
|
| 528 |
+
"held_object": "beaker_a",
|
| 529 |
+
"allowed_objects": [
|
| 530 |
+
"beaker_a",
|
| 531 |
+
"inspection_platform"
|
| 532 |
+
],
|
| 533 |
+
"allowed_object_paths": [
|
| 534 |
+
"/World/beaker_2",
|
| 535 |
+
"/World/target_plat"
|
| 536 |
+
],
|
| 537 |
+
"allowed_prim_substrings": [],
|
| 538 |
+
"robot_prim_substrings": [
|
| 539 |
+
"Robotiq2F85",
|
| 540 |
+
"Robotiq_2F_85",
|
| 541 |
+
"contact_sensor",
|
| 542 |
+
"dummy_base_prismatic_x_joint",
|
| 543 |
+
"dummy_base_prismatic_y_joint",
|
| 544 |
+
"dummy_base_revolute_z_joint",
|
| 545 |
+
"elbow_joint",
|
| 546 |
+
"festo",
|
| 547 |
+
"finger",
|
| 548 |
+
"fr3",
|
| 549 |
+
"fr3_duo_mobile",
|
| 550 |
+
"fr3_joint1",
|
| 551 |
+
"fr3_joint2",
|
| 552 |
+
"fr3_joint3",
|
| 553 |
+
"fr3_joint4",
|
| 554 |
+
"fr3_joint5",
|
| 555 |
+
"fr3_joint6",
|
| 556 |
+
"fr3_joint7",
|
| 557 |
+
"fr3_leftfinger",
|
| 558 |
+
"fr3_rightfinger",
|
| 559 |
+
"franka",
|
| 560 |
+
"geometry",
|
| 561 |
+
"gripper",
|
| 562 |
+
"gripper_center",
|
| 563 |
+
"joint1",
|
| 564 |
+
"joint2",
|
| 565 |
+
"joint3",
|
| 566 |
+
"joint4",
|
| 567 |
+
"joint5",
|
| 568 |
+
"joint6",
|
| 569 |
+
"joint7",
|
| 570 |
+
"left_inner_finger",
|
| 571 |
+
"lift2",
|
| 572 |
+
"mobile_rotate",
|
| 573 |
+
"mobile_translate_x",
|
| 574 |
+
"mobile_translate_y",
|
| 575 |
+
"panda_joint1",
|
| 576 |
+
"panda_joint2",
|
| 577 |
+
"panda_joint3",
|
| 578 |
+
"panda_joint4",
|
| 579 |
+
"panda_joint5",
|
| 580 |
+
"panda_joint6",
|
| 581 |
+
"panda_joint7",
|
| 582 |
+
"panda_leftfinger",
|
| 583 |
+
"panda_leftfingertip",
|
| 584 |
+
"panda_rightfinger",
|
| 585 |
+
"panda_rightfingertip",
|
| 586 |
+
"ridgebase",
|
| 587 |
+
"ridgebase_festo",
|
| 588 |
+
"ridgebase_fr3",
|
| 589 |
+
"ridgebase_rizon4",
|
| 590 |
+
"ridgebase_ur16e",
|
| 591 |
+
"ridgebase_ur5e",
|
| 592 |
+
"right_inner_finger",
|
| 593 |
+
"rizon4",
|
| 594 |
+
"robot",
|
| 595 |
+
"robotiq_2f85",
|
| 596 |
+
"shoulder_lift_joint",
|
| 597 |
+
"shoulder_pan_joint",
|
| 598 |
+
"split_aloha",
|
| 599 |
+
"tool_center",
|
| 600 |
+
"ur16e",
|
| 601 |
+
"ur5e",
|
| 602 |
+
"visuals",
|
| 603 |
+
"wrist",
|
| 604 |
+
"wrist_1_joint",
|
| 605 |
+
"wrist_2_joint",
|
| 606 |
+
"wrist_3_joint"
|
| 607 |
+
],
|
| 608 |
+
"ignored_prim_substrings": [
|
| 609 |
+
"base_link",
|
| 610 |
+
"caster",
|
| 611 |
+
"defaultgroundplane",
|
| 612 |
+
"desk",
|
| 613 |
+
"floor",
|
| 614 |
+
"ground",
|
| 615 |
+
"groundplane",
|
| 616 |
+
"link0",
|
| 617 |
+
"table",
|
| 618 |
+
"wheel",
|
| 619 |
+
"workbench"
|
| 620 |
+
],
|
| 621 |
+
"enabled": true
|
| 622 |
+
},
|
| 623 |
+
"status": "active",
|
| 624 |
+
"passed": true,
|
| 625 |
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"source_missing": false,
|
| 626 |
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"forbidden": [],
|
| 627 |
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"disturbances": [],
|
| 628 |
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"last_frame": {
|
| 629 |
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"passed": true,
|
| 630 |
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"source_missing": false,
|
| 631 |
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"forbidden": [],
|
| 632 |
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"allowed": [],
|
| 633 |
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"ignored": [],
|
| 634 |
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"failed_keys": []
|
| 635 |
+
},
|
| 636 |
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"failed_keys": []
|
| 637 |
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}
|
| 638 |
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},
|
| 639 |
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"gripper": null,
|
| 640 |
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"post_done_wait_frames": 0,
|
| 641 |
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"post_done_wait_exhausted": false
|
| 642 |
+
},
|
| 643 |
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"physical_semantics": {
|
| 644 |
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"skill": "place",
|
| 645 |
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"target": "inspection_platform",
|
| 646 |
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"attach_used": false,
|
| 647 |
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"attach_object": null,
|
| 648 |
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"attach_object_path": null,
|
| 649 |
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"attach_allowed": false,
|
| 650 |
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"ordinary_object_physical_only": true
|
| 651 |
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}
|
| 652 |
+
}
|
| 653 |
+
],
|
| 654 |
+
"physical_semantics": {
|
| 655 |
+
"attach_records": [],
|
| 656 |
+
"ordinary_attach_violations": [],
|
| 657 |
+
"forbidden_shortcuts_absent": true
|
| 658 |
+
},
|
| 659 |
+
"h5_episode_index": 69,
|
| 660 |
+
"reproducibility": {
|
| 661 |
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"enabled": true,
|
| 662 |
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"action_seed": 256126101476888679,
|
| 663 |
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"physical_seed": 2666459563728337380,
|
| 664 |
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"layout_id": "layout_00008",
|
| 665 |
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"step_seeds": [
|
| 666 |
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|
| 667 |
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|
| 668 |
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|
| 669 |
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],
|
| 670 |
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"workflow_spec_digest": "752a0a59dc3da77d831183cb64ea56a1cf7e1df37ab8303a140300c993efa1c3",
|
| 671 |
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"strict_task_state": false,
|
| 672 |
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"allow_physical_randomization": true,
|
| 673 |
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"seed_source": "workflow.reproducibility",
|
| 674 |
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"task_island_state_digest": "b35b8305703926cae38078c812390200183eab2640c41ab9ddeea09cd11d0afe",
|
| 675 |
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"visual_seed": 8215785612717406777,
|
| 676 |
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"episode_index": 69,
|
| 677 |
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"physical_randomization_enabled": true,
|
| 678 |
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"motion_controller_type": "ik_servo",
|
| 679 |
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"runtime_step_seeds": [
|
| 680 |
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|
| 681 |
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|
| 682 |
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|
| 683 |
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],
|
| 684 |
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"runtime_workflow_digest": "21e8588a6f182260e9eb92f16466ba3ed1e08b1d98acc4737cda52b213a5b79a"
|
| 685 |
+
}
|
| 686 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00008/results/episode_6_success.json
ADDED
|
@@ -0,0 +1,686 @@
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| 11 |
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| 17 |
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| 18 |
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| 19 |
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|
ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00008/results/episode_70_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 70,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_a",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_a",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_a",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.287315461111898,
|
| 26 |
+
-0.09474950372055846,
|
| 27 |
+
1.0488680988806935
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0488680988806935,
|
| 30 |
+
"required_z": 0.8611063888054766,
|
| 31 |
+
"initial_z": 0.7611063888054767,
|
| 32 |
+
"lift_margin": 0.18776171007521691,
|
| 33 |
+
"gripper_z": 1.0526255217538703,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.2830053946693627,
|
| 38 |
+
-0.099203486859472,
|
| 39 |
+
1.0526255217538703
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.0043100664425352875,
|
| 43 |
+
0.004453983138913542,
|
| 44 |
+
-0.003757422873176708
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.0061979543835684135,
|
| 47 |
+
"object_to_gripper_z": -0.003757422873176708,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.287315461111898,
|
| 51 |
+
-0.11857679764466528,
|
| 52 |
+
1.0488680988806935
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.27612112907312825,
|
| 56 |
+
-0.09474950372055846,
|
| 57 |
+
1.0488680988806935
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.2817182950925131,
|
| 61 |
+
-0.10666315068261187,
|
| 62 |
+
1.0488680988806935
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005597166019384869,
|
| 66 |
+
0.011913646962053409,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.026325899899908536,
|
| 70 |
+
"fingertip_max_gap": 0.09449566661380379,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013162949949954268,
|
| 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": 1.0488680988806935,
|
| 78 |
+
"object_top_z": 1.1002016344982064,
|
| 79 |
+
"finger_top_clearance": 0.05133353561751286,
|
| 80 |
+
"fingertip_min_top_clearance": 0.015400060685253875,
|
| 81 |
+
"object_projection_between_fingers": 0.8191868893251725,
|
| 82 |
+
"object_to_finger_line_xy": 0.010131871684763896,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.0497478333069019,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 1.83005455604318,
|
| 89 |
+
"object_max_tilt_deg": 15.0,
|
| 90 |
+
"object_upright_axis_local": [
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
1.0
|
| 94 |
+
],
|
| 95 |
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| 488 |
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| 500 |
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|
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|
| 534 |
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|
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|
| 536 |
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],
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| 537 |
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| 538 |
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| 539 |
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| 563 |
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| 564 |
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| 566 |
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| 568 |
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| 569 |
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|
| 570 |
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|
| 571 |
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|
| 572 |
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|
| 573 |
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|
| 574 |
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|
| 575 |
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|
| 576 |
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| 577 |
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|
| 578 |
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| 579 |
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|
| 581 |
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|
| 582 |
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|
| 583 |
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|
| 584 |
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| 585 |
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| 586 |
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| 587 |
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|
| 588 |
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| 589 |
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|
| 592 |
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|
| 593 |
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|
| 594 |
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|
| 595 |
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|
| 596 |
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| 597 |
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|
| 598 |
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| 599 |
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|
| 600 |
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|
| 601 |
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|
| 602 |
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| 603 |
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| 604 |
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| 605 |
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| 606 |
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|
| 607 |
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| 608 |
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| 609 |
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| 610 |
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| 611 |
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| 612 |
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| 613 |
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|
| 614 |
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| 615 |
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| 616 |
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| 617 |
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| 619 |
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| 621 |
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| 622 |
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| 623 |
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| 624 |
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| 644 |
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|
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|
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| 655 |
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|
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|
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|
| 660 |
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|
| 685 |
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}
|
| 686 |
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}
|
ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00008/results/episode_72_success.json
ADDED
|
@@ -0,0 +1,686 @@
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| 1 |
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{
|
| 2 |
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| 3 |
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|
| 4 |
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| 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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| 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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| 65 |
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| 66 |
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| 67 |
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| 68 |
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| 91 |
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| 92 |
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| 93 |
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| 94 |
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| 98 |
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| 99 |
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| 100 |
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| 101 |
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| 102 |
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| 103 |
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| 104 |
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| 105 |
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| 106 |
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| 108 |
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| 109 |
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| 110 |
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| 111 |
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| 112 |
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| 113 |
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| 114 |
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| 115 |
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| 116 |
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| 117 |
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|
| 118 |
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|
| 119 |
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| 120 |
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|
| 121 |
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|
| 122 |
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|
| 123 |
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"finger",
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| 124 |
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|
| 125 |
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| 126 |
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| 127 |
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| 128 |
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|
| 129 |
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| 130 |
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| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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| 135 |
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|
| 136 |
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| 137 |
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| 138 |
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| 139 |
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| 140 |
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| 141 |
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| 142 |
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| 143 |
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| 144 |
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| 145 |
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| 146 |
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| 147 |
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"lift2",
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| 148 |
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"mobile_rotate",
|
| 149 |
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"mobile_translate_x",
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| 150 |
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"mobile_translate_y",
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| 151 |
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| 152 |
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| 153 |
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| 154 |
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| 155 |
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| 156 |
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| 157 |
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| 158 |
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"panda_leftfinger",
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| 159 |
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| 160 |
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| 161 |
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| 162 |
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| 163 |
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| 164 |
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| 165 |
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| 166 |
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| 167 |
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| 168 |
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| 169 |
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| 170 |
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| 171 |
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| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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|
| 177 |
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| 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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],
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| 184 |
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| 185 |
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| 186 |
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| 187 |
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|
| 188 |
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|
| 189 |
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| 190 |
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| 191 |
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| 192 |
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| 193 |
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| 194 |
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| 195 |
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| 196 |
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],
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| 197 |
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| 198 |
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| 199 |
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"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
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| 211 |
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| 212 |
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},
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| 214 |
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"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
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| 215 |
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| 216 |
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},
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| 242 |
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| 244 |
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| 246 |
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| 247 |
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| 248 |
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|
| 249 |
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|
| 250 |
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|
| 251 |
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| 252 |
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|
| 253 |
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|
| 254 |
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|
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|
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|
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"action_seed": 256126101476888679,
|
| 663 |
+
"physical_seed": 2666459563728337380,
|
| 664 |
+
"layout_id": "layout_00008",
|
| 665 |
+
"step_seeds": [
|
| 666 |
+
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|
| 667 |
+
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|
| 668 |
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|
| 669 |
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],
|
| 670 |
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"workflow_spec_digest": "752a0a59dc3da77d831183cb64ea56a1cf7e1df37ab8303a140300c993efa1c3",
|
| 671 |
+
"strict_task_state": false,
|
| 672 |
+
"allow_physical_randomization": true,
|
| 673 |
+
"seed_source": "workflow.reproducibility",
|
| 674 |
+
"task_island_state_digest": "35dd8031e0f78b00e0be3f613fce2b9f5946ca736d32563b2489c315ba930565",
|
| 675 |
+
"visual_seed": 694935516782600856,
|
| 676 |
+
"episode_index": 72,
|
| 677 |
+
"physical_randomization_enabled": true,
|
| 678 |
+
"motion_controller_type": "ik_servo",
|
| 679 |
+
"runtime_step_seeds": [
|
| 680 |
+
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|
| 681 |
+
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|
| 682 |
+
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|
| 683 |
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],
|
| 684 |
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"runtime_workflow_digest": "21e8588a6f182260e9eb92f16466ba3ed1e08b1d98acc4737cda52b213a5b79a"
|
| 685 |
+
}
|
| 686 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00008/results/episode_73_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 73,
|
| 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 |
+
0.27987924879544157,
|
| 26 |
+
-0.09089596417163709,
|
| 27 |
+
1.0504824369943688
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0504824369943688,
|
| 30 |
+
"required_z": 0.8611063292008319,
|
| 31 |
+
"initial_z": 0.7611063292008319,
|
| 32 |
+
"lift_margin": 0.18937610779353697,
|
| 33 |
+
"gripper_z": 1.0544365079019555,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.2756190278858414,
|
| 38 |
+
-0.09531205103384814,
|
| 39 |
+
1.0544365079019555
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004260220909600154,
|
| 43 |
+
0.004416086862211052,
|
| 44 |
+
-0.003954070907586704
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006136065952480255,
|
| 47 |
+
"object_to_gripper_z": -0.003954070907586704,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.27987924879544157,
|
| 51 |
+
-0.11469656345793329,
|
| 52 |
+
1.0504824369943688
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.2687725316145688,
|
| 56 |
+
-0.09089596417163709,
|
| 57 |
+
1.0504824369943688
|
| 58 |
+
],
|
| 59 |
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|
ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00008/results/episode_74_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 74,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
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"step_details": [
|
| 8 |
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{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_a",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_a",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_a",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.281789381339743,
|
| 26 |
+
-0.0871837648187105,
|
| 27 |
+
1.052010594695486
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.052010594695486,
|
| 30 |
+
"required_z": 0.8611064484101213,
|
| 31 |
+
"initial_z": 0.7611064484101213,
|
| 32 |
+
"lift_margin": 0.19090414628536478,
|
| 33 |
+
"gripper_z": 1.0558277334619357,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.27749271296763134,
|
| 38 |
+
-0.0915393717026183,
|
| 39 |
+
1.0558277334619357
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
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|
| 43 |
+
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|
| 44 |
+
-0.0038171387664496237
|
| 45 |
+
],
|
| 46 |
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"object_to_gripper_xy": 0.006118224450528918,
|
| 47 |
+
"object_to_gripper_z": -0.0038171387664496237,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.281789381339743,
|
| 51 |
+
-0.11117552902995825,
|
| 52 |
+
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|
| 53 |
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],
|
| 54 |
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"finger_b": [
|
| 55 |
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|
| 56 |
+
-0.0871837648187105,
|
| 57 |
+
1.052010594695486
|
| 58 |
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],
|
| 59 |
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"finger_midpoint": [
|
| 60 |
+
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|
| 61 |
+
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|
| 62 |
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|
| 63 |
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],
|
| 64 |
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|
| 65 |
+
0.0054247642961907094,
|
| 66 |
+
0.01199588210562387,
|
| 67 |
+
0.0
|
| 68 |
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],
|
| 69 |
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"finger_gap": 0.0263309137829474,
|
| 70 |
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"fingertip_max_gap": 0.09252449266945725,
|
| 71 |
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"finger_z_skew": 0.0,
|
| 72 |
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|
| 73 |
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|
| 74 |
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|
| 75 |
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"finger_midpoint_minus_object_z": 0.0,
|
| 76 |
+
"object_position_origin": "center",
|
| 77 |
+
"object_center_z_for_grasp": 1.052010594695486,
|
| 78 |
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"object_top_z": 1.102146836088762,
|
| 79 |
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"finger_top_clearance": 0.05013624139327599,
|
| 80 |
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"fingertip_min_top_clearance": 0.015040872417982798,
|
| 81 |
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"object_projection_between_fingers": 0.8302186919233713,
|
| 82 |
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"object_to_finger_line_xy": 0.009885693065471267,
|
| 83 |
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"fingertip_xy_max_dist": 0.055,
|
| 84 |
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"fingertip_z_max_dist": 0.1,
|
| 85 |
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"fingertip_line_xy_max_dist": 0.04876224633472863,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 1.719517020095811,
|
| 89 |
+
"object_max_tilt_deg": 15.0,
|
| 90 |
+
"object_upright_axis_local": [
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
1.0
|
| 94 |
+
],
|
| 95 |
+
"stable_success_frames": 209,
|
| 96 |
+
"max_stable_success_frames": 209,
|
| 97 |
+
"required_stable_lift_frames": 5
|
| 98 |
+
},
|
| 99 |
+
"failed_keys": [],
|
| 100 |
+
"failure_code": null,
|
| 101 |
+
"failure_messages": {},
|
| 102 |
+
"safety": {
|
| 103 |
+
"policy": {
|
| 104 |
+
"skill": "pick",
|
| 105 |
+
"target_object": "beaker_a",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_a"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/beaker_2"
|
| 112 |
+
],
|
| 113 |
+
"allowed_prim_substrings": [],
|
| 114 |
+
"robot_prim_substrings": [
|
| 115 |
+
"Robotiq2F85",
|
| 116 |
+
"Robotiq_2F_85",
|
| 117 |
+
"contact_sensor",
|
| 118 |
+
"dummy_base_prismatic_x_joint",
|
| 119 |
+
"dummy_base_prismatic_y_joint",
|
| 120 |
+
"dummy_base_revolute_z_joint",
|
| 121 |
+
"elbow_joint",
|
| 122 |
+
"festo",
|
| 123 |
+
"finger",
|
| 124 |
+
"fr3",
|
| 125 |
+
"fr3_duo_mobile",
|
| 126 |
+
"fr3_joint1",
|
| 127 |
+
"fr3_joint2",
|
| 128 |
+
"fr3_joint3",
|
| 129 |
+
"fr3_joint4",
|
| 130 |
+
"fr3_joint5",
|
| 131 |
+
"fr3_joint6",
|
| 132 |
+
"fr3_joint7",
|
| 133 |
+
"fr3_leftfinger",
|
| 134 |
+
"fr3_rightfinger",
|
| 135 |
+
"franka",
|
| 136 |
+
"geometry",
|
| 137 |
+
"gripper",
|
| 138 |
+
"gripper_center",
|
| 139 |
+
"joint1",
|
| 140 |
+
"joint2",
|
| 141 |
+
"joint3",
|
| 142 |
+
"joint4",
|
| 143 |
+
"joint5",
|
| 144 |
+
"joint6",
|
| 145 |
+
"joint7",
|
| 146 |
+
"left_inner_finger",
|
| 147 |
+
"lift2",
|
| 148 |
+
"mobile_rotate",
|
| 149 |
+
"mobile_translate_x",
|
| 150 |
+
"mobile_translate_y",
|
| 151 |
+
"panda_joint1",
|
| 152 |
+
"panda_joint2",
|
| 153 |
+
"panda_joint3",
|
| 154 |
+
"panda_joint4",
|
| 155 |
+
"panda_joint5",
|
| 156 |
+
"panda_joint6",
|
| 157 |
+
"panda_joint7",
|
| 158 |
+
"panda_leftfinger",
|
| 159 |
+
"panda_leftfingertip",
|
| 160 |
+
"panda_rightfinger",
|
| 161 |
+
"panda_rightfingertip",
|
| 162 |
+
"ridgebase",
|
| 163 |
+
"ridgebase_festo",
|
| 164 |
+
"ridgebase_fr3",
|
| 165 |
+
"ridgebase_rizon4",
|
| 166 |
+
"ridgebase_ur16e",
|
| 167 |
+
"ridgebase_ur5e",
|
| 168 |
+
"right_inner_finger",
|
| 169 |
+
"rizon4",
|
| 170 |
+
"robot",
|
| 171 |
+
"robotiq_2f85",
|
| 172 |
+
"shoulder_lift_joint",
|
| 173 |
+
"shoulder_pan_joint",
|
| 174 |
+
"split_aloha",
|
| 175 |
+
"tool_center",
|
| 176 |
+
"ur16e",
|
| 177 |
+
"ur5e",
|
| 178 |
+
"visuals",
|
| 179 |
+
"wrist",
|
| 180 |
+
"wrist_1_joint",
|
| 181 |
+
"wrist_2_joint",
|
| 182 |
+
"wrist_3_joint"
|
| 183 |
+
],
|
| 184 |
+
"ignored_prim_substrings": [
|
| 185 |
+
"base_link",
|
| 186 |
+
"caster",
|
| 187 |
+
"defaultgroundplane",
|
| 188 |
+
"desk",
|
| 189 |
+
"floor",
|
| 190 |
+
"ground",
|
| 191 |
+
"groundplane",
|
| 192 |
+
"link0",
|
| 193 |
+
"table",
|
| 194 |
+
"wheel",
|
| 195 |
+
"workbench"
|
| 196 |
+
],
|
| 197 |
+
"enabled": true
|
| 198 |
+
},
|
| 199 |
+
"status": "active",
|
| 200 |
+
"passed": true,
|
| 201 |
+
"source_missing": false,
|
| 202 |
+
"forbidden": [],
|
| 203 |
+
"disturbances": [],
|
| 204 |
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"last_frame": {
|
| 205 |
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"passed": true,
|
| 206 |
+
"source_missing": false,
|
| 207 |
+
"forbidden": [],
|
| 208 |
+
"allowed": [
|
| 209 |
+
{
|
| 210 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 211 |
+
"b": "/World/beaker_2/mesh"
|
| 212 |
+
},
|
| 213 |
+
{
|
| 214 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 215 |
+
"b": "/World/beaker_2/mesh"
|
| 216 |
+
}
|
| 217 |
+
],
|
| 218 |
+
"ignored": [],
|
| 219 |
+
"failed_keys": []
|
| 220 |
+
},
|
| 221 |
+
"failed_keys": []
|
| 222 |
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}
|
| 223 |
+
},
|
| 224 |
+
"gripper": null,
|
| 225 |
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"post_done_wait_frames": 0,
|
| 226 |
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"post_done_wait_exhausted": false
|
| 227 |
+
},
|
| 228 |
+
"physical_semantics": {
|
| 229 |
+
"skill": "pick",
|
| 230 |
+
"target": "beaker_a",
|
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| 614 |
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"ground",
|
| 615 |
+
"groundplane",
|
| 616 |
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"link0",
|
| 617 |
+
"table",
|
| 618 |
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"wheel",
|
| 619 |
+
"workbench"
|
| 620 |
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],
|
| 621 |
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"enabled": true
|
| 622 |
+
},
|
| 623 |
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"status": "active",
|
| 624 |
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|
| 625 |
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"source_missing": false,
|
| 626 |
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|
| 627 |
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|
| 628 |
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|
| 629 |
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"passed": true,
|
| 630 |
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"source_missing": false,
|
| 631 |
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"forbidden": [],
|
| 632 |
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|
| 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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"physical_semantics": {
|
| 644 |
+
"skill": "place",
|
| 645 |
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"target": "inspection_platform",
|
| 646 |
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"attach_used": false,
|
| 647 |
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|
| 648 |
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|
| 649 |
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"attach_allowed": false,
|
| 650 |
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"ordinary_object_physical_only": true
|
| 651 |
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|
| 652 |
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}
|
| 653 |
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],
|
| 654 |
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"physical_semantics": {
|
| 655 |
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"attach_records": [],
|
| 656 |
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"ordinary_attach_violations": [],
|
| 657 |
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"forbidden_shortcuts_absent": true
|
| 658 |
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},
|
| 659 |
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"h5_episode_index": 74,
|
| 660 |
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"reproducibility": {
|
| 661 |
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"enabled": true,
|
| 662 |
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"action_seed": 256126101476888679,
|
| 663 |
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|
| 664 |
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"layout_id": "layout_00008",
|
| 665 |
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"step_seeds": [
|
| 666 |
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|
| 667 |
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|
| 668 |
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|
| 669 |
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|
| 670 |
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|
| 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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|
| 680 |
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|
| 681 |
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|
| 682 |
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|
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|
| 684 |
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|
| 685 |
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}
|
| 686 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00008/results/episode_75_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 75,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_a",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
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|
ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00008/results/episode_79_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 79,
|
| 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 |
+
0.28185222202172155,
|
| 26 |
+
-0.09375024779423023,
|
| 27 |
+
1.04976825658586
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.04976825658586,
|
| 30 |
+
"required_z": 0.8611064484101211,
|
| 31 |
+
"initial_z": 0.7611064484101211,
|
| 32 |
+
"lift_margin": 0.18866180817573885,
|
| 33 |
+
"gripper_z": 1.0542306694243233,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.2774422394601554,
|
| 38 |
+
-0.09819866873120556,
|
| 39 |
+
1.0542306694243233
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004409982561566161,
|
| 43 |
+
0.004448420936975325,
|
| 44 |
+
-0.004462412838463381
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006263896153819767,
|
| 47 |
+
"object_to_gripper_z": -0.004462412838463381,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.28185222202172155,
|
| 51 |
+
-0.11784988824418213,
|
| 52 |
+
1.04976825658586
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.270943489734976,
|
| 56 |
+
-0.09375024779423023,
|
| 57 |
+
1.04976825658586
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.27639785587834875,
|
| 61 |
+
-0.10580006801920619,
|
| 62 |
+
1.04976825658586
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005454366143372802,
|
| 66 |
+
0.012049820224975957,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.026453602966719725,
|
| 70 |
+
"fingertip_max_gap": 0.10200505724995224,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.01322680148335988,
|
| 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": 1.04976825658586,
|
| 78 |
+
"object_top_z": 1.1043707495316395,
|
| 79 |
+
"finger_top_clearance": 0.05460249294577957,
|
| 80 |
+
"fingertip_min_top_clearance": 0.016380747883733855,
|
| 81 |
+
"object_projection_between_fingers": 0.8299491115061914,
|
| 82 |
+
"object_to_finger_line_xy": 0.00993802342184124,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.05350252862497612,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 4.006158780553707,
|
| 89 |
+
"object_max_tilt_deg": 15.0,
|
| 90 |
+
"object_upright_axis_local": [
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
1.0
|
| 94 |
+
],
|
| 95 |
+
"stable_success_frames": 207,
|
| 96 |
+
"max_stable_success_frames": 207,
|
| 97 |
+
"required_stable_lift_frames": 5
|
| 98 |
+
},
|
| 99 |
+
"failed_keys": [],
|
| 100 |
+
"failure_code": null,
|
| 101 |
+
"failure_messages": {},
|
| 102 |
+
"safety": {
|
| 103 |
+
"policy": {
|
| 104 |
+
"skill": "pick",
|
| 105 |
+
"target_object": "beaker_a",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_a"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/beaker_2"
|
| 112 |
+
],
|
| 113 |
+
"allowed_prim_substrings": [],
|
| 114 |
+
"robot_prim_substrings": [
|
| 115 |
+
"Robotiq2F85",
|
| 116 |
+
"Robotiq_2F_85",
|
| 117 |
+
"contact_sensor",
|
| 118 |
+
"dummy_base_prismatic_x_joint",
|
| 119 |
+
"dummy_base_prismatic_y_joint",
|
| 120 |
+
"dummy_base_revolute_z_joint",
|
| 121 |
+
"elbow_joint",
|
| 122 |
+
"festo",
|
| 123 |
+
"finger",
|
| 124 |
+
"fr3",
|
| 125 |
+
"fr3_duo_mobile",
|
| 126 |
+
"fr3_joint1",
|
| 127 |
+
"fr3_joint2",
|
| 128 |
+
"fr3_joint3",
|
| 129 |
+
"fr3_joint4",
|
| 130 |
+
"fr3_joint5",
|
| 131 |
+
"fr3_joint6",
|
| 132 |
+
"fr3_joint7",
|
| 133 |
+
"fr3_leftfinger",
|
| 134 |
+
"fr3_rightfinger",
|
| 135 |
+
"franka",
|
| 136 |
+
"geometry",
|
| 137 |
+
"gripper",
|
| 138 |
+
"gripper_center",
|
| 139 |
+
"joint1",
|
| 140 |
+
"joint2",
|
| 141 |
+
"joint3",
|
| 142 |
+
"joint4",
|
| 143 |
+
"joint5",
|
| 144 |
+
"joint6",
|
| 145 |
+
"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 |
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| 567 |
+
"joint5",
|
| 568 |
+
"joint6",
|
| 569 |
+
"joint7",
|
| 570 |
+
"left_inner_finger",
|
| 571 |
+
"lift2",
|
| 572 |
+
"mobile_rotate",
|
| 573 |
+
"mobile_translate_x",
|
| 574 |
+
"mobile_translate_y",
|
| 575 |
+
"panda_joint1",
|
| 576 |
+
"panda_joint2",
|
| 577 |
+
"panda_joint3",
|
| 578 |
+
"panda_joint4",
|
| 579 |
+
"panda_joint5",
|
| 580 |
+
"panda_joint6",
|
| 581 |
+
"panda_joint7",
|
| 582 |
+
"panda_leftfinger",
|
| 583 |
+
"panda_leftfingertip",
|
| 584 |
+
"panda_rightfinger",
|
| 585 |
+
"panda_rightfingertip",
|
| 586 |
+
"ridgebase",
|
| 587 |
+
"ridgebase_festo",
|
| 588 |
+
"ridgebase_fr3",
|
| 589 |
+
"ridgebase_rizon4",
|
| 590 |
+
"ridgebase_ur16e",
|
| 591 |
+
"ridgebase_ur5e",
|
| 592 |
+
"right_inner_finger",
|
| 593 |
+
"rizon4",
|
| 594 |
+
"robot",
|
| 595 |
+
"robotiq_2f85",
|
| 596 |
+
"shoulder_lift_joint",
|
| 597 |
+
"shoulder_pan_joint",
|
| 598 |
+
"split_aloha",
|
| 599 |
+
"tool_center",
|
| 600 |
+
"ur16e",
|
| 601 |
+
"ur5e",
|
| 602 |
+
"visuals",
|
| 603 |
+
"wrist",
|
| 604 |
+
"wrist_1_joint",
|
| 605 |
+
"wrist_2_joint",
|
| 606 |
+
"wrist_3_joint"
|
| 607 |
+
],
|
| 608 |
+
"ignored_prim_substrings": [
|
| 609 |
+
"base_link",
|
| 610 |
+
"caster",
|
| 611 |
+
"defaultgroundplane",
|
| 612 |
+
"desk",
|
| 613 |
+
"floor",
|
| 614 |
+
"ground",
|
| 615 |
+
"groundplane",
|
| 616 |
+
"link0",
|
| 617 |
+
"table",
|
| 618 |
+
"wheel",
|
| 619 |
+
"workbench"
|
| 620 |
+
],
|
| 621 |
+
"enabled": true
|
| 622 |
+
},
|
| 623 |
+
"status": "active",
|
| 624 |
+
"passed": true,
|
| 625 |
+
"source_missing": false,
|
| 626 |
+
"forbidden": [],
|
| 627 |
+
"disturbances": [],
|
| 628 |
+
"last_frame": {
|
| 629 |
+
"passed": true,
|
| 630 |
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"source_missing": false,
|
| 631 |
+
"forbidden": [],
|
| 632 |
+
"allowed": [],
|
| 633 |
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"ignored": [],
|
| 634 |
+
"failed_keys": []
|
| 635 |
+
},
|
| 636 |
+
"failed_keys": []
|
| 637 |
+
}
|
| 638 |
+
},
|
| 639 |
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"gripper": null,
|
| 640 |
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"post_done_wait_frames": 0,
|
| 641 |
+
"post_done_wait_exhausted": false
|
| 642 |
+
},
|
| 643 |
+
"physical_semantics": {
|
| 644 |
+
"skill": "place",
|
| 645 |
+
"target": "inspection_platform",
|
| 646 |
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"attach_used": false,
|
| 647 |
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"attach_object": null,
|
| 648 |
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"attach_object_path": null,
|
| 649 |
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"attach_allowed": false,
|
| 650 |
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"ordinary_object_physical_only": true
|
| 651 |
+
}
|
| 652 |
+
}
|
| 653 |
+
],
|
| 654 |
+
"physical_semantics": {
|
| 655 |
+
"attach_records": [],
|
| 656 |
+
"ordinary_attach_violations": [],
|
| 657 |
+
"forbidden_shortcuts_absent": true
|
| 658 |
+
},
|
| 659 |
+
"h5_episode_index": 79,
|
| 660 |
+
"reproducibility": {
|
| 661 |
+
"enabled": true,
|
| 662 |
+
"action_seed": 256126101476888679,
|
| 663 |
+
"physical_seed": 2666459563728337380,
|
| 664 |
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"layout_id": "layout_00008",
|
| 665 |
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"step_seeds": [
|
| 666 |
+
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|
| 667 |
+
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|
| 668 |
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|
| 669 |
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],
|
| 670 |
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"workflow_spec_digest": "752a0a59dc3da77d831183cb64ea56a1cf7e1df37ab8303a140300c993efa1c3",
|
| 671 |
+
"strict_task_state": false,
|
| 672 |
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"allow_physical_randomization": true,
|
| 673 |
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"seed_source": "workflow.reproducibility",
|
| 674 |
+
"task_island_state_digest": "76e97f218ecab1ea5056f6ab66f4d47333e3112d67c3f2eee1f2124470f1cfc0",
|
| 675 |
+
"visual_seed": 6563808208239515938,
|
| 676 |
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"episode_index": 79,
|
| 677 |
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"physical_randomization_enabled": true,
|
| 678 |
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"motion_controller_type": "ik_servo",
|
| 679 |
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"runtime_step_seeds": [
|
| 680 |
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|
| 681 |
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|
| 682 |
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|
| 683 |
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],
|
| 684 |
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"runtime_workflow_digest": "21e8588a6f182260e9eb92f16466ba3ed1e08b1d98acc4737cda52b213a5b79a"
|
| 685 |
+
}
|
| 686 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00008/results/episode_7_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00008/results/episode_80_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"episode": 80,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_a",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_a",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_a",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.28268401290190426,
|
| 26 |
+
-0.08930760547727262,
|
| 27 |
+
1.0488758909576847
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0488758909576847,
|
| 30 |
+
"required_z": 0.8611065676194106,
|
| 31 |
+
"initial_z": 0.7611065676194106,
|
| 32 |
+
"lift_margin": 0.18776932333827412,
|
| 33 |
+
"gripper_z": 1.0526339732334988,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.27825257159522776,
|
| 38 |
+
-0.0938156801084745,
|
| 39 |
+
1.0526339732334988
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004431441306676498,
|
| 43 |
+
0.004508074631201883,
|
| 44 |
+
-0.0037580822758140897
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006321424596956346,
|
| 47 |
+
"object_to_gripper_z": -0.0037580822758140897,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.28268401290190426,
|
| 51 |
+
-0.11321448286493918,
|
| 52 |
+
1.0488758909576847
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.27138513947884935,
|
| 56 |
+
-0.08930760547727262,
|
| 57 |
+
1.0488758909576847
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.2770345761903768,
|
| 61 |
+
-0.1012610441711059,
|
| 62 |
+
1.0488758909576847
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005649436711527456,
|
| 66 |
+
0.01195343869383328,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.026442453121054015,
|
| 70 |
+
"fingertip_max_gap": 0.09256145353211234,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013221226560527008,
|
| 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": 1.0488758909576847,
|
| 78 |
+
"object_top_z": 1.0990850241953598,
|
| 79 |
+
"finger_top_clearance": 0.05020913323767506,
|
| 80 |
+
"fingertip_min_top_clearance": 0.015062739971302535,
|
| 81 |
+
"object_projection_between_fingers": 0.8174142832426502,
|
| 82 |
+
"object_to_finger_line_xy": 0.010215420646001354,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.04878072676605617,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 1.7304086844679,
|
| 89 |
+
"object_max_tilt_deg": 15.0,
|
| 90 |
+
"object_upright_axis_local": [
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
1.0
|
| 94 |
+
],
|
| 95 |
+
"stable_success_frames": 207,
|
| 96 |
+
"max_stable_success_frames": 207,
|
| 97 |
+
"required_stable_lift_frames": 5
|
| 98 |
+
},
|
| 99 |
+
"failed_keys": [],
|
| 100 |
+
"failure_code": null,
|
| 101 |
+
"failure_messages": {},
|
| 102 |
+
"safety": {
|
| 103 |
+
"policy": {
|
| 104 |
+
"skill": "pick",
|
| 105 |
+
"target_object": "beaker_a",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_a"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/beaker_2"
|
| 112 |
+
],
|
| 113 |
+
"allowed_prim_substrings": [],
|
| 114 |
+
"robot_prim_substrings": [
|
| 115 |
+
"Robotiq2F85",
|
| 116 |
+
"Robotiq_2F_85",
|
| 117 |
+
"contact_sensor",
|
| 118 |
+
"dummy_base_prismatic_x_joint",
|
| 119 |
+
"dummy_base_prismatic_y_joint",
|
| 120 |
+
"dummy_base_revolute_z_joint",
|
| 121 |
+
"elbow_joint",
|
| 122 |
+
"festo",
|
| 123 |
+
"finger",
|
| 124 |
+
"fr3",
|
| 125 |
+
"fr3_duo_mobile",
|
| 126 |
+
"fr3_joint1",
|
| 127 |
+
"fr3_joint2",
|
| 128 |
+
"fr3_joint3",
|
| 129 |
+
"fr3_joint4",
|
| 130 |
+
"fr3_joint5",
|
| 131 |
+
"fr3_joint6",
|
| 132 |
+
"fr3_joint7",
|
| 133 |
+
"fr3_leftfinger",
|
| 134 |
+
"fr3_rightfinger",
|
| 135 |
+
"franka",
|
| 136 |
+
"geometry",
|
| 137 |
+
"gripper",
|
| 138 |
+
"gripper_center",
|
| 139 |
+
"joint1",
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"failed_keys": [],
|
| 522 |
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"failure_code": null,
|
| 523 |
+
"failure_messages": {},
|
| 524 |
+
"safety": {
|
| 525 |
+
"policy": {
|
| 526 |
+
"skill": "place",
|
| 527 |
+
"target_object": "inspection_platform",
|
| 528 |
+
"held_object": "beaker_a",
|
| 529 |
+
"allowed_objects": [
|
| 530 |
+
"beaker_a",
|
| 531 |
+
"inspection_platform"
|
| 532 |
+
],
|
| 533 |
+
"allowed_object_paths": [
|
| 534 |
+
"/World/beaker_2",
|
| 535 |
+
"/World/target_plat"
|
| 536 |
+
],
|
| 537 |
+
"allowed_prim_substrings": [],
|
| 538 |
+
"robot_prim_substrings": [
|
| 539 |
+
"Robotiq2F85",
|
| 540 |
+
"Robotiq_2F_85",
|
| 541 |
+
"contact_sensor",
|
| 542 |
+
"dummy_base_prismatic_x_joint",
|
| 543 |
+
"dummy_base_prismatic_y_joint",
|
| 544 |
+
"dummy_base_revolute_z_joint",
|
| 545 |
+
"elbow_joint",
|
| 546 |
+
"festo",
|
| 547 |
+
"finger",
|
| 548 |
+
"fr3",
|
| 549 |
+
"fr3_duo_mobile",
|
| 550 |
+
"fr3_joint1",
|
| 551 |
+
"fr3_joint2",
|
| 552 |
+
"fr3_joint3",
|
| 553 |
+
"fr3_joint4",
|
| 554 |
+
"fr3_joint5",
|
| 555 |
+
"fr3_joint6",
|
| 556 |
+
"fr3_joint7",
|
| 557 |
+
"fr3_leftfinger",
|
| 558 |
+
"fr3_rightfinger",
|
| 559 |
+
"franka",
|
| 560 |
+
"geometry",
|
| 561 |
+
"gripper",
|
| 562 |
+
"gripper_center",
|
| 563 |
+
"joint1",
|
| 564 |
+
"joint2",
|
| 565 |
+
"joint3",
|
| 566 |
+
"joint4",
|
| 567 |
+
"joint5",
|
| 568 |
+
"joint6",
|
| 569 |
+
"joint7",
|
| 570 |
+
"left_inner_finger",
|
| 571 |
+
"lift2",
|
| 572 |
+
"mobile_rotate",
|
| 573 |
+
"mobile_translate_x",
|
| 574 |
+
"mobile_translate_y",
|
| 575 |
+
"panda_joint1",
|
| 576 |
+
"panda_joint2",
|
| 577 |
+
"panda_joint3",
|
| 578 |
+
"panda_joint4",
|
| 579 |
+
"panda_joint5",
|
| 580 |
+
"panda_joint6",
|
| 581 |
+
"panda_joint7",
|
| 582 |
+
"panda_leftfinger",
|
| 583 |
+
"panda_leftfingertip",
|
| 584 |
+
"panda_rightfinger",
|
| 585 |
+
"panda_rightfingertip",
|
| 586 |
+
"ridgebase",
|
| 587 |
+
"ridgebase_festo",
|
| 588 |
+
"ridgebase_fr3",
|
| 589 |
+
"ridgebase_rizon4",
|
| 590 |
+
"ridgebase_ur16e",
|
| 591 |
+
"ridgebase_ur5e",
|
| 592 |
+
"right_inner_finger",
|
| 593 |
+
"rizon4",
|
| 594 |
+
"robot",
|
| 595 |
+
"robotiq_2f85",
|
| 596 |
+
"shoulder_lift_joint",
|
| 597 |
+
"shoulder_pan_joint",
|
| 598 |
+
"split_aloha",
|
| 599 |
+
"tool_center",
|
| 600 |
+
"ur16e",
|
| 601 |
+
"ur5e",
|
| 602 |
+
"visuals",
|
| 603 |
+
"wrist",
|
| 604 |
+
"wrist_1_joint",
|
| 605 |
+
"wrist_2_joint",
|
| 606 |
+
"wrist_3_joint"
|
| 607 |
+
],
|
| 608 |
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"ignored_prim_substrings": [
|
| 609 |
+
"base_link",
|
| 610 |
+
"caster",
|
| 611 |
+
"defaultgroundplane",
|
| 612 |
+
"desk",
|
| 613 |
+
"floor",
|
| 614 |
+
"ground",
|
| 615 |
+
"groundplane",
|
| 616 |
+
"link0",
|
| 617 |
+
"table",
|
| 618 |
+
"wheel",
|
| 619 |
+
"workbench"
|
| 620 |
+
],
|
| 621 |
+
"enabled": true
|
| 622 |
+
},
|
| 623 |
+
"status": "active",
|
| 624 |
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"passed": true,
|
| 625 |
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"source_missing": false,
|
| 626 |
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"forbidden": [],
|
| 627 |
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"disturbances": [],
|
| 628 |
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"last_frame": {
|
| 629 |
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"passed": true,
|
| 630 |
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"source_missing": false,
|
| 631 |
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"forbidden": [],
|
| 632 |
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"allowed": [],
|
| 633 |
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"ignored": [],
|
| 634 |
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"failed_keys": []
|
| 635 |
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},
|
| 636 |
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"failed_keys": []
|
| 637 |
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}
|
| 638 |
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},
|
| 639 |
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"gripper": null,
|
| 640 |
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"post_done_wait_frames": 0,
|
| 641 |
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"post_done_wait_exhausted": false
|
| 642 |
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},
|
| 643 |
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"physical_semantics": {
|
| 644 |
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"skill": "place",
|
| 645 |
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"target": "inspection_platform",
|
| 646 |
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"attach_used": false,
|
| 647 |
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"attach_object": null,
|
| 648 |
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"attach_object_path": null,
|
| 649 |
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"attach_allowed": false,
|
| 650 |
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"ordinary_object_physical_only": true
|
| 651 |
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}
|
| 652 |
+
}
|
| 653 |
+
],
|
| 654 |
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"physical_semantics": {
|
| 655 |
+
"attach_records": [],
|
| 656 |
+
"ordinary_attach_violations": [],
|
| 657 |
+
"forbidden_shortcuts_absent": true
|
| 658 |
+
},
|
| 659 |
+
"h5_episode_index": 80,
|
| 660 |
+
"reproducibility": {
|
| 661 |
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"enabled": true,
|
| 662 |
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"action_seed": 256126101476888679,
|
| 663 |
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"physical_seed": 2666459563728337380,
|
| 664 |
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"layout_id": "layout_00008",
|
| 665 |
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"step_seeds": [
|
| 666 |
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|
| 667 |
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|
| 668 |
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|
| 669 |
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],
|
| 670 |
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"workflow_spec_digest": "752a0a59dc3da77d831183cb64ea56a1cf7e1df37ab8303a140300c993efa1c3",
|
| 671 |
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"strict_task_state": false,
|
| 672 |
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"allow_physical_randomization": true,
|
| 673 |
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"seed_source": "workflow.reproducibility",
|
| 674 |
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"task_island_state_digest": "ba2fce6804111fb60bf64151dbac424cd5385420c1c889ecc39f0d3ac7339cfd",
|
| 675 |
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"visual_seed": 1603657642146631763,
|
| 676 |
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"episode_index": 80,
|
| 677 |
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"physical_randomization_enabled": true,
|
| 678 |
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"motion_controller_type": "ik_servo",
|
| 679 |
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"runtime_step_seeds": [
|
| 680 |
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|
| 681 |
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|
| 682 |
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|
| 683 |
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],
|
| 684 |
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"runtime_workflow_digest": "21e8588a6f182260e9eb92f16466ba3ed1e08b1d98acc4737cda52b213a5b79a"
|
| 685 |
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}
|
| 686 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00008/results/episode_81_success.json
ADDED
|
@@ -0,0 +1,686 @@
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| 18 |
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|
ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00008/results/episode_82_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 82,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_a",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_a",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_a",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.2846977388876381,
|
| 26 |
+
-0.09082599968000792,
|
| 27 |
+
1.050284020042632
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.050284020042632,
|
| 30 |
+
"required_z": 0.8611063888054763,
|
| 31 |
+
"initial_z": 0.7611063888054763,
|
| 32 |
+
"lift_margin": 0.1891776312371557,
|
| 33 |
+
"gripper_z": 1.05410590069176,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.28027033225529185,
|
| 38 |
+
-0.09528213606530984,
|
| 39 |
+
1.05410590069176
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.0044274066323462535,
|
| 43 |
+
0.004456136385301929,
|
| 44 |
+
-0.003821880649127918
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006281646358444204,
|
| 47 |
+
"object_to_gripper_z": -0.003821880649127918,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.2846977388876381,
|
| 51 |
+
-0.11498929720107123,
|
| 52 |
+
1.050284020042632
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.2738060981348005,
|
| 56 |
+
-0.09082599968000792,
|
| 57 |
+
1.050284020042632
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.27925191851121933,
|
| 61 |
+
-0.10290764844053957,
|
| 62 |
+
1.050284020042632
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005445820376418775,
|
| 66 |
+
0.012081648760531652,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.026504580460371328,
|
| 70 |
+
"fingertip_max_gap": 0.09345134845904737,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013252290230185646,
|
| 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": 1.050284020042632,
|
| 78 |
+
"object_top_z": 1.1007676887844617,
|
| 79 |
+
"finger_top_clearance": 0.050483668741829746,
|
| 80 |
+
"fingertip_min_top_clearance": 0.015145100622548889,
|
| 81 |
+
"object_projection_between_fingers": 0.8311330155160909,
|
| 82 |
+
"object_to_finger_line_xy": 0.009929527328185693,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.04922567422952369,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 1.8520017703023157,
|
| 89 |
+
"object_max_tilt_deg": 15.0,
|
| 90 |
+
"object_upright_axis_local": [
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
1.0
|
| 94 |
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|
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|
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|
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],
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| 563 |
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| 566 |
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|
| 570 |
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|
| 571 |
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|
| 572 |
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|
| 573 |
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|
| 574 |
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|
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|
| 576 |
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| 577 |
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|
| 578 |
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| 581 |
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| 582 |
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|
| 583 |
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| 584 |
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| 586 |
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| 588 |
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|
| 589 |
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| 592 |
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| 593 |
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| 594 |
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|
| 595 |
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|
| 596 |
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| 597 |
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|
| 598 |
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| 599 |
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|
| 600 |
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|
| 601 |
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| 602 |
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| 603 |
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| 605 |
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|
| 607 |
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| 608 |
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| 609 |
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| 612 |
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| 614 |
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|
| 615 |
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| 617 |
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| 619 |
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| 621 |
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| 622 |
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| 623 |
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| 644 |
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|
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|
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|
| 655 |
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|
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|
| 659 |
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|
| 660 |
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|
| 685 |
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}
|
| 686 |
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}
|
ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00008/results/episode_83_success.json
ADDED
|
@@ -0,0 +1,686 @@
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| 1 |
+
{
|
| 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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| 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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| 42 |
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| 43 |
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| 48 |
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| 49 |
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| 51 |
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| 67 |
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| 93 |
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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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| 105 |
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| 108 |
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| 109 |
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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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| 139 |
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| 140 |
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| 143 |
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| 144 |
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| 145 |
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| 146 |
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| 147 |
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| 148 |
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"mobile_rotate",
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| 149 |
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| 150 |
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"mobile_translate_y",
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| 151 |
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| 152 |
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| 153 |
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| 154 |
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| 155 |
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| 156 |
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| 157 |
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| 158 |
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| 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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"rizon4",
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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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| 184 |
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| 185 |
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| 186 |
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| 187 |
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| 188 |
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| 189 |
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| 190 |
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| 191 |
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| 192 |
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| 193 |
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| 194 |
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| 195 |
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| 196 |
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],
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| 211 |
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},
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"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
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| 216 |
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|
| 249 |
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| 250 |
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| 253 |
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| 254 |
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|
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| 661 |
+
"enabled": true,
|
| 662 |
+
"action_seed": 256126101476888679,
|
| 663 |
+
"physical_seed": 2666459563728337380,
|
| 664 |
+
"layout_id": "layout_00008",
|
| 665 |
+
"step_seeds": [
|
| 666 |
+
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|
| 667 |
+
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|
| 668 |
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|
| 669 |
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],
|
| 670 |
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"workflow_spec_digest": "752a0a59dc3da77d831183cb64ea56a1cf7e1df37ab8303a140300c993efa1c3",
|
| 671 |
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"strict_task_state": false,
|
| 672 |
+
"allow_physical_randomization": true,
|
| 673 |
+
"seed_source": "workflow.reproducibility",
|
| 674 |
+
"task_island_state_digest": "2a65966b4b5426188d2b96a74f0730f22b5c425ff1b3d01d9f8609a54a307f73",
|
| 675 |
+
"visual_seed": 7943018461386481432,
|
| 676 |
+
"episode_index": 83,
|
| 677 |
+
"physical_randomization_enabled": true,
|
| 678 |
+
"motion_controller_type": "ik_servo",
|
| 679 |
+
"runtime_step_seeds": [
|
| 680 |
+
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|
| 681 |
+
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|
| 682 |
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|
| 683 |
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],
|
| 684 |
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"runtime_workflow_digest": "21e8588a6f182260e9eb92f16466ba3ed1e08b1d98acc4737cda52b213a5b79a"
|
| 685 |
+
}
|
| 686 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00008/results/episode_84_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 84,
|
| 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 |
+
0.2815420663281251,
|
| 26 |
+
-0.09281343329622649,
|
| 27 |
+
1.0513126482945983
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0513126482945983,
|
| 30 |
+
"required_z": 0.8611065080147661,
|
| 31 |
+
"initial_z": 0.7611065080147661,
|
| 32 |
+
"lift_margin": 0.19020614027983218,
|
| 33 |
+
"gripper_z": 1.0553871186603416,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.27733316103378,
|
| 38 |
+
-0.09722396676346479,
|
| 39 |
+
1.0553871186603416
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004208905294345144,
|
| 43 |
+
0.004410533467238298,
|
| 44 |
+
-0.004074470365743377
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006096530918677906,
|
| 47 |
+
"object_to_gripper_z": -0.004074470365743377,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.2815420663281251,
|
| 51 |
+
-0.11651668290716324,
|
| 52 |
+
1.0513126482945983
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.27036784331446384,
|
| 56 |
+
-0.09281343329622649,
|
| 57 |
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|
ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00008/results/episode_86_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 86,
|
| 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 |
+
0.287570395161726,
|
| 26 |
+
-0.08831251856362879,
|
| 27 |
+
1.0509313166520298
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0509313166520298,
|
| 30 |
+
"required_z": 0.8611066272240556,
|
| 31 |
+
"initial_z": 0.7611066272240556,
|
| 32 |
+
"lift_margin": 0.18982468942797415,
|
| 33 |
+
"gripper_z": 1.0546904678876106,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.28314970197332345,
|
| 38 |
+
-0.09280684108232413,
|
| 39 |
+
1.0546904678876106
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
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|
| 43 |
+
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|
| 44 |
+
-0.0037591512355807932
|
| 45 |
+
],
|
| 46 |
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"object_to_gripper_xy": 0.006304083055293668,
|
| 47 |
+
"object_to_gripper_z": -0.0037591512355807932,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.287570395161726,
|
| 51 |
+
-0.11225923370174636,
|
| 52 |
+
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|
| 53 |
+
],
|
| 54 |
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"finger_b": [
|
| 55 |
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|
| 56 |
+
-0.08831251856362879,
|
| 57 |
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|
| 58 |
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],
|
| 59 |
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"finger_midpoint": [
|
| 60 |
+
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|
| 61 |
+
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|
| 62 |
+
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|
| 63 |
+
],
|
| 64 |
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|
| 65 |
+
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|
| 66 |
+
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|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.02644842843046856,
|
| 70 |
+
"fingertip_max_gap": 0.09257113706314493,
|
| 71 |
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"finger_z_skew": 0.0,
|
| 72 |
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"fingertip_z_skew_max": 0.035,
|
| 73 |
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"object_to_finger_midpoint_xy": 0.013224214215234285,
|
| 74 |
+
"object_to_finger_midpoint_z": 0.0,
|
| 75 |
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"finger_midpoint_minus_object_z": 0.0,
|
| 76 |
+
"object_position_origin": "center",
|
| 77 |
+
"object_center_z_for_grasp": 1.0509313166520298,
|
| 78 |
+
"object_top_z": 1.1014511960137672,
|
| 79 |
+
"finger_top_clearance": 0.05051987936173741,
|
| 80 |
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"fingertip_min_top_clearance": 0.015155963808521222,
|
| 81 |
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"object_projection_between_fingers": 0.8197702499978021,
|
| 82 |
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"object_to_finger_line_xy": 0.010166212612926898,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.04878556853157247,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 1.2522350797983626,
|
| 89 |
+
"object_max_tilt_deg": 15.0,
|
| 90 |
+
"object_upright_axis_local": [
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
1.0
|
| 94 |
+
],
|
| 95 |
+
"stable_success_frames": 209,
|
| 96 |
+
"max_stable_success_frames": 209,
|
| 97 |
+
"required_stable_lift_frames": 5
|
| 98 |
+
},
|
| 99 |
+
"failed_keys": [],
|
| 100 |
+
"failure_code": null,
|
| 101 |
+
"failure_messages": {},
|
| 102 |
+
"safety": {
|
| 103 |
+
"policy": {
|
| 104 |
+
"skill": "pick",
|
| 105 |
+
"target_object": "beaker_a",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_a"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/beaker_2"
|
| 112 |
+
],
|
| 113 |
+
"allowed_prim_substrings": [],
|
| 114 |
+
"robot_prim_substrings": [
|
| 115 |
+
"Robotiq2F85",
|
| 116 |
+
"Robotiq_2F_85",
|
| 117 |
+
"contact_sensor",
|
| 118 |
+
"dummy_base_prismatic_x_joint",
|
| 119 |
+
"dummy_base_prismatic_y_joint",
|
| 120 |
+
"dummy_base_revolute_z_joint",
|
| 121 |
+
"elbow_joint",
|
| 122 |
+
"festo",
|
| 123 |
+
"finger",
|
| 124 |
+
"fr3",
|
| 125 |
+
"fr3_duo_mobile",
|
| 126 |
+
"fr3_joint1",
|
| 127 |
+
"fr3_joint2",
|
| 128 |
+
"fr3_joint3",
|
| 129 |
+
"fr3_joint4",
|
| 130 |
+
"fr3_joint5",
|
| 131 |
+
"fr3_joint6",
|
| 132 |
+
"fr3_joint7",
|
| 133 |
+
"fr3_leftfinger",
|
| 134 |
+
"fr3_rightfinger",
|
| 135 |
+
"franka",
|
| 136 |
+
"geometry",
|
| 137 |
+
"gripper",
|
| 138 |
+
"gripper_center",
|
| 139 |
+
"joint1",
|
| 140 |
+
"joint2",
|
| 141 |
+
"joint3",
|
| 142 |
+
"joint4",
|
| 143 |
+
"joint5",
|
| 144 |
+
"joint6",
|
| 145 |
+
"joint7",
|
| 146 |
+
"left_inner_finger",
|
| 147 |
+
"lift2",
|
| 148 |
+
"mobile_rotate",
|
| 149 |
+
"mobile_translate_x",
|
| 150 |
+
"mobile_translate_y",
|
| 151 |
+
"panda_joint1",
|
| 152 |
+
"panda_joint2",
|
| 153 |
+
"panda_joint3",
|
| 154 |
+
"panda_joint4",
|
| 155 |
+
"panda_joint5",
|
| 156 |
+
"panda_joint6",
|
| 157 |
+
"panda_joint7",
|
| 158 |
+
"panda_leftfinger",
|
| 159 |
+
"panda_leftfingertip",
|
| 160 |
+
"panda_rightfinger",
|
| 161 |
+
"panda_rightfingertip",
|
| 162 |
+
"ridgebase",
|
| 163 |
+
"ridgebase_festo",
|
| 164 |
+
"ridgebase_fr3",
|
| 165 |
+
"ridgebase_rizon4",
|
| 166 |
+
"ridgebase_ur16e",
|
| 167 |
+
"ridgebase_ur5e",
|
| 168 |
+
"right_inner_finger",
|
| 169 |
+
"rizon4",
|
| 170 |
+
"robot",
|
| 171 |
+
"robotiq_2f85",
|
| 172 |
+
"shoulder_lift_joint",
|
| 173 |
+
"shoulder_pan_joint",
|
| 174 |
+
"split_aloha",
|
| 175 |
+
"tool_center",
|
| 176 |
+
"ur16e",
|
| 177 |
+
"ur5e",
|
| 178 |
+
"visuals",
|
| 179 |
+
"wrist",
|
| 180 |
+
"wrist_1_joint",
|
| 181 |
+
"wrist_2_joint",
|
| 182 |
+
"wrist_3_joint"
|
| 183 |
+
],
|
| 184 |
+
"ignored_prim_substrings": [
|
| 185 |
+
"base_link",
|
| 186 |
+
"caster",
|
| 187 |
+
"defaultgroundplane",
|
| 188 |
+
"desk",
|
| 189 |
+
"floor",
|
| 190 |
+
"ground",
|
| 191 |
+
"groundplane",
|
| 192 |
+
"link0",
|
| 193 |
+
"table",
|
| 194 |
+
"wheel",
|
| 195 |
+
"workbench"
|
| 196 |
+
],
|
| 197 |
+
"enabled": true
|
| 198 |
+
},
|
| 199 |
+
"status": "active",
|
| 200 |
+
"passed": true,
|
| 201 |
+
"source_missing": false,
|
| 202 |
+
"forbidden": [],
|
| 203 |
+
"disturbances": [],
|
| 204 |
+
"last_frame": {
|
| 205 |
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"passed": true,
|
| 206 |
+
"source_missing": false,
|
| 207 |
+
"forbidden": [],
|
| 208 |
+
"allowed": [
|
| 209 |
+
{
|
| 210 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 211 |
+
"b": "/World/beaker_2/mesh"
|
| 212 |
+
},
|
| 213 |
+
{
|
| 214 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 215 |
+
"b": "/World/beaker_2/mesh"
|
| 216 |
+
}
|
| 217 |
+
],
|
| 218 |
+
"ignored": [],
|
| 219 |
+
"failed_keys": []
|
| 220 |
+
},
|
| 221 |
+
"failed_keys": []
|
| 222 |
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}
|
| 223 |
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},
|
| 224 |
+
"gripper": null,
|
| 225 |
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"post_done_wait_frames": 0,
|
| 226 |
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"base_link",
|
| 610 |
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"caster",
|
| 611 |
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"defaultgroundplane",
|
| 612 |
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"desk",
|
| 613 |
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"floor",
|
| 614 |
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"ground",
|
| 615 |
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"groundplane",
|
| 616 |
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"link0",
|
| 617 |
+
"table",
|
| 618 |
+
"wheel",
|
| 619 |
+
"workbench"
|
| 620 |
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],
|
| 621 |
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"enabled": true
|
| 622 |
+
},
|
| 623 |
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"status": "active",
|
| 624 |
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"passed": true,
|
| 625 |
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"source_missing": false,
|
| 626 |
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|
| 627 |
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|
| 628 |
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|
| 629 |
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"passed": true,
|
| 630 |
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"source_missing": false,
|
| 631 |
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"forbidden": [],
|
| 632 |
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|
| 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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"physical_semantics": {
|
| 644 |
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"skill": "place",
|
| 645 |
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"target": "inspection_platform",
|
| 646 |
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"attach_used": false,
|
| 647 |
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|
| 648 |
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|
| 649 |
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|
| 650 |
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"ordinary_object_physical_only": true
|
| 651 |
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|
| 652 |
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}
|
| 653 |
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],
|
| 654 |
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"physical_semantics": {
|
| 655 |
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"attach_records": [],
|
| 656 |
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"ordinary_attach_violations": [],
|
| 657 |
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"forbidden_shortcuts_absent": true
|
| 658 |
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},
|
| 659 |
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"h5_episode_index": 86,
|
| 660 |
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"reproducibility": {
|
| 661 |
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"enabled": true,
|
| 662 |
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"action_seed": 256126101476888679,
|
| 663 |
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|
| 664 |
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|
| 665 |
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"step_seeds": [
|
| 666 |
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|
| 667 |
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| 668 |
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|
| 669 |
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| 670 |
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|
| 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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|
| 680 |
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|
| 681 |
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|
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|
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|
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|
| 685 |
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}
|
| 686 |
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}
|
ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00008/results/episode_87_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 87,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_a",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
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| 14 |
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|
ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00008/results/episode_88_success.json
ADDED
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@@ -0,0 +1,686 @@
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|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 88,
|
| 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 |
+
0.2818325237963808,
|
| 26 |
+
-0.0876646558750167,
|
| 27 |
+
1.0480899930257694
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0480899930257694,
|
| 30 |
+
"required_z": 0.8611063888054764,
|
| 31 |
+
"initial_z": 0.7611063888054764,
|
| 32 |
+
"lift_margin": 0.18698360422029303,
|
| 33 |
+
"gripper_z": 1.0520768731587244,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.2775000323104492,
|
| 38 |
+
-0.09214404306922874,
|
| 39 |
+
1.0520768731587244
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004332491485931622,
|
| 43 |
+
0.004479387194212037,
|
| 44 |
+
-0.003986880132955006
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.00623180488392735,
|
| 47 |
+
"object_to_gripper_z": -0.003986880132955006,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.2818325237963808,
|
| 51 |
+
-0.11146106650355359,
|
| 52 |
+
1.0480899930257694
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.2705484834400831,
|
| 56 |
+
-0.0876646558750167,
|
| 57 |
+
1.0480899930257694
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.27619050361823194,
|
| 61 |
+
-0.09956286118928515,
|
| 62 |
+
1.0480899930257694
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005642020178148854,
|
| 66 |
+
0.01189820531426844,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.026336262558770526,
|
| 70 |
+
"fingertip_max_gap": 0.09249346138271039,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013168131279385263,
|
| 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": 1.0480899930257694,
|
| 78 |
+
"object_top_z": 1.0979470150202044,
|
| 79 |
+
"finger_top_clearance": 0.04985702199443498,
|
| 80 |
+
"fingertip_min_top_clearance": 0.014957106598330477,
|
| 81 |
+
"object_projection_between_fingers": 0.8164218559384956,
|
| 82 |
+
"object_to_finger_line_xy": 0.010195814887105881,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.0487467306913552,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 2.187287010068118,
|
| 89 |
+
"object_max_tilt_deg": 15.0,
|
| 90 |
+
"object_upright_axis_local": [
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
1.0
|
| 94 |
+
],
|
| 95 |
+
"stable_success_frames": 205,
|
| 96 |
+
"max_stable_success_frames": 205,
|
| 97 |
+
"required_stable_lift_frames": 5
|
| 98 |
+
},
|
| 99 |
+
"failed_keys": [],
|
| 100 |
+
"failure_code": null,
|
| 101 |
+
"failure_messages": {},
|
| 102 |
+
"safety": {
|
| 103 |
+
"policy": {
|
| 104 |
+
"skill": "pick",
|
| 105 |
+
"target_object": "beaker_a",
|
| 106 |
+
"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 |
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"wrist_3_joint"
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| 563 |
+
"joint1",
|
| 564 |
+
"joint2",
|
| 565 |
+
"joint3",
|
| 566 |
+
"joint4",
|
| 567 |
+
"joint5",
|
| 568 |
+
"joint6",
|
| 569 |
+
"joint7",
|
| 570 |
+
"left_inner_finger",
|
| 571 |
+
"lift2",
|
| 572 |
+
"mobile_rotate",
|
| 573 |
+
"mobile_translate_x",
|
| 574 |
+
"mobile_translate_y",
|
| 575 |
+
"panda_joint1",
|
| 576 |
+
"panda_joint2",
|
| 577 |
+
"panda_joint3",
|
| 578 |
+
"panda_joint4",
|
| 579 |
+
"panda_joint5",
|
| 580 |
+
"panda_joint6",
|
| 581 |
+
"panda_joint7",
|
| 582 |
+
"panda_leftfinger",
|
| 583 |
+
"panda_leftfingertip",
|
| 584 |
+
"panda_rightfinger",
|
| 585 |
+
"panda_rightfingertip",
|
| 586 |
+
"ridgebase",
|
| 587 |
+
"ridgebase_festo",
|
| 588 |
+
"ridgebase_fr3",
|
| 589 |
+
"ridgebase_rizon4",
|
| 590 |
+
"ridgebase_ur16e",
|
| 591 |
+
"ridgebase_ur5e",
|
| 592 |
+
"right_inner_finger",
|
| 593 |
+
"rizon4",
|
| 594 |
+
"robot",
|
| 595 |
+
"robotiq_2f85",
|
| 596 |
+
"shoulder_lift_joint",
|
| 597 |
+
"shoulder_pan_joint",
|
| 598 |
+
"split_aloha",
|
| 599 |
+
"tool_center",
|
| 600 |
+
"ur16e",
|
| 601 |
+
"ur5e",
|
| 602 |
+
"visuals",
|
| 603 |
+
"wrist",
|
| 604 |
+
"wrist_1_joint",
|
| 605 |
+
"wrist_2_joint",
|
| 606 |
+
"wrist_3_joint"
|
| 607 |
+
],
|
| 608 |
+
"ignored_prim_substrings": [
|
| 609 |
+
"base_link",
|
| 610 |
+
"caster",
|
| 611 |
+
"defaultgroundplane",
|
| 612 |
+
"desk",
|
| 613 |
+
"floor",
|
| 614 |
+
"ground",
|
| 615 |
+
"groundplane",
|
| 616 |
+
"link0",
|
| 617 |
+
"table",
|
| 618 |
+
"wheel",
|
| 619 |
+
"workbench"
|
| 620 |
+
],
|
| 621 |
+
"enabled": true
|
| 622 |
+
},
|
| 623 |
+
"status": "active",
|
| 624 |
+
"passed": true,
|
| 625 |
+
"source_missing": false,
|
| 626 |
+
"forbidden": [],
|
| 627 |
+
"disturbances": [],
|
| 628 |
+
"last_frame": {
|
| 629 |
+
"passed": true,
|
| 630 |
+
"source_missing": false,
|
| 631 |
+
"forbidden": [],
|
| 632 |
+
"allowed": [],
|
| 633 |
+
"ignored": [],
|
| 634 |
+
"failed_keys": []
|
| 635 |
+
},
|
| 636 |
+
"failed_keys": []
|
| 637 |
+
}
|
| 638 |
+
},
|
| 639 |
+
"gripper": null,
|
| 640 |
+
"post_done_wait_frames": 0,
|
| 641 |
+
"post_done_wait_exhausted": false
|
| 642 |
+
},
|
| 643 |
+
"physical_semantics": {
|
| 644 |
+
"skill": "place",
|
| 645 |
+
"target": "inspection_platform",
|
| 646 |
+
"attach_used": false,
|
| 647 |
+
"attach_object": null,
|
| 648 |
+
"attach_object_path": null,
|
| 649 |
+
"attach_allowed": false,
|
| 650 |
+
"ordinary_object_physical_only": true
|
| 651 |
+
}
|
| 652 |
+
}
|
| 653 |
+
],
|
| 654 |
+
"physical_semantics": {
|
| 655 |
+
"attach_records": [],
|
| 656 |
+
"ordinary_attach_violations": [],
|
| 657 |
+
"forbidden_shortcuts_absent": true
|
| 658 |
+
},
|
| 659 |
+
"h5_episode_index": 88,
|
| 660 |
+
"reproducibility": {
|
| 661 |
+
"enabled": true,
|
| 662 |
+
"action_seed": 256126101476888679,
|
| 663 |
+
"physical_seed": 2666459563728337380,
|
| 664 |
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"layout_id": "layout_00008",
|
| 665 |
+
"step_seeds": [
|
| 666 |
+
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|
| 667 |
+
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|
| 668 |
+
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|
| 669 |
+
],
|
| 670 |
+
"workflow_spec_digest": "752a0a59dc3da77d831183cb64ea56a1cf7e1df37ab8303a140300c993efa1c3",
|
| 671 |
+
"strict_task_state": false,
|
| 672 |
+
"allow_physical_randomization": true,
|
| 673 |
+
"seed_source": "workflow.reproducibility",
|
| 674 |
+
"task_island_state_digest": "59c400ab94857577265a5fb1d6f06b5dd1d8e3be8e943c158f5185ba041e69a7",
|
| 675 |
+
"visual_seed": 1649903449584427755,
|
| 676 |
+
"episode_index": 88,
|
| 677 |
+
"physical_randomization_enabled": true,
|
| 678 |
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"motion_controller_type": "ik_servo",
|
| 679 |
+
"runtime_step_seeds": [
|
| 680 |
+
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|
| 681 |
+
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|
| 682 |
+
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|
| 683 |
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],
|
| 684 |
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"runtime_workflow_digest": "21e8588a6f182260e9eb92f16466ba3ed1e08b1d98acc4737cda52b213a5b79a"
|
| 685 |
+
}
|
| 686 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00008/results/episode_89_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00008/results/episode_90_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"episode": 90,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_a",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_a",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_a",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.279929238088998,
|
| 26 |
+
-0.09226945809757067,
|
| 27 |
+
1.0496780018225036
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0496780018225036,
|
| 30 |
+
"required_z": 0.861106508014766,
|
| 31 |
+
"initial_z": 0.761106508014766,
|
| 32 |
+
"lift_margin": 0.18857149380773763,
|
| 33 |
+
"gripper_z": 1.0537776734034308,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.2757577548674466,
|
| 38 |
+
-0.096587936905996,
|
| 39 |
+
1.0537776734034308
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.00417148322155142,
|
| 43 |
+
0.004318478808425327,
|
| 44 |
+
-0.004099671580927167
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006004209480564752,
|
| 47 |
+
"object_to_gripper_z": -0.004099671580927167,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.279929238088998,
|
| 51 |
+
-0.11613150345283695,
|
| 52 |
+
1.0496780018225036
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.26911930451322175,
|
| 56 |
+
-0.09226945809757067,
|
| 57 |
+
1.0496780018225036
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.2745242713011099,
|
| 61 |
+
-0.1042004807752038,
|
| 62 |
+
1.0496780018225036
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005404966787888099,
|
| 66 |
+
0.01193102267763313,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.026196409533550194,
|
| 70 |
+
"fingertip_max_gap": 0.09918258636316443,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.01309820476677508,
|
| 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": 1.0496780018225036,
|
| 78 |
+
"object_top_z": 1.1028256150617035,
|
| 79 |
+
"finger_top_clearance": 0.05314761323919992,
|
| 80 |
+
"fingertip_min_top_clearance": 0.015944283971759943,
|
| 81 |
+
"object_projection_between_fingers": 0.8297204443383178,
|
| 82 |
+
"object_to_finger_line_xy": 0.009846659518062241,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.05209129318158222,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 3.673000569344398,
|
| 89 |
+
"object_max_tilt_deg": 15.0,
|
| 90 |
+
"object_upright_axis_local": [
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
1.0
|
| 94 |
+
],
|
| 95 |
+
"stable_success_frames": 207,
|
| 96 |
+
"max_stable_success_frames": 207,
|
| 97 |
+
"required_stable_lift_frames": 5
|
| 98 |
+
},
|
| 99 |
+
"failed_keys": [],
|
| 100 |
+
"failure_code": null,
|
| 101 |
+
"failure_messages": {},
|
| 102 |
+
"safety": {
|
| 103 |
+
"policy": {
|
| 104 |
+
"skill": "pick",
|
| 105 |
+
"target_object": "beaker_a",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_a"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/beaker_2"
|
| 112 |
+
],
|
| 113 |
+
"allowed_prim_substrings": [],
|
| 114 |
+
"robot_prim_substrings": [
|
| 115 |
+
"Robotiq2F85",
|
| 116 |
+
"Robotiq_2F_85",
|
| 117 |
+
"contact_sensor",
|
| 118 |
+
"dummy_base_prismatic_x_joint",
|
| 119 |
+
"dummy_base_prismatic_y_joint",
|
| 120 |
+
"dummy_base_revolute_z_joint",
|
| 121 |
+
"elbow_joint",
|
| 122 |
+
"festo",
|
| 123 |
+
"finger",
|
| 124 |
+
"fr3",
|
| 125 |
+
"fr3_duo_mobile",
|
| 126 |
+
"fr3_joint1",
|
| 127 |
+
"fr3_joint2",
|
| 128 |
+
"fr3_joint3",
|
| 129 |
+
"fr3_joint4",
|
| 130 |
+
"fr3_joint5",
|
| 131 |
+
"fr3_joint6",
|
| 132 |
+
"fr3_joint7",
|
| 133 |
+
"fr3_leftfinger",
|
| 134 |
+
"fr3_rightfinger",
|
| 135 |
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"required_placed_release_frames": 2,
|
| 518 |
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"placed_release_frames": 174,
|
| 519 |
+
"max_placed_release_frames": 174
|
| 520 |
+
},
|
| 521 |
+
"failed_keys": [],
|
| 522 |
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"failure_code": null,
|
| 523 |
+
"failure_messages": {},
|
| 524 |
+
"safety": {
|
| 525 |
+
"policy": {
|
| 526 |
+
"skill": "place",
|
| 527 |
+
"target_object": "inspection_platform",
|
| 528 |
+
"held_object": "beaker_a",
|
| 529 |
+
"allowed_objects": [
|
| 530 |
+
"beaker_a",
|
| 531 |
+
"inspection_platform"
|
| 532 |
+
],
|
| 533 |
+
"allowed_object_paths": [
|
| 534 |
+
"/World/beaker_2",
|
| 535 |
+
"/World/target_plat"
|
| 536 |
+
],
|
| 537 |
+
"allowed_prim_substrings": [],
|
| 538 |
+
"robot_prim_substrings": [
|
| 539 |
+
"Robotiq2F85",
|
| 540 |
+
"Robotiq_2F_85",
|
| 541 |
+
"contact_sensor",
|
| 542 |
+
"dummy_base_prismatic_x_joint",
|
| 543 |
+
"dummy_base_prismatic_y_joint",
|
| 544 |
+
"dummy_base_revolute_z_joint",
|
| 545 |
+
"elbow_joint",
|
| 546 |
+
"festo",
|
| 547 |
+
"finger",
|
| 548 |
+
"fr3",
|
| 549 |
+
"fr3_duo_mobile",
|
| 550 |
+
"fr3_joint1",
|
| 551 |
+
"fr3_joint2",
|
| 552 |
+
"fr3_joint3",
|
| 553 |
+
"fr3_joint4",
|
| 554 |
+
"fr3_joint5",
|
| 555 |
+
"fr3_joint6",
|
| 556 |
+
"fr3_joint7",
|
| 557 |
+
"fr3_leftfinger",
|
| 558 |
+
"fr3_rightfinger",
|
| 559 |
+
"franka",
|
| 560 |
+
"geometry",
|
| 561 |
+
"gripper",
|
| 562 |
+
"gripper_center",
|
| 563 |
+
"joint1",
|
| 564 |
+
"joint2",
|
| 565 |
+
"joint3",
|
| 566 |
+
"joint4",
|
| 567 |
+
"joint5",
|
| 568 |
+
"joint6",
|
| 569 |
+
"joint7",
|
| 570 |
+
"left_inner_finger",
|
| 571 |
+
"lift2",
|
| 572 |
+
"mobile_rotate",
|
| 573 |
+
"mobile_translate_x",
|
| 574 |
+
"mobile_translate_y",
|
| 575 |
+
"panda_joint1",
|
| 576 |
+
"panda_joint2",
|
| 577 |
+
"panda_joint3",
|
| 578 |
+
"panda_joint4",
|
| 579 |
+
"panda_joint5",
|
| 580 |
+
"panda_joint6",
|
| 581 |
+
"panda_joint7",
|
| 582 |
+
"panda_leftfinger",
|
| 583 |
+
"panda_leftfingertip",
|
| 584 |
+
"panda_rightfinger",
|
| 585 |
+
"panda_rightfingertip",
|
| 586 |
+
"ridgebase",
|
| 587 |
+
"ridgebase_festo",
|
| 588 |
+
"ridgebase_fr3",
|
| 589 |
+
"ridgebase_rizon4",
|
| 590 |
+
"ridgebase_ur16e",
|
| 591 |
+
"ridgebase_ur5e",
|
| 592 |
+
"right_inner_finger",
|
| 593 |
+
"rizon4",
|
| 594 |
+
"robot",
|
| 595 |
+
"robotiq_2f85",
|
| 596 |
+
"shoulder_lift_joint",
|
| 597 |
+
"shoulder_pan_joint",
|
| 598 |
+
"split_aloha",
|
| 599 |
+
"tool_center",
|
| 600 |
+
"ur16e",
|
| 601 |
+
"ur5e",
|
| 602 |
+
"visuals",
|
| 603 |
+
"wrist",
|
| 604 |
+
"wrist_1_joint",
|
| 605 |
+
"wrist_2_joint",
|
| 606 |
+
"wrist_3_joint"
|
| 607 |
+
],
|
| 608 |
+
"ignored_prim_substrings": [
|
| 609 |
+
"base_link",
|
| 610 |
+
"caster",
|
| 611 |
+
"defaultgroundplane",
|
| 612 |
+
"desk",
|
| 613 |
+
"floor",
|
| 614 |
+
"ground",
|
| 615 |
+
"groundplane",
|
| 616 |
+
"link0",
|
| 617 |
+
"table",
|
| 618 |
+
"wheel",
|
| 619 |
+
"workbench"
|
| 620 |
+
],
|
| 621 |
+
"enabled": true
|
| 622 |
+
},
|
| 623 |
+
"status": "active",
|
| 624 |
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"passed": true,
|
| 625 |
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"source_missing": false,
|
| 626 |
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"forbidden": [],
|
| 627 |
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"disturbances": [],
|
| 628 |
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"last_frame": {
|
| 629 |
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"passed": true,
|
| 630 |
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"source_missing": false,
|
| 631 |
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"forbidden": [],
|
| 632 |
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"allowed": [],
|
| 633 |
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"ignored": [],
|
| 634 |
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"failed_keys": []
|
| 635 |
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},
|
| 636 |
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"failed_keys": []
|
| 637 |
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}
|
| 638 |
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},
|
| 639 |
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"gripper": null,
|
| 640 |
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"post_done_wait_frames": 0,
|
| 641 |
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"post_done_wait_exhausted": false
|
| 642 |
+
},
|
| 643 |
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"physical_semantics": {
|
| 644 |
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"skill": "place",
|
| 645 |
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"target": "inspection_platform",
|
| 646 |
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"attach_used": false,
|
| 647 |
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"attach_object": null,
|
| 648 |
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"attach_object_path": null,
|
| 649 |
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"attach_allowed": false,
|
| 650 |
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"ordinary_object_physical_only": true
|
| 651 |
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}
|
| 652 |
+
}
|
| 653 |
+
],
|
| 654 |
+
"physical_semantics": {
|
| 655 |
+
"attach_records": [],
|
| 656 |
+
"ordinary_attach_violations": [],
|
| 657 |
+
"forbidden_shortcuts_absent": true
|
| 658 |
+
},
|
| 659 |
+
"h5_episode_index": 90,
|
| 660 |
+
"reproducibility": {
|
| 661 |
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"enabled": true,
|
| 662 |
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"action_seed": 256126101476888679,
|
| 663 |
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"physical_seed": 2666459563728337380,
|
| 664 |
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"layout_id": "layout_00008",
|
| 665 |
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"step_seeds": [
|
| 666 |
+
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|
| 667 |
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|
| 668 |
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|
| 669 |
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],
|
| 670 |
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"workflow_spec_digest": "752a0a59dc3da77d831183cb64ea56a1cf7e1df37ab8303a140300c993efa1c3",
|
| 671 |
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"strict_task_state": false,
|
| 672 |
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"allow_physical_randomization": true,
|
| 673 |
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"seed_source": "workflow.reproducibility",
|
| 674 |
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"task_island_state_digest": "e908544d8ac480cec27e137acdd3effbd02ff4502ff989968c24ceb467625a9e",
|
| 675 |
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"visual_seed": 4494732393545777105,
|
| 676 |
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"episode_index": 90,
|
| 677 |
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"physical_randomization_enabled": true,
|
| 678 |
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"motion_controller_type": "ik_servo",
|
| 679 |
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"runtime_step_seeds": [
|
| 680 |
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|
| 681 |
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|
| 682 |
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|
| 683 |
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],
|
| 684 |
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"runtime_workflow_digest": "21e8588a6f182260e9eb92f16466ba3ed1e08b1d98acc4737cda52b213a5b79a"
|
| 685 |
+
}
|
| 686 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00008/results/episode_91_success.json
ADDED
|
@@ -0,0 +1,686 @@
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| 1 |
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| 2 |
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| 3 |
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| 4 |
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| 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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| 30 |
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| 32 |
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| 148 |
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|
ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00008/results/episode_93_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 93,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_a",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_a",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_a",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.2808101897857267,
|
| 26 |
+
-0.09418104244929784,
|
| 27 |
+
1.0502112191850583
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0502112191850583,
|
| 30 |
+
"required_z": 0.8611064484101213,
|
| 31 |
+
"initial_z": 0.7611064484101213,
|
| 32 |
+
"lift_margin": 0.18910477077493704,
|
| 33 |
+
"gripper_z": 1.054133633934963,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.2762781516844227,
|
| 38 |
+
-0.0987135575663551,
|
| 39 |
+
1.054133633934963
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004532038101303981,
|
| 43 |
+
0.004532515117057254,
|
| 44 |
+
-0.003922414749904624
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006409607058004689,
|
| 47 |
+
"object_to_gripper_z": -0.003922414749904624,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.2808101897857267,
|
| 51 |
+
-0.11829569896036823,
|
| 52 |
+
1.0502112191850583
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.2696851799723019,
|
| 56 |
+
-0.09418104244929784,
|
| 57 |
+
1.0502112191850583
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.2752476848790143,
|
| 61 |
+
-0.10623837070483304,
|
| 62 |
+
1.0502112191850583
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.0055625049067123955,
|
| 66 |
+
0.012057328255535196,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.02655715538222623,
|
| 70 |
+
"fingertip_max_gap": 0.09544122642336098,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013278577691113114,
|
| 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": 1.0502112191850583,
|
| 78 |
+
"object_top_z": 1.1016987464621237,
|
| 79 |
+
"finger_top_clearance": 0.051487527277065404,
|
| 80 |
+
"fingertip_min_top_clearance": 0.015446258183119604,
|
| 81 |
+
"object_projection_between_fingers": 0.824515930852413,
|
| 82 |
+
"object_to_finger_line_xy": 0.010101827039524496,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.05022061321168049,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 2.3831017381909074,
|
| 89 |
+
"object_max_tilt_deg": 15.0,
|
| 90 |
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| 571 |
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| 572 |
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| 583 |
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| 593 |
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| 594 |
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| 595 |
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| 596 |
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| 597 |
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| 602 |
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| 603 |
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| 612 |
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| 619 |
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|
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| 685 |
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}
|
| 686 |
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}
|
ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00008/results/episode_94_success.json
ADDED
|
@@ -0,0 +1,686 @@
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| 1 |
+
{
|
| 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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"passed": true,
|
| 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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| 53 |
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| 56 |
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| 57 |
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| 65 |
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| 66 |
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| 67 |
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| 68 |
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| 76 |
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| 91 |
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| 92 |
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| 93 |
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| 94 |
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| 96 |
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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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| 108 |
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| 109 |
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| 110 |
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| 111 |
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| 112 |
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| 113 |
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| 114 |
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| 115 |
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| 116 |
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| 117 |
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|
| 118 |
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| 119 |
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| 120 |
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| 121 |
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|
| 122 |
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"festo",
|
| 123 |
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| 124 |
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|
| 125 |
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| 126 |
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|
| 127 |
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|
| 128 |
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| 129 |
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| 130 |
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| 131 |
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|
| 132 |
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|
| 133 |
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|
| 134 |
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| 135 |
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|
| 136 |
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| 137 |
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| 138 |
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| 139 |
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| 140 |
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| 141 |
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| 142 |
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| 143 |
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| 144 |
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| 145 |
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| 146 |
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| 147 |
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"lift2",
|
| 148 |
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"mobile_rotate",
|
| 149 |
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"mobile_translate_x",
|
| 150 |
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"mobile_translate_y",
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| 151 |
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| 152 |
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| 153 |
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| 154 |
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| 155 |
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| 156 |
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| 157 |
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"panda_joint7",
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| 158 |
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"panda_leftfinger",
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| 159 |
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| 160 |
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| 161 |
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| 162 |
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| 163 |
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| 164 |
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| 165 |
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| 166 |
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| 167 |
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| 168 |
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| 169 |
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"rizon4",
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| 170 |
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| 171 |
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|
| 172 |
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|
| 173 |
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|
| 174 |
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|
| 175 |
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|
| 176 |
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| 177 |
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"ur5e",
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| 178 |
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| 179 |
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| 180 |
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| 181 |
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|
| 182 |
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| 183 |
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],
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| 184 |
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| 185 |
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| 186 |
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| 187 |
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|
| 188 |
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|
| 189 |
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| 190 |
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| 191 |
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| 192 |
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| 193 |
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| 194 |
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| 195 |
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| 196 |
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],
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| 197 |
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| 198 |
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{
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| 211 |
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| 212 |
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},
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"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
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| 215 |
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| 216 |
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},
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}
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},
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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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| 248 |
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|
| 249 |
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|
| 250 |
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|
| 251 |
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|
| 252 |
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|
| 253 |
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|
| 254 |
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|
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|
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|
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|
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|
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"forbidden_shortcuts_absent": true
|
| 658 |
+
},
|
| 659 |
+
"h5_episode_index": 94,
|
| 660 |
+
"reproducibility": {
|
| 661 |
+
"enabled": true,
|
| 662 |
+
"action_seed": 256126101476888679,
|
| 663 |
+
"physical_seed": 2666459563728337380,
|
| 664 |
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"layout_id": "layout_00008",
|
| 665 |
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"step_seeds": [
|
| 666 |
+
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|
| 667 |
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|
| 668 |
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|
| 669 |
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],
|
| 670 |
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"workflow_spec_digest": "752a0a59dc3da77d831183cb64ea56a1cf7e1df37ab8303a140300c993efa1c3",
|
| 671 |
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"strict_task_state": false,
|
| 672 |
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"allow_physical_randomization": true,
|
| 673 |
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"seed_source": "workflow.reproducibility",
|
| 674 |
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"task_island_state_digest": "86c0a1b09056259bef3c286d1675710456078c4a2f7b69737e0d30c860a4a407",
|
| 675 |
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"visual_seed": 613301489218111396,
|
| 676 |
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"episode_index": 94,
|
| 677 |
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"physical_randomization_enabled": true,
|
| 678 |
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"motion_controller_type": "ik_servo",
|
| 679 |
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"runtime_step_seeds": [
|
| 680 |
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|
| 681 |
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|
| 682 |
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|
| 683 |
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|
| 684 |
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"runtime_workflow_digest": "21e8588a6f182260e9eb92f16466ba3ed1e08b1d98acc4737cda52b213a5b79a"
|
| 685 |
+
}
|
| 686 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00008/results/episode_95_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 95,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_a",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_a",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_a",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.2877767226878156,
|
| 26 |
+
-0.09320172766282539,
|
| 27 |
+
1.051134150985864
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.051134150985864,
|
| 30 |
+
"required_z": 0.8611065080147661,
|
| 31 |
+
"initial_z": 0.7611065080147661,
|
| 32 |
+
"lift_margin": 0.19002764297109798,
|
| 33 |
+
"gripper_z": 1.0551544143501737,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.2832160101185448,
|
| 38 |
+
-0.09768456667255543,
|
| 39 |
+
1.0551544143501737
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.0045607125692708195,
|
| 43 |
+
0.004482839009730039,
|
| 44 |
+
-0.004020263364309606
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006394993723739081,
|
| 47 |
+
"object_to_gripper_z": -0.004020263364309606,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.2877767226878156,
|
| 51 |
+
-0.1173924094990722,
|
| 52 |
+
1.051134150985864
|
| 53 |
+
],
|
| 54 |
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|
ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00008/results/episode_96_success.json
ADDED
|
@@ -0,0 +1,686 @@
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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_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 |
+
0.2841046604639649,
|
| 26 |
+
-0.0938516620221753,
|
| 27 |
+
1.0500237761185187
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0500237761185187,
|
| 30 |
+
"required_z": 0.8611064484101214,
|
| 31 |
+
"initial_z": 0.7611064484101214,
|
| 32 |
+
"lift_margin": 0.1889173277083973,
|
| 33 |
+
"gripper_z": 1.0537264139078277,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.2799727137403297,
|
| 38 |
+
-0.09816792511376257,
|
| 39 |
+
1.0537264139078277
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004131946723635149,
|
| 43 |
+
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|
| 44 |
+
-0.0037026377893090157
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.005975208013346289,
|
| 47 |
+
"object_to_gripper_z": -0.0037026377893090157,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.2841046604639649,
|
| 51 |
+
-0.11762958548465507,
|
| 52 |
+
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|
| 53 |
+
],
|
| 54 |
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"finger_b": [
|
| 55 |
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0.27320636034519785,
|
| 56 |
+
-0.0938516620221753,
|
| 57 |
+
1.0500237761185187
|
| 58 |
+
],
|
| 59 |
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"finger_midpoint": [
|
| 60 |
+
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|
| 61 |
+
-0.1057406237534152,
|
| 62 |
+
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|
| 63 |
+
],
|
| 64 |
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"object_minus_finger_midpoint": [
|
| 65 |
+
0.005449150059383512,
|
| 66 |
+
0.011888961731239892,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.026156501862180714,
|
| 70 |
+
"fingertip_max_gap": 0.09508930354103257,
|
| 71 |
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"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
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"object_to_finger_midpoint_xy": 0.013078250931090364,
|
| 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": 1.0500237761185187,
|
| 78 |
+
"object_top_z": 1.1014844118638065,
|
| 79 |
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"finger_top_clearance": 0.05146063574528781,
|
| 80 |
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"fingertip_min_top_clearance": 0.015438190723586341,
|
| 81 |
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"object_projection_between_fingers": 0.8263966091208595,
|
| 82 |
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"object_to_finger_line_xy": 0.009907247821615691,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.050044651770516285,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 2.2532778285014117,
|
| 89 |
+
"object_max_tilt_deg": 15.0,
|
| 90 |
+
"object_upright_axis_local": [
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
1.0
|
| 94 |
+
],
|
| 95 |
+
"stable_success_frames": 208,
|
| 96 |
+
"max_stable_success_frames": 208,
|
| 97 |
+
"required_stable_lift_frames": 5
|
| 98 |
+
},
|
| 99 |
+
"failed_keys": [],
|
| 100 |
+
"failure_code": null,
|
| 101 |
+
"failure_messages": {},
|
| 102 |
+
"safety": {
|
| 103 |
+
"policy": {
|
| 104 |
+
"skill": "pick",
|
| 105 |
+
"target_object": "beaker_a",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_a"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/beaker_2"
|
| 112 |
+
],
|
| 113 |
+
"allowed_prim_substrings": [],
|
| 114 |
+
"robot_prim_substrings": [
|
| 115 |
+
"Robotiq2F85",
|
| 116 |
+
"Robotiq_2F_85",
|
| 117 |
+
"contact_sensor",
|
| 118 |
+
"dummy_base_prismatic_x_joint",
|
| 119 |
+
"dummy_base_prismatic_y_joint",
|
| 120 |
+
"dummy_base_revolute_z_joint",
|
| 121 |
+
"elbow_joint",
|
| 122 |
+
"festo",
|
| 123 |
+
"finger",
|
| 124 |
+
"fr3",
|
| 125 |
+
"fr3_duo_mobile",
|
| 126 |
+
"fr3_joint1",
|
| 127 |
+
"fr3_joint2",
|
| 128 |
+
"fr3_joint3",
|
| 129 |
+
"fr3_joint4",
|
| 130 |
+
"fr3_joint5",
|
| 131 |
+
"fr3_joint6",
|
| 132 |
+
"fr3_joint7",
|
| 133 |
+
"fr3_leftfinger",
|
| 134 |
+
"fr3_rightfinger",
|
| 135 |
+
"franka",
|
| 136 |
+
"geometry",
|
| 137 |
+
"gripper",
|
| 138 |
+
"gripper_center",
|
| 139 |
+
"joint1",
|
| 140 |
+
"joint2",
|
| 141 |
+
"joint3",
|
| 142 |
+
"joint4",
|
| 143 |
+
"joint5",
|
| 144 |
+
"joint6",
|
| 145 |
+
"joint7",
|
| 146 |
+
"left_inner_finger",
|
| 147 |
+
"lift2",
|
| 148 |
+
"mobile_rotate",
|
| 149 |
+
"mobile_translate_x",
|
| 150 |
+
"mobile_translate_y",
|
| 151 |
+
"panda_joint1",
|
| 152 |
+
"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 |
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"passed": true,
|
| 206 |
+
"source_missing": false,
|
| 207 |
+
"forbidden": [],
|
| 208 |
+
"allowed": [
|
| 209 |
+
{
|
| 210 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 211 |
+
"b": "/World/beaker_2/mesh"
|
| 212 |
+
},
|
| 213 |
+
{
|
| 214 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 215 |
+
"b": "/World/beaker_2/mesh"
|
| 216 |
+
}
|
| 217 |
+
],
|
| 218 |
+
"ignored": [],
|
| 219 |
+
"failed_keys": []
|
| 220 |
+
},
|
| 221 |
+
"failed_keys": []
|
| 222 |
+
}
|
| 223 |
+
},
|
| 224 |
+
"gripper": null,
|
| 225 |
+
"post_done_wait_frames": 0,
|
| 226 |
+
"post_done_wait_exhausted": false
|
| 227 |
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|
| 611 |
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"defaultgroundplane",
|
| 612 |
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"desk",
|
| 613 |
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"floor",
|
| 614 |
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"ground",
|
| 615 |
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"groundplane",
|
| 616 |
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|
| 617 |
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"table",
|
| 618 |
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"wheel",
|
| 619 |
+
"workbench"
|
| 620 |
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],
|
| 621 |
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"enabled": true
|
| 622 |
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},
|
| 623 |
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"status": "active",
|
| 624 |
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"passed": true,
|
| 625 |
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|
| 626 |
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|
| 627 |
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|
| 628 |
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|
| 629 |
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"passed": true,
|
| 630 |
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"source_missing": false,
|
| 631 |
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"forbidden": [],
|
| 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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"physical_semantics": {
|
| 644 |
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"skill": "place",
|
| 645 |
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"target": "inspection_platform",
|
| 646 |
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"attach_used": false,
|
| 647 |
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"attach_object": null,
|
| 648 |
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|
| 649 |
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"attach_allowed": false,
|
| 650 |
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"ordinary_object_physical_only": true
|
| 651 |
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|
| 652 |
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}
|
| 653 |
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],
|
| 654 |
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"physical_semantics": {
|
| 655 |
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"attach_records": [],
|
| 656 |
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"ordinary_attach_violations": [],
|
| 657 |
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"forbidden_shortcuts_absent": true
|
| 658 |
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},
|
| 659 |
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"h5_episode_index": 96,
|
| 660 |
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"reproducibility": {
|
| 661 |
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"enabled": true,
|
| 662 |
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"action_seed": 256126101476888679,
|
| 663 |
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"physical_seed": 2666459563728337380,
|
| 664 |
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"layout_id": "layout_00008",
|
| 665 |
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"step_seeds": [
|
| 666 |
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|
| 667 |
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|
| 668 |
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| 669 |
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| 670 |
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|
| 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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|
| 680 |
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|
| 681 |
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|
| 682 |
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|
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|
| 684 |
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|
| 685 |
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}
|
| 686 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00008/results/episode_97_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 97,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_a",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
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| 15 |
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|
ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00008/results/episode_9_success.json
ADDED
|
@@ -0,0 +1,686 @@
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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_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 |
+
0.2830017900979506,
|
| 26 |
+
-0.08964627869158258,
|
| 27 |
+
1.0517368027832448
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0517368027832448,
|
| 30 |
+
"required_z": 0.8611064484101212,
|
| 31 |
+
"initial_z": 0.7611064484101212,
|
| 32 |
+
"lift_margin": 0.1906303543731236,
|
| 33 |
+
"gripper_z": 1.0556258358351485,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.27847814634855994,
|
| 38 |
+
-0.09413229908369218,
|
| 39 |
+
1.0556258358351485
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004523643749390682,
|
| 43 |
+
0.004486020392109602,
|
| 44 |
+
-0.0038890330519036898
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006370850157539775,
|
| 47 |
+
"object_to_gripper_z": -0.0038890330519036898,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.2830017900979506,
|
| 51 |
+
-0.11376494252621255,
|
| 52 |
+
1.0517368027832448
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.2719222949154242,
|
| 56 |
+
-0.08964627869158258,
|
| 57 |
+
1.0517368027832448
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.2774620425066874,
|
| 61 |
+
-0.10170561060889757,
|
| 62 |
+
1.0517368027832448
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005539747591263244,
|
| 66 |
+
0.012059331917314994,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.026541762538827642,
|
| 70 |
+
"fingertip_max_gap": 0.09409687854675874,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013270881269413838,
|
| 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": 1.0517368027832448,
|
| 78 |
+
"object_top_z": 1.1027442528168545,
|
| 79 |
+
"finger_top_clearance": 0.051007450033609736,
|
| 80 |
+
"fingertip_min_top_clearance": 0.015302235010082887,
|
| 81 |
+
"object_projection_between_fingers": 0.8257469344093381,
|
| 82 |
+
"object_to_finger_line_xy": 0.010068005821913296,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.049548439273379374,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 1.9677614988046697,
|
| 89 |
+
"object_max_tilt_deg": 15.0,
|
| 90 |
+
"object_upright_axis_local": [
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
1.0
|
| 94 |
+
],
|
| 95 |
+
"stable_success_frames": 210,
|
| 96 |
+
"max_stable_success_frames": 210,
|
| 97 |
+
"required_stable_lift_frames": 5
|
| 98 |
+
},
|
| 99 |
+
"failed_keys": [],
|
| 100 |
+
"failure_code": null,
|
| 101 |
+
"failure_messages": {},
|
| 102 |
+
"safety": {
|
| 103 |
+
"policy": {
|
| 104 |
+
"skill": "pick",
|
| 105 |
+
"target_object": "beaker_a",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_a"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/beaker_2"
|
| 112 |
+
],
|
| 113 |
+
"allowed_prim_substrings": [],
|
| 114 |
+
"robot_prim_substrings": [
|
| 115 |
+
"Robotiq2F85",
|
| 116 |
+
"Robotiq_2F_85",
|
| 117 |
+
"contact_sensor",
|
| 118 |
+
"dummy_base_prismatic_x_joint",
|
| 119 |
+
"dummy_base_prismatic_y_joint",
|
| 120 |
+
"dummy_base_revolute_z_joint",
|
| 121 |
+
"elbow_joint",
|
| 122 |
+
"festo",
|
| 123 |
+
"finger",
|
| 124 |
+
"fr3",
|
| 125 |
+
"fr3_duo_mobile",
|
| 126 |
+
"fr3_joint1",
|
| 127 |
+
"fr3_joint2",
|
| 128 |
+
"fr3_joint3",
|
| 129 |
+
"fr3_joint4",
|
| 130 |
+
"fr3_joint5",
|
| 131 |
+
"fr3_joint6",
|
| 132 |
+
"fr3_joint7",
|
| 133 |
+
"fr3_leftfinger",
|
| 134 |
+
"fr3_rightfinger",
|
| 135 |
+
"franka",
|
| 136 |
+
"geometry",
|
| 137 |
+
"gripper",
|
| 138 |
+
"gripper_center",
|
| 139 |
+
"joint1",
|
| 140 |
+
"joint2",
|
| 141 |
+
"joint3",
|
| 142 |
+
"joint4",
|
| 143 |
+
"joint5",
|
| 144 |
+
"joint6",
|
| 145 |
+
"joint7",
|
| 146 |
+
"left_inner_finger",
|
| 147 |
+
"lift2",
|
| 148 |
+
"mobile_rotate",
|
| 149 |
+
"mobile_translate_x",
|
| 150 |
+
"mobile_translate_y",
|
| 151 |
+
"panda_joint1",
|
| 152 |
+
"panda_joint2",
|
| 153 |
+
"panda_joint3",
|
| 154 |
+
"panda_joint4",
|
| 155 |
+
"panda_joint5",
|
| 156 |
+
"panda_joint6",
|
| 157 |
+
"panda_joint7",
|
| 158 |
+
"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 |
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