Upload folder using huggingface_hub (part 9)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00032/results/episode_89_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00032/results/episode_8_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00032/results/episode_90_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00032/results/episode_91_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00032/results/episode_92_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00032/results/episode_93_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00032/results/episode_94_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00032/results/episode_95_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00032/results/episode_96_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00032/results/episode_97_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00032/results/episode_98_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00032/results/episode_99_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00032/results/episode_9_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00032/results/summary.json +9 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0000.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0001.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0002.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0003.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0004.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0005.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0007.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0008.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0009.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0010.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0011.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0012.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0014.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0015.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0016.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0017.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0018.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0019.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0020.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0021.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0023.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0024.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0025.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0026.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0027.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0028.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0029.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0032.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0033.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0035.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0036.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0037.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0038.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0039.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0042.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0043.h5 +3 -0
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00032/results/episode_89_success.json
ADDED
|
@@ -0,0 +1,686 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 89,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_a",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_a",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_a",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.16148147878565713,
|
| 26 |
+
0.23746502605621161,
|
| 27 |
+
1.049047083332677
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.049047083332677,
|
| 30 |
+
"required_z": 0.8611066272240555,
|
| 31 |
+
"initial_z": 0.7611066272240555,
|
| 32 |
+
"lift_margin": 0.18794045610862153,
|
| 33 |
+
"gripper_z": 1.0549124860339465,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.1587740592237307,
|
| 38 |
+
0.23396426565215328,
|
| 39 |
+
1.0549124860339465
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.0027074195619264385,
|
| 43 |
+
0.003500760404058334,
|
| 44 |
+
-0.005865402701269451
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.004425544496547811,
|
| 47 |
+
"object_to_gripper_z": -0.005865402701269451,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.16148147878565713,
|
| 51 |
+
0.2143766903085288,
|
| 52 |
+
1.049047083332677
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.15199126733991583,
|
| 56 |
+
0.23746502605621161,
|
| 57 |
+
1.049047083332677
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.15673637306278648,
|
| 61 |
+
0.2259208581823702,
|
| 62 |
+
1.049047083332677
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.004745105722870652,
|
| 66 |
+
0.01154416787384141,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.024962679361050323,
|
| 70 |
+
"fingertip_max_gap": 0.0929572578558556,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.012481339680525162,
|
| 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": 1.049047083332677,
|
| 78 |
+
"object_top_z": 1.1000902743384675,
|
| 79 |
+
"finger_top_clearance": 0.05104319100579047,
|
| 80 |
+
"fingertip_min_top_clearance": 0.015312957301737139,
|
| 81 |
+
"object_projection_between_fingers": 0.5,
|
| 82 |
+
"object_to_finger_line_xy": 0.012481339680525162,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.0489786289279278,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 1.1316416565255853,
|
| 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 |
+
"ignored_prim_substrings": [
|
| 185 |
+
"base_link",
|
| 186 |
+
"caster",
|
| 187 |
+
"defaultgroundplane",
|
| 188 |
+
"desk",
|
| 189 |
+
"floor",
|
| 190 |
+
"ground",
|
| 191 |
+
"groundplane",
|
| 192 |
+
"link0",
|
| 193 |
+
"table",
|
| 194 |
+
"wheel",
|
| 195 |
+
"workbench"
|
| 196 |
+
],
|
| 197 |
+
"enabled": true
|
| 198 |
+
},
|
| 199 |
+
"status": "active",
|
| 200 |
+
"passed": true,
|
| 201 |
+
"source_missing": false,
|
| 202 |
+
"forbidden": [],
|
| 203 |
+
"disturbances": [],
|
| 204 |
+
"last_frame": {
|
| 205 |
+
"passed": true,
|
| 206 |
+
"source_missing": false,
|
| 207 |
+
"forbidden": [],
|
| 208 |
+
"allowed": [
|
| 209 |
+
{
|
| 210 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 211 |
+
"b": "/World/beaker_2/mesh"
|
| 212 |
+
},
|
| 213 |
+
{
|
| 214 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 215 |
+
"b": "/World/beaker_2/mesh"
|
| 216 |
+
}
|
| 217 |
+
],
|
| 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 |
+
},
|
| 228 |
+
"physical_semantics": {
|
| 229 |
+
"skill": "pick",
|
| 230 |
+
"target": "beaker_a",
|
| 231 |
+
"attach_used": false,
|
| 232 |
+
"attach_object": null,
|
| 233 |
+
"attach_object_path": null,
|
| 234 |
+
"attach_allowed": false,
|
| 235 |
+
"ordinary_object_physical_only": true
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
{
|
| 239 |
+
"step_index": 1,
|
| 240 |
+
"skill": "shake",
|
| 241 |
+
"target": "beaker_a",
|
| 242 |
+
"success": true,
|
| 243 |
+
"reason": "executed",
|
| 244 |
+
"debug": {
|
| 245 |
+
"arm": null,
|
| 246 |
+
"checker": {
|
| 247 |
+
"checker": "ShakeSuccessChecker",
|
| 248 |
+
"skill": "shake",
|
| 249 |
+
"target": "beaker_a",
|
| 250 |
+
"passed": true,
|
| 251 |
+
"metrics": {
|
| 252 |
+
"held": "beaker_a",
|
| 253 |
+
"force_virtual_attach": false,
|
| 254 |
+
"virtual_attach_allowed": false,
|
| 255 |
+
"gripper_position": [
|
| 256 |
+
0.16272699794655235,
|
| 257 |
+
0.23923400883894025,
|
| 258 |
+
1.2445498999885594
|
| 259 |
+
],
|
| 260 |
+
"held_position": [
|
| 261 |
+
0.16558058544735244,
|
| 262 |
+
0.24248307685297324,
|
| 263 |
+
1.238587254528984
|
| 264 |
+
],
|
| 265 |
+
"object_initial_z": 0.7774145980897915,
|
| 266 |
+
"required_gripper_z": 0.8974145980897915,
|
| 267 |
+
"shake_count": 5,
|
| 268 |
+
"held_shake_count": 5,
|
| 269 |
+
"effective_shake_count": 5,
|
| 270 |
+
"min_shake_count": 3,
|
| 271 |
+
"held_gripper_dist": 0.007365632726462099,
|
| 272 |
+
"max_held_gripper_dist": 0.007381489195171752,
|
| 273 |
+
"held_gripper_max_dist": 0.15,
|
| 274 |
+
"held_gripper_z_dist": 0.005962645459575366,
|
| 275 |
+
"max_held_gripper_z_dist": 0.005995034727527715,
|
| 276 |
+
"held_gripper_z_max_dist": 0.15,
|
| 277 |
+
"held_object_xy_range": 0.08623386273381697,
|
| 278 |
+
"held_object_min_xy_range": 0.04,
|
| 279 |
+
"held_motion_ok": true,
|
| 280 |
+
"held_grasp_geometry_checked": true,
|
| 281 |
+
"held_grasp_geometry_required": true,
|
| 282 |
+
"held_grasp_source": "active_contact_pad_positions",
|
| 283 |
+
"held_grasp_finger_a": [
|
| 284 |
+
0.16558058544735244,
|
| 285 |
+
0.21860627083140743,
|
| 286 |
+
1.238587254528984
|
| 287 |
+
],
|
| 288 |
+
"held_grasp_finger_b": [
|
| 289 |
+
0.15775905121396508,
|
| 290 |
+
0.24248307685297324,
|
| 291 |
+
1.238587254528984
|
| 292 |
+
],
|
| 293 |
+
"held_grasp_midpoint": [
|
| 294 |
+
0.16166981833065874,
|
| 295 |
+
0.23054467384219035,
|
| 296 |
+
1.238587254528984
|
| 297 |
+
],
|
| 298 |
+
"held_grasp_object_position": [
|
| 299 |
+
0.16558058544735244,
|
| 300 |
+
0.24248307685297324,
|
| 301 |
+
1.238587254528984
|
| 302 |
+
],
|
| 303 |
+
"held_grasp_finger_gap": 0.02512525151228404,
|
| 304 |
+
"held_grasp_max_gap": 0.1249237185716629,
|
| 305 |
+
"held_grasp_geometry_frame": "object_local",
|
| 306 |
+
"held_grasp_size_source": "beaker_a_local_size",
|
| 307 |
+
"held_grasp_z_skew": 0.023486039375849074,
|
| 308 |
+
"held_grasp_world_z_skew": 0.0,
|
| 309 |
+
"held_grasp_z_skew_max": 0.08,
|
| 310 |
+
"held_grasp_z_skew_frame": "object_local_up",
|
| 311 |
+
"held_grasp_local_up_axis": [
|
| 312 |
+
-0.045569849723319455,
|
| 313 |
+
-0.9985617629902235,
|
| 314 |
+
0.028245252522345887
|
| 315 |
+
],
|
| 316 |
+
"held_grasp_object_projection_between_fingers": 0.5,
|
| 317 |
+
"held_grasp_object_to_finger_line_xy": 0.0033797894246783314,
|
| 318 |
+
"held_grasp_line_xy_max_dist": 0.04746185928583145,
|
| 319 |
+
"held_grasp_object_top_z": 0.04972025007009506,
|
| 320 |
+
"held_grasp_top_clearance": 0.037620804242549266,
|
| 321 |
+
"held_grasp_min_top_clearance": 0.014916075021028518
|
| 322 |
+
},
|
| 323 |
+
"failed_keys": [],
|
| 324 |
+
"failure_code": null,
|
| 325 |
+
"failure_messages": {},
|
| 326 |
+
"safety": {
|
| 327 |
+
"policy": {
|
| 328 |
+
"skill": "shake",
|
| 329 |
+
"target_object": "beaker_a",
|
| 330 |
+
"held_object": "beaker_a",
|
| 331 |
+
"allowed_objects": [
|
| 332 |
+
"beaker_a"
|
| 333 |
+
],
|
| 334 |
+
"allowed_object_paths": [
|
| 335 |
+
"/World/beaker_2"
|
| 336 |
+
],
|
| 337 |
+
"allowed_prim_substrings": [],
|
| 338 |
+
"robot_prim_substrings": [
|
| 339 |
+
"Robotiq2F85",
|
| 340 |
+
"Robotiq_2F_85",
|
| 341 |
+
"contact_sensor",
|
| 342 |
+
"dummy_base_prismatic_x_joint",
|
| 343 |
+
"dummy_base_prismatic_y_joint",
|
| 344 |
+
"dummy_base_revolute_z_joint",
|
| 345 |
+
"elbow_joint",
|
| 346 |
+
"festo",
|
| 347 |
+
"finger",
|
| 348 |
+
"fr3",
|
| 349 |
+
"fr3_duo_mobile",
|
| 350 |
+
"fr3_joint1",
|
| 351 |
+
"fr3_joint2",
|
| 352 |
+
"fr3_joint3",
|
| 353 |
+
"fr3_joint4",
|
| 354 |
+
"fr3_joint5",
|
| 355 |
+
"fr3_joint6",
|
| 356 |
+
"fr3_joint7",
|
| 357 |
+
"fr3_leftfinger",
|
| 358 |
+
"fr3_rightfinger",
|
| 359 |
+
"franka",
|
| 360 |
+
"geometry",
|
| 361 |
+
"gripper",
|
| 362 |
+
"gripper_center",
|
| 363 |
+
"joint1",
|
| 364 |
+
"joint2",
|
| 365 |
+
"joint3",
|
| 366 |
+
"joint4",
|
| 367 |
+
"joint5",
|
| 368 |
+
"joint6",
|
| 369 |
+
"joint7",
|
| 370 |
+
"left_inner_finger",
|
| 371 |
+
"lift2",
|
| 372 |
+
"mobile_rotate",
|
| 373 |
+
"mobile_translate_x",
|
| 374 |
+
"mobile_translate_y",
|
| 375 |
+
"panda_joint1",
|
| 376 |
+
"panda_joint2",
|
| 377 |
+
"panda_joint3",
|
| 378 |
+
"panda_joint4",
|
| 379 |
+
"panda_joint5",
|
| 380 |
+
"panda_joint6",
|
| 381 |
+
"panda_joint7",
|
| 382 |
+
"panda_leftfinger",
|
| 383 |
+
"panda_leftfingertip",
|
| 384 |
+
"panda_rightfinger",
|
| 385 |
+
"panda_rightfingertip",
|
| 386 |
+
"ridgebase",
|
| 387 |
+
"ridgebase_festo",
|
| 388 |
+
"ridgebase_fr3",
|
| 389 |
+
"ridgebase_rizon4",
|
| 390 |
+
"ridgebase_ur16e",
|
| 391 |
+
"ridgebase_ur5e",
|
| 392 |
+
"right_inner_finger",
|
| 393 |
+
"rizon4",
|
| 394 |
+
"robot",
|
| 395 |
+
"robotiq_2f85",
|
| 396 |
+
"shoulder_lift_joint",
|
| 397 |
+
"shoulder_pan_joint",
|
| 398 |
+
"split_aloha",
|
| 399 |
+
"tool_center",
|
| 400 |
+
"ur16e",
|
| 401 |
+
"ur5e",
|
| 402 |
+
"visuals",
|
| 403 |
+
"wrist",
|
| 404 |
+
"wrist_1_joint",
|
| 405 |
+
"wrist_2_joint",
|
| 406 |
+
"wrist_3_joint"
|
| 407 |
+
],
|
| 408 |
+
"ignored_prim_substrings": [
|
| 409 |
+
"base_link",
|
| 410 |
+
"caster",
|
| 411 |
+
"defaultgroundplane",
|
| 412 |
+
"desk",
|
| 413 |
+
"floor",
|
| 414 |
+
"ground",
|
| 415 |
+
"groundplane",
|
| 416 |
+
"link0",
|
| 417 |
+
"table",
|
| 418 |
+
"wheel",
|
| 419 |
+
"workbench"
|
| 420 |
+
],
|
| 421 |
+
"enabled": true
|
| 422 |
+
},
|
| 423 |
+
"status": "active",
|
| 424 |
+
"passed": true,
|
| 425 |
+
"source_missing": false,
|
| 426 |
+
"forbidden": [],
|
| 427 |
+
"disturbances": [],
|
| 428 |
+
"last_frame": {
|
| 429 |
+
"passed": true,
|
| 430 |
+
"source_missing": false,
|
| 431 |
+
"forbidden": [],
|
| 432 |
+
"allowed": [
|
| 433 |
+
{
|
| 434 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 435 |
+
"b": "/World/beaker_2/mesh"
|
| 436 |
+
},
|
| 437 |
+
{
|
| 438 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 439 |
+
"b": "/World/beaker_2/mesh"
|
| 440 |
+
}
|
| 441 |
+
],
|
| 442 |
+
"ignored": [],
|
| 443 |
+
"failed_keys": []
|
| 444 |
+
},
|
| 445 |
+
"failed_keys": []
|
| 446 |
+
}
|
| 447 |
+
},
|
| 448 |
+
"gripper": null,
|
| 449 |
+
"post_done_wait_frames": 0,
|
| 450 |
+
"post_done_wait_exhausted": false
|
| 451 |
+
},
|
| 452 |
+
"physical_semantics": {
|
| 453 |
+
"skill": "shake",
|
| 454 |
+
"target": "beaker_a",
|
| 455 |
+
"attach_used": false,
|
| 456 |
+
"attach_object": null,
|
| 457 |
+
"attach_object_path": null,
|
| 458 |
+
"attach_allowed": false,
|
| 459 |
+
"ordinary_object_physical_only": true
|
| 460 |
+
}
|
| 461 |
+
},
|
| 462 |
+
{
|
| 463 |
+
"step_index": 2,
|
| 464 |
+
"skill": "place",
|
| 465 |
+
"target": "inspection_platform",
|
| 466 |
+
"success": true,
|
| 467 |
+
"reason": "executed",
|
| 468 |
+
"debug": {
|
| 469 |
+
"arm": null,
|
| 470 |
+
"checker": {
|
| 471 |
+
"checker": "PlaceSuccessChecker",
|
| 472 |
+
"skill": "place",
|
| 473 |
+
"target": "inspection_platform",
|
| 474 |
+
"passed": true,
|
| 475 |
+
"metrics": {
|
| 476 |
+
"held": "beaker_a",
|
| 477 |
+
"target": "inspection_platform",
|
| 478 |
+
"object_position": [
|
| 479 |
+
0.3508159924661455,
|
| 480 |
+
0.24329753045038086,
|
| 481 |
+
0.7671049499702114
|
| 482 |
+
],
|
| 483 |
+
"target_position": [
|
| 484 |
+
0.36053976676441923,
|
| 485 |
+
0.24512217017313456,
|
| 486 |
+
0.7158860691194898
|
| 487 |
+
],
|
| 488 |
+
"target_position_source": "target_object:_xform_position",
|
| 489 |
+
"xy_dist": 0.009893487591421946,
|
| 490 |
+
"xy_threshold": 0.08,
|
| 491 |
+
"gripper_dist": 0.16524837608595477,
|
| 492 |
+
"gripper_away_threshold": 0.04,
|
| 493 |
+
"gripper_away_ok": true,
|
| 494 |
+
"object_z": 0.7671049499702114,
|
| 495 |
+
"min_z": 0.5158860691194898,
|
| 496 |
+
"min_z_margin": 0.2,
|
| 497 |
+
"require_object_upright": true,
|
| 498 |
+
"object_upright_reference_source": "scene_initial",
|
| 499 |
+
"release_fingertip_source": "active_contact_pad_positions",
|
| 500 |
+
"release_finger_gap": 0.075248956878309,
|
| 501 |
+
"release_finger_gap_metric": "3d_contact_pad_distance",
|
| 502 |
+
"release_fingertip_min_gap": 0.09016351459225451,
|
| 503 |
+
"release_gap_margin": 0.02,
|
| 504 |
+
"release_gap_missing_size": false,
|
| 505 |
+
"release_min_pad_clearance": 0.1339220188669745,
|
| 506 |
+
"release_required_pad_clearance": 0.05508175729612726,
|
| 507 |
+
"release_pad_clearance_ok": true,
|
| 508 |
+
"release_gap_ok": false,
|
| 509 |
+
"force_virtual_attach": false,
|
| 510 |
+
"virtual_attach_allowed": false,
|
| 511 |
+
"max_z": 0.8774145980897915,
|
| 512 |
+
"max_z_margin": 0.1,
|
| 513 |
+
"object_tilt_deg": 5.237656884721599,
|
| 514 |
+
"object_max_tilt_deg": 12.0,
|
| 515 |
+
"object_axis_flip_tolerance_deg": 3.0,
|
| 516 |
+
"object_upright_axis_local": null,
|
| 517 |
+
"required_placed_release_frames": 2,
|
| 518 |
+
"placed_release_frames": 128,
|
| 519 |
+
"max_placed_release_frames": 128
|
| 520 |
+
},
|
| 521 |
+
"failed_keys": [],
|
| 522 |
+
"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 |
+
"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": 89,
|
| 660 |
+
"reproducibility": {
|
| 661 |
+
"enabled": true,
|
| 662 |
+
"action_seed": 8965520104066671838,
|
| 663 |
+
"physical_seed": 3697495222794957137,
|
| 664 |
+
"layout_id": "layout_00032",
|
| 665 |
+
"step_seeds": [
|
| 666 |
+
5868908299052723470,
|
| 667 |
+
1147186024122430536,
|
| 668 |
+
7048677080094423649
|
| 669 |
+
],
|
| 670 |
+
"workflow_spec_digest": "41fe1ccdd76518f49a9649d8ad52abbf640a2a9139023383414c5dce78b542b9",
|
| 671 |
+
"strict_task_state": false,
|
| 672 |
+
"allow_physical_randomization": true,
|
| 673 |
+
"seed_source": "workflow.reproducibility",
|
| 674 |
+
"task_island_state_digest": "5b16d4cd66d49028c39e635cf307a1c2fa5ad5b1c395075d33e29ede2fd34d19",
|
| 675 |
+
"visual_seed": 5487886369590637476,
|
| 676 |
+
"episode_index": 89,
|
| 677 |
+
"physical_randomization_enabled": true,
|
| 678 |
+
"motion_controller_type": "ik_servo",
|
| 679 |
+
"runtime_step_seeds": [
|
| 680 |
+
5868908299052723470,
|
| 681 |
+
1147186024122430536,
|
| 682 |
+
7048677080094423649
|
| 683 |
+
],
|
| 684 |
+
"runtime_workflow_digest": "95e4a3a6883347e144f1827ff91137e46eda0b934cef6dd52ac0cf2336bdc1d0"
|
| 685 |
+
}
|
| 686 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00032/results/episode_8_success.json
ADDED
|
@@ -0,0 +1,686 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 8,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_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 |
+
0.16451002157404174,
|
| 26 |
+
0.24257367838160596,
|
| 27 |
+
1.0489316023840618
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0489316023840618,
|
| 30 |
+
"required_z": 0.8611066868287004,
|
| 31 |
+
"initial_z": 0.7611066868287004,
|
| 32 |
+
"lift_margin": 0.1878249155553614,
|
| 33 |
+
"gripper_z": 1.0545936619160134,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.1613831900224002,
|
| 38 |
+
0.2388671225508758,
|
| 39 |
+
1.0545936619160134
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.0031268315516415346,
|
| 43 |
+
0.0037065558307301516,
|
| 44 |
+
-0.0056620595319516465
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.004849291873940018,
|
| 47 |
+
"object_to_gripper_z": -0.0056620595319516465,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.16451002157404174,
|
| 51 |
+
0.21914491135766784,
|
| 52 |
+
1.0489316023840618
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.15478052005439125,
|
| 56 |
+
0.24257367838160596,
|
| 57 |
+
1.0489316023840618
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.15964527081421648,
|
| 61 |
+
0.2308592948696369,
|
| 62 |
+
1.0489316023840618
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.004864750759825259,
|
| 66 |
+
0.011714383511969045,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.025368687866794595,
|
| 70 |
+
"fingertip_max_gap": 0.09095012293576818,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.01268434393339729,
|
| 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": 1.0489316023840618,
|
| 78 |
+
"object_top_z": 1.0987135397997485,
|
| 79 |
+
"finger_top_clearance": 0.049781937415686706,
|
| 80 |
+
"fingertip_min_top_clearance": 0.014934581224706044,
|
| 81 |
+
"object_projection_between_fingers": 0.8529093149908906,
|
| 82 |
+
"object_to_finger_line_xy": 0.008985495251463537,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.04797506146788409,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 0.88577584412187,
|
| 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": 211,
|
| 96 |
+
"max_stable_success_frames": 211,
|
| 97 |
+
"required_stable_lift_frames": 5
|
| 98 |
+
},
|
| 99 |
+
"failed_keys": [],
|
| 100 |
+
"failure_code": null,
|
| 101 |
+
"failure_messages": {},
|
| 102 |
+
"safety": {
|
| 103 |
+
"policy": {
|
| 104 |
+
"skill": "pick",
|
| 105 |
+
"target_object": "beaker_a",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_a"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/beaker_2"
|
| 112 |
+
],
|
| 113 |
+
"allowed_prim_substrings": [],
|
| 114 |
+
"robot_prim_substrings": [
|
| 115 |
+
"Robotiq2F85",
|
| 116 |
+
"Robotiq_2F_85",
|
| 117 |
+
"contact_sensor",
|
| 118 |
+
"dummy_base_prismatic_x_joint",
|
| 119 |
+
"dummy_base_prismatic_y_joint",
|
| 120 |
+
"dummy_base_revolute_z_joint",
|
| 121 |
+
"elbow_joint",
|
| 122 |
+
"festo",
|
| 123 |
+
"finger",
|
| 124 |
+
"fr3",
|
| 125 |
+
"fr3_duo_mobile",
|
| 126 |
+
"fr3_joint1",
|
| 127 |
+
"fr3_joint2",
|
| 128 |
+
"fr3_joint3",
|
| 129 |
+
"fr3_joint4",
|
| 130 |
+
"fr3_joint5",
|
| 131 |
+
"fr3_joint6",
|
| 132 |
+
"fr3_joint7",
|
| 133 |
+
"fr3_leftfinger",
|
| 134 |
+
"fr3_rightfinger",
|
| 135 |
+
"franka",
|
| 136 |
+
"geometry",
|
| 137 |
+
"gripper",
|
| 138 |
+
"gripper_center",
|
| 139 |
+
"joint1",
|
| 140 |
+
"joint2",
|
| 141 |
+
"joint3",
|
| 142 |
+
"joint4",
|
| 143 |
+
"joint5",
|
| 144 |
+
"joint6",
|
| 145 |
+
"joint7",
|
| 146 |
+
"left_inner_finger",
|
| 147 |
+
"lift2",
|
| 148 |
+
"mobile_rotate",
|
| 149 |
+
"mobile_translate_x",
|
| 150 |
+
"mobile_translate_y",
|
| 151 |
+
"panda_joint1",
|
| 152 |
+
"panda_joint2",
|
| 153 |
+
"panda_joint3",
|
| 154 |
+
"panda_joint4",
|
| 155 |
+
"panda_joint5",
|
| 156 |
+
"panda_joint6",
|
| 157 |
+
"panda_joint7",
|
| 158 |
+
"panda_leftfinger",
|
| 159 |
+
"panda_leftfingertip",
|
| 160 |
+
"panda_rightfinger",
|
| 161 |
+
"panda_rightfingertip",
|
| 162 |
+
"ridgebase",
|
| 163 |
+
"ridgebase_festo",
|
| 164 |
+
"ridgebase_fr3",
|
| 165 |
+
"ridgebase_rizon4",
|
| 166 |
+
"ridgebase_ur16e",
|
| 167 |
+
"ridgebase_ur5e",
|
| 168 |
+
"right_inner_finger",
|
| 169 |
+
"rizon4",
|
| 170 |
+
"robot",
|
| 171 |
+
"robotiq_2f85",
|
| 172 |
+
"shoulder_lift_joint",
|
| 173 |
+
"shoulder_pan_joint",
|
| 174 |
+
"split_aloha",
|
| 175 |
+
"tool_center",
|
| 176 |
+
"ur16e",
|
| 177 |
+
"ur5e",
|
| 178 |
+
"visuals",
|
| 179 |
+
"wrist",
|
| 180 |
+
"wrist_1_joint",
|
| 181 |
+
"wrist_2_joint",
|
| 182 |
+
"wrist_3_joint"
|
| 183 |
+
],
|
| 184 |
+
"ignored_prim_substrings": [
|
| 185 |
+
"base_link",
|
| 186 |
+
"caster",
|
| 187 |
+
"defaultgroundplane",
|
| 188 |
+
"desk",
|
| 189 |
+
"floor",
|
| 190 |
+
"ground",
|
| 191 |
+
"groundplane",
|
| 192 |
+
"link0",
|
| 193 |
+
"table",
|
| 194 |
+
"wheel",
|
| 195 |
+
"workbench"
|
| 196 |
+
],
|
| 197 |
+
"enabled": true
|
| 198 |
+
},
|
| 199 |
+
"status": "active",
|
| 200 |
+
"passed": true,
|
| 201 |
+
"source_missing": false,
|
| 202 |
+
"forbidden": [],
|
| 203 |
+
"disturbances": [],
|
| 204 |
+
"last_frame": {
|
| 205 |
+
"passed": true,
|
| 206 |
+
"source_missing": false,
|
| 207 |
+
"forbidden": [],
|
| 208 |
+
"allowed": [
|
| 209 |
+
{
|
| 210 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 211 |
+
"b": "/World/beaker_2/mesh"
|
| 212 |
+
},
|
| 213 |
+
{
|
| 214 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 215 |
+
"b": "/World/beaker_2/mesh"
|
| 216 |
+
}
|
| 217 |
+
],
|
| 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 |
+
},
|
| 228 |
+
"physical_semantics": {
|
| 229 |
+
"skill": "pick",
|
| 230 |
+
"target": "beaker_a",
|
| 231 |
+
"attach_used": false,
|
| 232 |
+
"attach_object": null,
|
| 233 |
+
"attach_object_path": null,
|
| 234 |
+
"attach_allowed": false,
|
| 235 |
+
"ordinary_object_physical_only": true
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
{
|
| 239 |
+
"step_index": 1,
|
| 240 |
+
"skill": "shake",
|
| 241 |
+
"target": "beaker_a",
|
| 242 |
+
"success": true,
|
| 243 |
+
"reason": "executed",
|
| 244 |
+
"debug": {
|
| 245 |
+
"arm": null,
|
| 246 |
+
"checker": {
|
| 247 |
+
"checker": "ShakeSuccessChecker",
|
| 248 |
+
"skill": "shake",
|
| 249 |
+
"target": "beaker_a",
|
| 250 |
+
"passed": true,
|
| 251 |
+
"metrics": {
|
| 252 |
+
"held": "beaker_a",
|
| 253 |
+
"force_virtual_attach": false,
|
| 254 |
+
"virtual_attach_allowed": false,
|
| 255 |
+
"gripper_position": [
|
| 256 |
+
0.16528151789015877,
|
| 257 |
+
0.24418958842140226,
|
| 258 |
+
1.2446907248168895
|
| 259 |
+
],
|
| 260 |
+
"held_position": [
|
| 261 |
+
0.16854635020552086,
|
| 262 |
+
0.24765075167623662,
|
| 263 |
+
1.238927770396272
|
| 264 |
+
],
|
| 265 |
+
"object_initial_z": 0.7774145980897915,
|
| 266 |
+
"required_gripper_z": 0.8974145980897915,
|
| 267 |
+
"shake_count": 5,
|
| 268 |
+
"held_shake_count": 5,
|
| 269 |
+
"effective_shake_count": 5,
|
| 270 |
+
"min_shake_count": 3,
|
| 271 |
+
"held_gripper_dist": 0.007473314176331856,
|
| 272 |
+
"max_held_gripper_dist": 0.007489436448192744,
|
| 273 |
+
"held_gripper_max_dist": 0.15,
|
| 274 |
+
"held_gripper_z_dist": 0.005762954420617472,
|
| 275 |
+
"max_held_gripper_z_dist": 0.005798643803084591,
|
| 276 |
+
"held_gripper_z_max_dist": 0.15,
|
| 277 |
+
"held_object_xy_range": 0.08596112628053704,
|
| 278 |
+
"held_object_min_xy_range": 0.04,
|
| 279 |
+
"held_motion_ok": true,
|
| 280 |
+
"held_grasp_geometry_checked": true,
|
| 281 |
+
"held_grasp_geometry_required": true,
|
| 282 |
+
"held_grasp_source": "active_contact_pad_positions",
|
| 283 |
+
"held_grasp_finger_a": [
|
| 284 |
+
0.16854635020552086,
|
| 285 |
+
0.2235719626037555,
|
| 286 |
+
1.238927770396272
|
| 287 |
+
],
|
| 288 |
+
"held_grasp_finger_b": [
|
| 289 |
+
0.1602851401590394,
|
| 290 |
+
0.24765075167623662,
|
| 291 |
+
1.238927770396272
|
| 292 |
+
],
|
| 293 |
+
"held_grasp_midpoint": [
|
| 294 |
+
0.16441574518228014,
|
| 295 |
+
0.23561135713999606,
|
| 296 |
+
1.238927770396272
|
| 297 |
+
],
|
| 298 |
+
"held_grasp_object_position": [
|
| 299 |
+
0.16854635020552086,
|
| 300 |
+
0.24765075167623662,
|
| 301 |
+
1.238927770396272
|
| 302 |
+
],
|
| 303 |
+
"held_grasp_finger_gap": 0.025456544828965345,
|
| 304 |
+
"held_grasp_max_gap": 0.1249237185716629,
|
| 305 |
+
"held_grasp_geometry_frame": "object_local",
|
| 306 |
+
"held_grasp_size_source": "beaker_a_local_size",
|
| 307 |
+
"held_grasp_z_skew": 0.02375504793956442,
|
| 308 |
+
"held_grasp_world_z_skew": 0.0,
|
| 309 |
+
"held_grasp_z_skew_max": 0.08,
|
| 310 |
+
"held_grasp_z_skew_frame": "object_local_up",
|
| 311 |
+
"held_grasp_local_up_axis": [
|
| 312 |
+
-0.03690794838231447,
|
| 313 |
+
-0.9992177007369846,
|
| 314 |
+
0.014205276488070902
|
| 315 |
+
],
|
| 316 |
+
"held_grasp_object_projection_between_fingers": 0.5,
|
| 317 |
+
"held_grasp_object_to_finger_line_xy": 0.0036874597988982246,
|
| 318 |
+
"held_grasp_line_xy_max_dist": 0.04746185928583145,
|
| 319 |
+
"held_grasp_object_top_z": 0.04972025007009506,
|
| 320 |
+
"held_grasp_top_clearance": 0.03753782178634185,
|
| 321 |
+
"held_grasp_min_top_clearance": 0.014916075021028518
|
| 322 |
+
},
|
| 323 |
+
"failed_keys": [],
|
| 324 |
+
"failure_code": null,
|
| 325 |
+
"failure_messages": {},
|
| 326 |
+
"safety": {
|
| 327 |
+
"policy": {
|
| 328 |
+
"skill": "shake",
|
| 329 |
+
"target_object": "beaker_a",
|
| 330 |
+
"held_object": "beaker_a",
|
| 331 |
+
"allowed_objects": [
|
| 332 |
+
"beaker_a"
|
| 333 |
+
],
|
| 334 |
+
"allowed_object_paths": [
|
| 335 |
+
"/World/beaker_2"
|
| 336 |
+
],
|
| 337 |
+
"allowed_prim_substrings": [],
|
| 338 |
+
"robot_prim_substrings": [
|
| 339 |
+
"Robotiq2F85",
|
| 340 |
+
"Robotiq_2F_85",
|
| 341 |
+
"contact_sensor",
|
| 342 |
+
"dummy_base_prismatic_x_joint",
|
| 343 |
+
"dummy_base_prismatic_y_joint",
|
| 344 |
+
"dummy_base_revolute_z_joint",
|
| 345 |
+
"elbow_joint",
|
| 346 |
+
"festo",
|
| 347 |
+
"finger",
|
| 348 |
+
"fr3",
|
| 349 |
+
"fr3_duo_mobile",
|
| 350 |
+
"fr3_joint1",
|
| 351 |
+
"fr3_joint2",
|
| 352 |
+
"fr3_joint3",
|
| 353 |
+
"fr3_joint4",
|
| 354 |
+
"fr3_joint5",
|
| 355 |
+
"fr3_joint6",
|
| 356 |
+
"fr3_joint7",
|
| 357 |
+
"fr3_leftfinger",
|
| 358 |
+
"fr3_rightfinger",
|
| 359 |
+
"franka",
|
| 360 |
+
"geometry",
|
| 361 |
+
"gripper",
|
| 362 |
+
"gripper_center",
|
| 363 |
+
"joint1",
|
| 364 |
+
"joint2",
|
| 365 |
+
"joint3",
|
| 366 |
+
"joint4",
|
| 367 |
+
"joint5",
|
| 368 |
+
"joint6",
|
| 369 |
+
"joint7",
|
| 370 |
+
"left_inner_finger",
|
| 371 |
+
"lift2",
|
| 372 |
+
"mobile_rotate",
|
| 373 |
+
"mobile_translate_x",
|
| 374 |
+
"mobile_translate_y",
|
| 375 |
+
"panda_joint1",
|
| 376 |
+
"panda_joint2",
|
| 377 |
+
"panda_joint3",
|
| 378 |
+
"panda_joint4",
|
| 379 |
+
"panda_joint5",
|
| 380 |
+
"panda_joint6",
|
| 381 |
+
"panda_joint7",
|
| 382 |
+
"panda_leftfinger",
|
| 383 |
+
"panda_leftfingertip",
|
| 384 |
+
"panda_rightfinger",
|
| 385 |
+
"panda_rightfingertip",
|
| 386 |
+
"ridgebase",
|
| 387 |
+
"ridgebase_festo",
|
| 388 |
+
"ridgebase_fr3",
|
| 389 |
+
"ridgebase_rizon4",
|
| 390 |
+
"ridgebase_ur16e",
|
| 391 |
+
"ridgebase_ur5e",
|
| 392 |
+
"right_inner_finger",
|
| 393 |
+
"rizon4",
|
| 394 |
+
"robot",
|
| 395 |
+
"robotiq_2f85",
|
| 396 |
+
"shoulder_lift_joint",
|
| 397 |
+
"shoulder_pan_joint",
|
| 398 |
+
"split_aloha",
|
| 399 |
+
"tool_center",
|
| 400 |
+
"ur16e",
|
| 401 |
+
"ur5e",
|
| 402 |
+
"visuals",
|
| 403 |
+
"wrist",
|
| 404 |
+
"wrist_1_joint",
|
| 405 |
+
"wrist_2_joint",
|
| 406 |
+
"wrist_3_joint"
|
| 407 |
+
],
|
| 408 |
+
"ignored_prim_substrings": [
|
| 409 |
+
"base_link",
|
| 410 |
+
"caster",
|
| 411 |
+
"defaultgroundplane",
|
| 412 |
+
"desk",
|
| 413 |
+
"floor",
|
| 414 |
+
"ground",
|
| 415 |
+
"groundplane",
|
| 416 |
+
"link0",
|
| 417 |
+
"table",
|
| 418 |
+
"wheel",
|
| 419 |
+
"workbench"
|
| 420 |
+
],
|
| 421 |
+
"enabled": true
|
| 422 |
+
},
|
| 423 |
+
"status": "active",
|
| 424 |
+
"passed": true,
|
| 425 |
+
"source_missing": false,
|
| 426 |
+
"forbidden": [],
|
| 427 |
+
"disturbances": [],
|
| 428 |
+
"last_frame": {
|
| 429 |
+
"passed": true,
|
| 430 |
+
"source_missing": false,
|
| 431 |
+
"forbidden": [],
|
| 432 |
+
"allowed": [
|
| 433 |
+
{
|
| 434 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 435 |
+
"b": "/World/beaker_2/mesh"
|
| 436 |
+
},
|
| 437 |
+
{
|
| 438 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 439 |
+
"b": "/World/beaker_2/mesh"
|
| 440 |
+
}
|
| 441 |
+
],
|
| 442 |
+
"ignored": [],
|
| 443 |
+
"failed_keys": []
|
| 444 |
+
},
|
| 445 |
+
"failed_keys": []
|
| 446 |
+
}
|
| 447 |
+
},
|
| 448 |
+
"gripper": null,
|
| 449 |
+
"post_done_wait_frames": 0,
|
| 450 |
+
"post_done_wait_exhausted": false
|
| 451 |
+
},
|
| 452 |
+
"physical_semantics": {
|
| 453 |
+
"skill": "shake",
|
| 454 |
+
"target": "beaker_a",
|
| 455 |
+
"attach_used": false,
|
| 456 |
+
"attach_object": null,
|
| 457 |
+
"attach_object_path": null,
|
| 458 |
+
"attach_allowed": false,
|
| 459 |
+
"ordinary_object_physical_only": true
|
| 460 |
+
}
|
| 461 |
+
},
|
| 462 |
+
{
|
| 463 |
+
"step_index": 2,
|
| 464 |
+
"skill": "place",
|
| 465 |
+
"target": "inspection_platform",
|
| 466 |
+
"success": true,
|
| 467 |
+
"reason": "executed",
|
| 468 |
+
"debug": {
|
| 469 |
+
"arm": null,
|
| 470 |
+
"checker": {
|
| 471 |
+
"checker": "PlaceSuccessChecker",
|
| 472 |
+
"skill": "place",
|
| 473 |
+
"target": "inspection_platform",
|
| 474 |
+
"passed": true,
|
| 475 |
+
"metrics": {
|
| 476 |
+
"held": "beaker_a",
|
| 477 |
+
"target": "inspection_platform",
|
| 478 |
+
"object_position": [
|
| 479 |
+
0.34524045426965433,
|
| 480 |
+
0.2479118746203667,
|
| 481 |
+
0.7671044467391916
|
| 482 |
+
],
|
| 483 |
+
"target_position": [
|
| 484 |
+
0.3536441869818458,
|
| 485 |
+
0.24904586928790623,
|
| 486 |
+
0.7158860691194898
|
| 487 |
+
],
|
| 488 |
+
"target_position_source": "target_object:_xform_position",
|
| 489 |
+
"xy_dist": 0.008479897841599571,
|
| 490 |
+
"xy_threshold": 0.08,
|
| 491 |
+
"gripper_dist": 0.16412935747719723,
|
| 492 |
+
"gripper_away_threshold": 0.04,
|
| 493 |
+
"gripper_away_ok": true,
|
| 494 |
+
"object_z": 0.7671044467391916,
|
| 495 |
+
"min_z": 0.5158860691194898,
|
| 496 |
+
"min_z_margin": 0.2,
|
| 497 |
+
"require_object_upright": true,
|
| 498 |
+
"object_upright_reference_source": "scene_initial",
|
| 499 |
+
"release_fingertip_source": "active_contact_pad_positions",
|
| 500 |
+
"release_finger_gap": 0.07551886127463442,
|
| 501 |
+
"release_finger_gap_metric": "3d_contact_pad_distance",
|
| 502 |
+
"release_fingertip_min_gap": 0.0884300050167831,
|
| 503 |
+
"release_gap_margin": 0.02,
|
| 504 |
+
"release_gap_missing_size": false,
|
| 505 |
+
"release_min_pad_clearance": 0.1323204304321861,
|
| 506 |
+
"release_required_pad_clearance": 0.05421500250839155,
|
| 507 |
+
"release_pad_clearance_ok": true,
|
| 508 |
+
"release_gap_ok": false,
|
| 509 |
+
"force_virtual_attach": false,
|
| 510 |
+
"virtual_attach_allowed": false,
|
| 511 |
+
"max_z": 0.8774145980897915,
|
| 512 |
+
"max_z_margin": 0.1,
|
| 513 |
+
"object_tilt_deg": 3.4358761091183228,
|
| 514 |
+
"object_max_tilt_deg": 12.0,
|
| 515 |
+
"object_axis_flip_tolerance_deg": 3.0,
|
| 516 |
+
"object_upright_axis_local": null,
|
| 517 |
+
"required_placed_release_frames": 2,
|
| 518 |
+
"placed_release_frames": 127,
|
| 519 |
+
"max_placed_release_frames": 127
|
| 520 |
+
},
|
| 521 |
+
"failed_keys": [],
|
| 522 |
+
"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 |
+
"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": 8,
|
| 660 |
+
"reproducibility": {
|
| 661 |
+
"enabled": true,
|
| 662 |
+
"action_seed": 8965520104066671838,
|
| 663 |
+
"physical_seed": 3697495222794957137,
|
| 664 |
+
"layout_id": "layout_00032",
|
| 665 |
+
"step_seeds": [
|
| 666 |
+
5868908299052723470,
|
| 667 |
+
1147186024122430536,
|
| 668 |
+
7048677080094423649
|
| 669 |
+
],
|
| 670 |
+
"workflow_spec_digest": "41fe1ccdd76518f49a9649d8ad52abbf640a2a9139023383414c5dce78b542b9",
|
| 671 |
+
"strict_task_state": false,
|
| 672 |
+
"allow_physical_randomization": true,
|
| 673 |
+
"seed_source": "workflow.reproducibility",
|
| 674 |
+
"task_island_state_digest": "df8efe304d65eee39cd3932ab3b719c5bd2b23dacbabfd91c563cc952659c775",
|
| 675 |
+
"visual_seed": 1824824176648049409,
|
| 676 |
+
"episode_index": 8,
|
| 677 |
+
"physical_randomization_enabled": true,
|
| 678 |
+
"motion_controller_type": "ik_servo",
|
| 679 |
+
"runtime_step_seeds": [
|
| 680 |
+
5868908299052723470,
|
| 681 |
+
1147186024122430536,
|
| 682 |
+
7048677080094423649
|
| 683 |
+
],
|
| 684 |
+
"runtime_workflow_digest": "95e4a3a6883347e144f1827ff91137e46eda0b934cef6dd52ac0cf2336bdc1d0"
|
| 685 |
+
}
|
| 686 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00032/results/episode_90_success.json
ADDED
|
@@ -0,0 +1,686 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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 |
+
0.16592827411194075,
|
| 26 |
+
0.23574281516021983,
|
| 27 |
+
1.0464662171596157
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0464662171596157,
|
| 30 |
+
"required_z": 0.8611068656426347,
|
| 31 |
+
"initial_z": 0.7611068656426347,
|
| 32 |
+
"lift_margin": 0.18535935151698102,
|
| 33 |
+
"gripper_z": 1.0527278700012364,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.16242442353319883,
|
| 38 |
+
0.2319690081159244,
|
| 39 |
+
1.0527278700012364
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.0035038505787419183,
|
| 43 |
+
0.0037738070442954186,
|
| 44 |
+
-0.006261652841620613
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.005149620227329759,
|
| 47 |
+
"object_to_gripper_z": -0.006261652841620613,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.16592827411194075,
|
| 51 |
+
0.212043997677984,
|
| 52 |
+
1.0464662171596157
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.15613581577326555,
|
| 56 |
+
0.23574281516021983,
|
| 57 |
+
1.0464662171596157
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.16103204494260315,
|
| 61 |
+
0.2238934064191019,
|
| 62 |
+
1.0464662171596157
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.0048962291693376014,
|
| 66 |
+
0.011849408741117923,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.02564227350238307,
|
| 70 |
+
"fingertip_max_gap": 0.1095332130402317,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.012821136751191535,
|
| 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": 1.0464662171596157,
|
| 78 |
+
"object_top_z": 1.104239067320259,
|
| 79 |
+
"finger_top_clearance": 0.05777285016064315,
|
| 80 |
+
"fingertip_min_top_clearance": 0.017331855048192978,
|
| 81 |
+
"object_projection_between_fingers": 0.8541620976944184,
|
| 82 |
+
"object_to_finger_line_xy": 0.009050277185800015,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.05726660652011585,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 7.143333298041008,
|
| 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": 206,
|
| 96 |
+
"max_stable_success_frames": 206,
|
| 97 |
+
"required_stable_lift_frames": 5
|
| 98 |
+
},
|
| 99 |
+
"failed_keys": [],
|
| 100 |
+
"failure_code": null,
|
| 101 |
+
"failure_messages": {},
|
| 102 |
+
"safety": {
|
| 103 |
+
"policy": {
|
| 104 |
+
"skill": "pick",
|
| 105 |
+
"target_object": "beaker_a",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_a"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/beaker_2"
|
| 112 |
+
],
|
| 113 |
+
"allowed_prim_substrings": [],
|
| 114 |
+
"robot_prim_substrings": [
|
| 115 |
+
"Robotiq2F85",
|
| 116 |
+
"Robotiq_2F_85",
|
| 117 |
+
"contact_sensor",
|
| 118 |
+
"dummy_base_prismatic_x_joint",
|
| 119 |
+
"dummy_base_prismatic_y_joint",
|
| 120 |
+
"dummy_base_revolute_z_joint",
|
| 121 |
+
"elbow_joint",
|
| 122 |
+
"festo",
|
| 123 |
+
"finger",
|
| 124 |
+
"fr3",
|
| 125 |
+
"fr3_duo_mobile",
|
| 126 |
+
"fr3_joint1",
|
| 127 |
+
"fr3_joint2",
|
| 128 |
+
"fr3_joint3",
|
| 129 |
+
"fr3_joint4",
|
| 130 |
+
"fr3_joint5",
|
| 131 |
+
"fr3_joint6",
|
| 132 |
+
"fr3_joint7",
|
| 133 |
+
"fr3_leftfinger",
|
| 134 |
+
"fr3_rightfinger",
|
| 135 |
+
"franka",
|
| 136 |
+
"geometry",
|
| 137 |
+
"gripper",
|
| 138 |
+
"gripper_center",
|
| 139 |
+
"joint1",
|
| 140 |
+
"joint2",
|
| 141 |
+
"joint3",
|
| 142 |
+
"joint4",
|
| 143 |
+
"joint5",
|
| 144 |
+
"joint6",
|
| 145 |
+
"joint7",
|
| 146 |
+
"left_inner_finger",
|
| 147 |
+
"lift2",
|
| 148 |
+
"mobile_rotate",
|
| 149 |
+
"mobile_translate_x",
|
| 150 |
+
"mobile_translate_y",
|
| 151 |
+
"panda_joint1",
|
| 152 |
+
"panda_joint2",
|
| 153 |
+
"panda_joint3",
|
| 154 |
+
"panda_joint4",
|
| 155 |
+
"panda_joint5",
|
| 156 |
+
"panda_joint6",
|
| 157 |
+
"panda_joint7",
|
| 158 |
+
"panda_leftfinger",
|
| 159 |
+
"panda_leftfingertip",
|
| 160 |
+
"panda_rightfinger",
|
| 161 |
+
"panda_rightfingertip",
|
| 162 |
+
"ridgebase",
|
| 163 |
+
"ridgebase_festo",
|
| 164 |
+
"ridgebase_fr3",
|
| 165 |
+
"ridgebase_rizon4",
|
| 166 |
+
"ridgebase_ur16e",
|
| 167 |
+
"ridgebase_ur5e",
|
| 168 |
+
"right_inner_finger",
|
| 169 |
+
"rizon4",
|
| 170 |
+
"robot",
|
| 171 |
+
"robotiq_2f85",
|
| 172 |
+
"shoulder_lift_joint",
|
| 173 |
+
"shoulder_pan_joint",
|
| 174 |
+
"split_aloha",
|
| 175 |
+
"tool_center",
|
| 176 |
+
"ur16e",
|
| 177 |
+
"ur5e",
|
| 178 |
+
"visuals",
|
| 179 |
+
"wrist",
|
| 180 |
+
"wrist_1_joint",
|
| 181 |
+
"wrist_2_joint",
|
| 182 |
+
"wrist_3_joint"
|
| 183 |
+
],
|
| 184 |
+
"ignored_prim_substrings": [
|
| 185 |
+
"base_link",
|
| 186 |
+
"caster",
|
| 187 |
+
"defaultgroundplane",
|
| 188 |
+
"desk",
|
| 189 |
+
"floor",
|
| 190 |
+
"ground",
|
| 191 |
+
"groundplane",
|
| 192 |
+
"link0",
|
| 193 |
+
"table",
|
| 194 |
+
"wheel",
|
| 195 |
+
"workbench"
|
| 196 |
+
],
|
| 197 |
+
"enabled": true
|
| 198 |
+
},
|
| 199 |
+
"status": "active",
|
| 200 |
+
"passed": true,
|
| 201 |
+
"source_missing": false,
|
| 202 |
+
"forbidden": [],
|
| 203 |
+
"disturbances": [],
|
| 204 |
+
"last_frame": {
|
| 205 |
+
"passed": true,
|
| 206 |
+
"source_missing": false,
|
| 207 |
+
"forbidden": [],
|
| 208 |
+
"allowed": [
|
| 209 |
+
{
|
| 210 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 211 |
+
"b": "/World/beaker_2/mesh"
|
| 212 |
+
},
|
| 213 |
+
{
|
| 214 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 215 |
+
"b": "/World/beaker_2/mesh"
|
| 216 |
+
}
|
| 217 |
+
],
|
| 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 |
+
},
|
| 228 |
+
"physical_semantics": {
|
| 229 |
+
"skill": "pick",
|
| 230 |
+
"target": "beaker_a",
|
| 231 |
+
"attach_used": false,
|
| 232 |
+
"attach_object": null,
|
| 233 |
+
"attach_object_path": null,
|
| 234 |
+
"attach_allowed": false,
|
| 235 |
+
"ordinary_object_physical_only": true
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
{
|
| 239 |
+
"step_index": 1,
|
| 240 |
+
"skill": "shake",
|
| 241 |
+
"target": "beaker_a",
|
| 242 |
+
"success": true,
|
| 243 |
+
"reason": "executed",
|
| 244 |
+
"debug": {
|
| 245 |
+
"arm": null,
|
| 246 |
+
"checker": {
|
| 247 |
+
"checker": "ShakeSuccessChecker",
|
| 248 |
+
"skill": "shake",
|
| 249 |
+
"target": "beaker_a",
|
| 250 |
+
"passed": true,
|
| 251 |
+
"metrics": {
|
| 252 |
+
"held": "beaker_a",
|
| 253 |
+
"force_virtual_attach": false,
|
| 254 |
+
"virtual_attach_allowed": false,
|
| 255 |
+
"gripper_position": [
|
| 256 |
+
0.1653053693629782,
|
| 257 |
+
0.23897596234107227,
|
| 258 |
+
1.2400538710527589
|
| 259 |
+
],
|
| 260 |
+
"held_position": [
|
| 261 |
+
0.1688185051352763,
|
| 262 |
+
0.2426077660073757,
|
| 263 |
+
1.2336866164000493
|
| 264 |
+
],
|
| 265 |
+
"object_initial_z": 0.7774145980897915,
|
| 266 |
+
"required_gripper_z": 0.8974145980897915,
|
| 267 |
+
"shake_count": 5,
|
| 268 |
+
"held_shake_count": 5,
|
| 269 |
+
"effective_shake_count": 5,
|
| 270 |
+
"min_shake_count": 3,
|
| 271 |
+
"held_gripper_dist": 0.00812859475171617,
|
| 272 |
+
"max_held_gripper_dist": 0.00814219401082061,
|
| 273 |
+
"held_gripper_max_dist": 0.15,
|
| 274 |
+
"held_gripper_z_dist": 0.0063672546527095975,
|
| 275 |
+
"max_held_gripper_z_dist": 0.006401647091976992,
|
| 276 |
+
"held_gripper_z_max_dist": 0.15,
|
| 277 |
+
"held_object_xy_range": 0.08607103895441362,
|
| 278 |
+
"held_object_min_xy_range": 0.04,
|
| 279 |
+
"held_motion_ok": true,
|
| 280 |
+
"held_grasp_geometry_checked": true,
|
| 281 |
+
"held_grasp_geometry_required": true,
|
| 282 |
+
"held_grasp_source": "active_contact_pad_positions",
|
| 283 |
+
"held_grasp_finger_a": [
|
| 284 |
+
0.1688185051352763,
|
| 285 |
+
0.21872319011019917,
|
| 286 |
+
1.2336866164000493
|
| 287 |
+
],
|
| 288 |
+
"held_grasp_finger_b": [
|
| 289 |
+
0.15976326684318498,
|
| 290 |
+
0.2426077660073757,
|
| 291 |
+
1.2336866164000493
|
| 292 |
+
],
|
| 293 |
+
"held_grasp_midpoint": [
|
| 294 |
+
0.16429088598923064,
|
| 295 |
+
0.23066547805878745,
|
| 296 |
+
1.2336866164000493
|
| 297 |
+
],
|
| 298 |
+
"held_grasp_object_position": [
|
| 299 |
+
0.1688185051352763,
|
| 300 |
+
0.2426077660073757,
|
| 301 |
+
1.2336866164000493
|
| 302 |
+
],
|
| 303 |
+
"held_grasp_finger_gap": 0.025543498317860527,
|
| 304 |
+
"held_grasp_max_gap": 0.1249237185716629,
|
| 305 |
+
"held_grasp_geometry_frame": "object_local",
|
| 306 |
+
"held_grasp_size_source": "beaker_a_local_size",
|
| 307 |
+
"held_grasp_z_skew": 0.02438533416156556,
|
| 308 |
+
"held_grasp_world_z_skew": 0.0,
|
| 309 |
+
"held_grasp_z_skew_max": 0.08,
|
| 310 |
+
"held_grasp_z_skew_frame": "object_local_up",
|
| 311 |
+
"held_grasp_local_up_axis": [
|
| 312 |
+
0.07343419662525129,
|
| 313 |
+
-0.9931250240511771,
|
| 314 |
+
0.09115977934019459
|
| 315 |
+
],
|
| 316 |
+
"held_grasp_object_projection_between_fingers": 0.5,
|
| 317 |
+
"held_grasp_object_to_finger_line_xy": 0.00549814893400533,
|
| 318 |
+
"held_grasp_line_xy_max_dist": 0.04746185928583145,
|
| 319 |
+
"held_grasp_object_top_z": 0.04972025007009506,
|
| 320 |
+
"held_grasp_top_clearance": 0.03819254713854222,
|
| 321 |
+
"held_grasp_min_top_clearance": 0.014916075021028518
|
| 322 |
+
},
|
| 323 |
+
"failed_keys": [],
|
| 324 |
+
"failure_code": null,
|
| 325 |
+
"failure_messages": {},
|
| 326 |
+
"safety": {
|
| 327 |
+
"policy": {
|
| 328 |
+
"skill": "shake",
|
| 329 |
+
"target_object": "beaker_a",
|
| 330 |
+
"held_object": "beaker_a",
|
| 331 |
+
"allowed_objects": [
|
| 332 |
+
"beaker_a"
|
| 333 |
+
],
|
| 334 |
+
"allowed_object_paths": [
|
| 335 |
+
"/World/beaker_2"
|
| 336 |
+
],
|
| 337 |
+
"allowed_prim_substrings": [],
|
| 338 |
+
"robot_prim_substrings": [
|
| 339 |
+
"Robotiq2F85",
|
| 340 |
+
"Robotiq_2F_85",
|
| 341 |
+
"contact_sensor",
|
| 342 |
+
"dummy_base_prismatic_x_joint",
|
| 343 |
+
"dummy_base_prismatic_y_joint",
|
| 344 |
+
"dummy_base_revolute_z_joint",
|
| 345 |
+
"elbow_joint",
|
| 346 |
+
"festo",
|
| 347 |
+
"finger",
|
| 348 |
+
"fr3",
|
| 349 |
+
"fr3_duo_mobile",
|
| 350 |
+
"fr3_joint1",
|
| 351 |
+
"fr3_joint2",
|
| 352 |
+
"fr3_joint3",
|
| 353 |
+
"fr3_joint4",
|
| 354 |
+
"fr3_joint5",
|
| 355 |
+
"fr3_joint6",
|
| 356 |
+
"fr3_joint7",
|
| 357 |
+
"fr3_leftfinger",
|
| 358 |
+
"fr3_rightfinger",
|
| 359 |
+
"franka",
|
| 360 |
+
"geometry",
|
| 361 |
+
"gripper",
|
| 362 |
+
"gripper_center",
|
| 363 |
+
"joint1",
|
| 364 |
+
"joint2",
|
| 365 |
+
"joint3",
|
| 366 |
+
"joint4",
|
| 367 |
+
"joint5",
|
| 368 |
+
"joint6",
|
| 369 |
+
"joint7",
|
| 370 |
+
"left_inner_finger",
|
| 371 |
+
"lift2",
|
| 372 |
+
"mobile_rotate",
|
| 373 |
+
"mobile_translate_x",
|
| 374 |
+
"mobile_translate_y",
|
| 375 |
+
"panda_joint1",
|
| 376 |
+
"panda_joint2",
|
| 377 |
+
"panda_joint3",
|
| 378 |
+
"panda_joint4",
|
| 379 |
+
"panda_joint5",
|
| 380 |
+
"panda_joint6",
|
| 381 |
+
"panda_joint7",
|
| 382 |
+
"panda_leftfinger",
|
| 383 |
+
"panda_leftfingertip",
|
| 384 |
+
"panda_rightfinger",
|
| 385 |
+
"panda_rightfingertip",
|
| 386 |
+
"ridgebase",
|
| 387 |
+
"ridgebase_festo",
|
| 388 |
+
"ridgebase_fr3",
|
| 389 |
+
"ridgebase_rizon4",
|
| 390 |
+
"ridgebase_ur16e",
|
| 391 |
+
"ridgebase_ur5e",
|
| 392 |
+
"right_inner_finger",
|
| 393 |
+
"rizon4",
|
| 394 |
+
"robot",
|
| 395 |
+
"robotiq_2f85",
|
| 396 |
+
"shoulder_lift_joint",
|
| 397 |
+
"shoulder_pan_joint",
|
| 398 |
+
"split_aloha",
|
| 399 |
+
"tool_center",
|
| 400 |
+
"ur16e",
|
| 401 |
+
"ur5e",
|
| 402 |
+
"visuals",
|
| 403 |
+
"wrist",
|
| 404 |
+
"wrist_1_joint",
|
| 405 |
+
"wrist_2_joint",
|
| 406 |
+
"wrist_3_joint"
|
| 407 |
+
],
|
| 408 |
+
"ignored_prim_substrings": [
|
| 409 |
+
"base_link",
|
| 410 |
+
"caster",
|
| 411 |
+
"defaultgroundplane",
|
| 412 |
+
"desk",
|
| 413 |
+
"floor",
|
| 414 |
+
"ground",
|
| 415 |
+
"groundplane",
|
| 416 |
+
"link0",
|
| 417 |
+
"table",
|
| 418 |
+
"wheel",
|
| 419 |
+
"workbench"
|
| 420 |
+
],
|
| 421 |
+
"enabled": true
|
| 422 |
+
},
|
| 423 |
+
"status": "active",
|
| 424 |
+
"passed": true,
|
| 425 |
+
"source_missing": false,
|
| 426 |
+
"forbidden": [],
|
| 427 |
+
"disturbances": [],
|
| 428 |
+
"last_frame": {
|
| 429 |
+
"passed": true,
|
| 430 |
+
"source_missing": false,
|
| 431 |
+
"forbidden": [],
|
| 432 |
+
"allowed": [
|
| 433 |
+
{
|
| 434 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 435 |
+
"b": "/World/beaker_2/mesh"
|
| 436 |
+
},
|
| 437 |
+
{
|
| 438 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 439 |
+
"b": "/World/beaker_2/mesh"
|
| 440 |
+
}
|
| 441 |
+
],
|
| 442 |
+
"ignored": [],
|
| 443 |
+
"failed_keys": []
|
| 444 |
+
},
|
| 445 |
+
"failed_keys": []
|
| 446 |
+
}
|
| 447 |
+
},
|
| 448 |
+
"gripper": null,
|
| 449 |
+
"post_done_wait_frames": 0,
|
| 450 |
+
"post_done_wait_exhausted": false
|
| 451 |
+
},
|
| 452 |
+
"physical_semantics": {
|
| 453 |
+
"skill": "shake",
|
| 454 |
+
"target": "beaker_a",
|
| 455 |
+
"attach_used": false,
|
| 456 |
+
"attach_object": null,
|
| 457 |
+
"attach_object_path": null,
|
| 458 |
+
"attach_allowed": false,
|
| 459 |
+
"ordinary_object_physical_only": true
|
| 460 |
+
}
|
| 461 |
+
},
|
| 462 |
+
{
|
| 463 |
+
"step_index": 2,
|
| 464 |
+
"skill": "place",
|
| 465 |
+
"target": "inspection_platform",
|
| 466 |
+
"success": true,
|
| 467 |
+
"reason": "executed",
|
| 468 |
+
"debug": {
|
| 469 |
+
"arm": null,
|
| 470 |
+
"checker": {
|
| 471 |
+
"checker": "PlaceSuccessChecker",
|
| 472 |
+
"skill": "place",
|
| 473 |
+
"target": "inspection_platform",
|
| 474 |
+
"passed": true,
|
| 475 |
+
"metrics": {
|
| 476 |
+
"held": "beaker_a",
|
| 477 |
+
"target": "inspection_platform",
|
| 478 |
+
"object_position": [
|
| 479 |
+
0.3386120207127421,
|
| 480 |
+
0.2356854041464806,
|
| 481 |
+
0.7671063110802422
|
| 482 |
+
],
|
| 483 |
+
"target_position": [
|
| 484 |
+
0.35585163964118216,
|
| 485 |
+
0.2415080629021913,
|
| 486 |
+
0.7158860691194898
|
| 487 |
+
],
|
| 488 |
+
"target_position_source": "target_object:_xform_position",
|
| 489 |
+
"xy_dist": 0.01819636820311359,
|
| 490 |
+
"xy_threshold": 0.08,
|
| 491 |
+
"gripper_dist": 0.1592899975353321,
|
| 492 |
+
"gripper_away_threshold": 0.04,
|
| 493 |
+
"gripper_away_ok": true,
|
| 494 |
+
"object_z": 0.7671063110802422,
|
| 495 |
+
"min_z": 0.5158860691194898,
|
| 496 |
+
"min_z_margin": 0.2,
|
| 497 |
+
"require_object_upright": true,
|
| 498 |
+
"object_upright_reference_source": "scene_initial",
|
| 499 |
+
"release_fingertip_source": "active_contact_pad_positions",
|
| 500 |
+
"release_finger_gap": 0.07538534379922393,
|
| 501 |
+
"release_finger_gap_metric": "3d_contact_pad_distance",
|
| 502 |
+
"release_fingertip_min_gap": 0.08809692850180238,
|
| 503 |
+
"release_gap_margin": 0.02,
|
| 504 |
+
"release_gap_missing_size": false,
|
| 505 |
+
"release_min_pad_clearance": 0.12690893195031738,
|
| 506 |
+
"release_required_pad_clearance": 0.05404846425090119,
|
| 507 |
+
"release_pad_clearance_ok": true,
|
| 508 |
+
"release_gap_ok": false,
|
| 509 |
+
"force_virtual_attach": false,
|
| 510 |
+
"virtual_attach_allowed": false,
|
| 511 |
+
"max_z": 0.8774145980897915,
|
| 512 |
+
"max_z_margin": 0.1,
|
| 513 |
+
"object_tilt_deg": 3.106363099594807,
|
| 514 |
+
"object_max_tilt_deg": 12.0,
|
| 515 |
+
"object_axis_flip_tolerance_deg": 3.0,
|
| 516 |
+
"object_upright_axis_local": null,
|
| 517 |
+
"required_placed_release_frames": 2,
|
| 518 |
+
"placed_release_frames": 124,
|
| 519 |
+
"max_placed_release_frames": 124
|
| 520 |
+
},
|
| 521 |
+
"failed_keys": [],
|
| 522 |
+
"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 |
+
"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": 90,
|
| 660 |
+
"reproducibility": {
|
| 661 |
+
"enabled": true,
|
| 662 |
+
"action_seed": 8965520104066671838,
|
| 663 |
+
"physical_seed": 3697495222794957137,
|
| 664 |
+
"layout_id": "layout_00032",
|
| 665 |
+
"step_seeds": [
|
| 666 |
+
5868908299052723470,
|
| 667 |
+
1147186024122430536,
|
| 668 |
+
7048677080094423649
|
| 669 |
+
],
|
| 670 |
+
"workflow_spec_digest": "41fe1ccdd76518f49a9649d8ad52abbf640a2a9139023383414c5dce78b542b9",
|
| 671 |
+
"strict_task_state": false,
|
| 672 |
+
"allow_physical_randomization": true,
|
| 673 |
+
"seed_source": "workflow.reproducibility",
|
| 674 |
+
"task_island_state_digest": "de4120286a94b944f022b9ff7a6f18e53f7cc2b0976051ebdf963721b2514991",
|
| 675 |
+
"visual_seed": 6171530345157548098,
|
| 676 |
+
"episode_index": 90,
|
| 677 |
+
"physical_randomization_enabled": true,
|
| 678 |
+
"motion_controller_type": "ik_servo",
|
| 679 |
+
"runtime_step_seeds": [
|
| 680 |
+
5868908299052723470,
|
| 681 |
+
1147186024122430536,
|
| 682 |
+
7048677080094423649
|
| 683 |
+
],
|
| 684 |
+
"runtime_workflow_digest": "95e4a3a6883347e144f1827ff91137e46eda0b934cef6dd52ac0cf2336bdc1d0"
|
| 685 |
+
}
|
| 686 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00032/results/episode_91_success.json
ADDED
|
@@ -0,0 +1,686 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 91,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_a",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_a",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_a",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.16731405796574833,
|
| 26 |
+
0.23705571507609927,
|
| 27 |
+
1.0480937711281402
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0480937711281402,
|
| 30 |
+
"required_z": 0.8611065676194107,
|
| 31 |
+
"initial_z": 0.7611065676194108,
|
| 32 |
+
"lift_margin": 0.18698720350872944,
|
| 33 |
+
"gripper_z": 1.0537528346792513,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.16411358285803854,
|
| 38 |
+
0.233216554822187,
|
| 39 |
+
1.0537528346792513
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.0032004751077097937,
|
| 43 |
+
0.0038391602539122605,
|
| 44 |
+
-0.005659063551111121
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.004998218919804301,
|
| 47 |
+
"object_to_gripper_z": -0.005659063551111121,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.16731405796574833,
|
| 51 |
+
0.2137501307469874,
|
| 52 |
+
1.0480937711281402
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.15718094676030842,
|
| 56 |
+
0.23705571507609927,
|
| 57 |
+
1.0480937711281402
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.16224750236302837,
|
| 61 |
+
0.22540292291154335,
|
| 62 |
+
1.0480937711281402
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005066555602719958,
|
| 66 |
+
0.01165279216455592,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.025413189560209805,
|
| 70 |
+
"fingertip_max_gap": 0.09153473813779414,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.01270659478010489,
|
| 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": 1.0480937711281402,
|
| 78 |
+
"object_top_z": 1.0980878043651265,
|
| 79 |
+
"finger_top_clearance": 0.04999403323698637,
|
| 80 |
+
"fingertip_min_top_clearance": 0.014998209971095943,
|
| 81 |
+
"object_projection_between_fingers": 0.8410109311615195,
|
| 82 |
+
"object_to_finger_line_xy": 0.00929273663800187,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.04826736906889707,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 0.9414586572043828,
|
| 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 |
+
"passed": true,
|
| 206 |
+
"source_missing": false,
|
| 207 |
+
"forbidden": [],
|
| 208 |
+
"allowed": [
|
| 209 |
+
{
|
| 210 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 211 |
+
"b": "/World/beaker_2/mesh"
|
| 212 |
+
},
|
| 213 |
+
{
|
| 214 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 215 |
+
"b": "/World/beaker_2/mesh"
|
| 216 |
+
}
|
| 217 |
+
],
|
| 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 |
+
},
|
| 228 |
+
"physical_semantics": {
|
| 229 |
+
"skill": "pick",
|
| 230 |
+
"target": "beaker_a",
|
| 231 |
+
"attach_used": false,
|
| 232 |
+
"attach_object": null,
|
| 233 |
+
"attach_object_path": null,
|
| 234 |
+
"attach_allowed": false,
|
| 235 |
+
"ordinary_object_physical_only": true
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
{
|
| 239 |
+
"step_index": 1,
|
| 240 |
+
"skill": "shake",
|
| 241 |
+
"target": "beaker_a",
|
| 242 |
+
"success": true,
|
| 243 |
+
"reason": "executed",
|
| 244 |
+
"debug": {
|
| 245 |
+
"arm": null,
|
| 246 |
+
"checker": {
|
| 247 |
+
"checker": "ShakeSuccessChecker",
|
| 248 |
+
"skill": "shake",
|
| 249 |
+
"target": "beaker_a",
|
| 250 |
+
"passed": true,
|
| 251 |
+
"metrics": {
|
| 252 |
+
"held": "beaker_a",
|
| 253 |
+
"force_virtual_attach": false,
|
| 254 |
+
"virtual_attach_allowed": false,
|
| 255 |
+
"gripper_position": [
|
| 256 |
+
0.1677460000478708,
|
| 257 |
+
0.23908215540037947,
|
| 258 |
+
1.2405686950269945
|
| 259 |
+
],
|
| 260 |
+
"held_position": [
|
| 261 |
+
0.17108363539634794,
|
| 262 |
+
0.24265878719967338,
|
| 263 |
+
1.2347828433647225
|
| 264 |
+
],
|
| 265 |
+
"object_initial_z": 0.7774145980897915,
|
| 266 |
+
"required_gripper_z": 0.8974145980897915,
|
| 267 |
+
"shake_count": 5,
|
| 268 |
+
"held_shake_count": 5,
|
| 269 |
+
"effective_shake_count": 5,
|
| 270 |
+
"min_shake_count": 3,
|
| 271 |
+
"held_gripper_dist": 0.0075768188710658635,
|
| 272 |
+
"max_held_gripper_dist": 0.0075909858144420994,
|
| 273 |
+
"held_gripper_max_dist": 0.15,
|
| 274 |
+
"held_gripper_z_dist": 0.005785851662271968,
|
| 275 |
+
"max_held_gripper_z_dist": 0.005818363990538256,
|
| 276 |
+
"held_gripper_z_max_dist": 0.15,
|
| 277 |
+
"held_object_xy_range": 0.08609747911196555,
|
| 278 |
+
"held_object_min_xy_range": 0.04,
|
| 279 |
+
"held_motion_ok": true,
|
| 280 |
+
"held_grasp_geometry_checked": true,
|
| 281 |
+
"held_grasp_geometry_required": true,
|
| 282 |
+
"held_grasp_source": "active_contact_pad_positions",
|
| 283 |
+
"held_grasp_finger_a": [
|
| 284 |
+
0.17108363539634794,
|
| 285 |
+
0.21857189104183689,
|
| 286 |
+
1.2347828433647225
|
| 287 |
+
],
|
| 288 |
+
"held_grasp_finger_b": [
|
| 289 |
+
0.16264977350570164,
|
| 290 |
+
0.24265878719967338,
|
| 291 |
+
1.2347828433647225
|
| 292 |
+
],
|
| 293 |
+
"held_grasp_midpoint": [
|
| 294 |
+
0.1668667044510248,
|
| 295 |
+
0.23061533912075513,
|
| 296 |
+
1.2347828433647225
|
| 297 |
+
],
|
| 298 |
+
"held_grasp_object_position": [
|
| 299 |
+
0.17108363539634794,
|
| 300 |
+
0.24265878719967338,
|
| 301 |
+
1.2347828433647225
|
| 302 |
+
],
|
| 303 |
+
"held_grasp_finger_gap": 0.0255207482826992,
|
| 304 |
+
"held_grasp_max_gap": 0.1249237185716629,
|
| 305 |
+
"held_grasp_geometry_frame": "object_local",
|
| 306 |
+
"held_grasp_size_source": "beaker_a_local_size",
|
| 307 |
+
"held_grasp_z_skew": 0.023711432636178337,
|
| 308 |
+
"held_grasp_world_z_skew": 0.0,
|
| 309 |
+
"held_grasp_z_skew_max": 0.08,
|
| 310 |
+
"held_grasp_z_skew_frame": "object_local_up",
|
| 311 |
+
"held_grasp_local_up_axis": [
|
| 312 |
+
-0.04177244178838101,
|
| 313 |
+
-0.9990384598900531,
|
| 314 |
+
0.013312353944633482
|
| 315 |
+
],
|
| 316 |
+
"held_grasp_object_projection_between_fingers": 0.5,
|
| 317 |
+
"held_grasp_object_to_finger_line_xy": 0.0037136790972399944,
|
| 318 |
+
"held_grasp_line_xy_max_dist": 0.04746185928583145,
|
| 319 |
+
"held_grasp_object_top_z": 0.04972025007009506,
|
| 320 |
+
"held_grasp_top_clearance": 0.037512230747127624,
|
| 321 |
+
"held_grasp_min_top_clearance": 0.014916075021028518
|
| 322 |
+
},
|
| 323 |
+
"failed_keys": [],
|
| 324 |
+
"failure_code": null,
|
| 325 |
+
"failure_messages": {},
|
| 326 |
+
"safety": {
|
| 327 |
+
"policy": {
|
| 328 |
+
"skill": "shake",
|
| 329 |
+
"target_object": "beaker_a",
|
| 330 |
+
"held_object": "beaker_a",
|
| 331 |
+
"allowed_objects": [
|
| 332 |
+
"beaker_a"
|
| 333 |
+
],
|
| 334 |
+
"allowed_object_paths": [
|
| 335 |
+
"/World/beaker_2"
|
| 336 |
+
],
|
| 337 |
+
"allowed_prim_substrings": [],
|
| 338 |
+
"robot_prim_substrings": [
|
| 339 |
+
"Robotiq2F85",
|
| 340 |
+
"Robotiq_2F_85",
|
| 341 |
+
"contact_sensor",
|
| 342 |
+
"dummy_base_prismatic_x_joint",
|
| 343 |
+
"dummy_base_prismatic_y_joint",
|
| 344 |
+
"dummy_base_revolute_z_joint",
|
| 345 |
+
"elbow_joint",
|
| 346 |
+
"festo",
|
| 347 |
+
"finger",
|
| 348 |
+
"fr3",
|
| 349 |
+
"fr3_duo_mobile",
|
| 350 |
+
"fr3_joint1",
|
| 351 |
+
"fr3_joint2",
|
| 352 |
+
"fr3_joint3",
|
| 353 |
+
"fr3_joint4",
|
| 354 |
+
"fr3_joint5",
|
| 355 |
+
"fr3_joint6",
|
| 356 |
+
"fr3_joint7",
|
| 357 |
+
"fr3_leftfinger",
|
| 358 |
+
"fr3_rightfinger",
|
| 359 |
+
"franka",
|
| 360 |
+
"geometry",
|
| 361 |
+
"gripper",
|
| 362 |
+
"gripper_center",
|
| 363 |
+
"joint1",
|
| 364 |
+
"joint2",
|
| 365 |
+
"joint3",
|
| 366 |
+
"joint4",
|
| 367 |
+
"joint5",
|
| 368 |
+
"joint6",
|
| 369 |
+
"joint7",
|
| 370 |
+
"left_inner_finger",
|
| 371 |
+
"lift2",
|
| 372 |
+
"mobile_rotate",
|
| 373 |
+
"mobile_translate_x",
|
| 374 |
+
"mobile_translate_y",
|
| 375 |
+
"panda_joint1",
|
| 376 |
+
"panda_joint2",
|
| 377 |
+
"panda_joint3",
|
| 378 |
+
"panda_joint4",
|
| 379 |
+
"panda_joint5",
|
| 380 |
+
"panda_joint6",
|
| 381 |
+
"panda_joint7",
|
| 382 |
+
"panda_leftfinger",
|
| 383 |
+
"panda_leftfingertip",
|
| 384 |
+
"panda_rightfinger",
|
| 385 |
+
"panda_rightfingertip",
|
| 386 |
+
"ridgebase",
|
| 387 |
+
"ridgebase_festo",
|
| 388 |
+
"ridgebase_fr3",
|
| 389 |
+
"ridgebase_rizon4",
|
| 390 |
+
"ridgebase_ur16e",
|
| 391 |
+
"ridgebase_ur5e",
|
| 392 |
+
"right_inner_finger",
|
| 393 |
+
"rizon4",
|
| 394 |
+
"robot",
|
| 395 |
+
"robotiq_2f85",
|
| 396 |
+
"shoulder_lift_joint",
|
| 397 |
+
"shoulder_pan_joint",
|
| 398 |
+
"split_aloha",
|
| 399 |
+
"tool_center",
|
| 400 |
+
"ur16e",
|
| 401 |
+
"ur5e",
|
| 402 |
+
"visuals",
|
| 403 |
+
"wrist",
|
| 404 |
+
"wrist_1_joint",
|
| 405 |
+
"wrist_2_joint",
|
| 406 |
+
"wrist_3_joint"
|
| 407 |
+
],
|
| 408 |
+
"ignored_prim_substrings": [
|
| 409 |
+
"base_link",
|
| 410 |
+
"caster",
|
| 411 |
+
"defaultgroundplane",
|
| 412 |
+
"desk",
|
| 413 |
+
"floor",
|
| 414 |
+
"ground",
|
| 415 |
+
"groundplane",
|
| 416 |
+
"link0",
|
| 417 |
+
"table",
|
| 418 |
+
"wheel",
|
| 419 |
+
"workbench"
|
| 420 |
+
],
|
| 421 |
+
"enabled": true
|
| 422 |
+
},
|
| 423 |
+
"status": "active",
|
| 424 |
+
"passed": true,
|
| 425 |
+
"source_missing": false,
|
| 426 |
+
"forbidden": [],
|
| 427 |
+
"disturbances": [],
|
| 428 |
+
"last_frame": {
|
| 429 |
+
"passed": true,
|
| 430 |
+
"source_missing": false,
|
| 431 |
+
"forbidden": [],
|
| 432 |
+
"allowed": [
|
| 433 |
+
{
|
| 434 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 435 |
+
"b": "/World/beaker_2/mesh"
|
| 436 |
+
},
|
| 437 |
+
{
|
| 438 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 439 |
+
"b": "/World/beaker_2/mesh"
|
| 440 |
+
}
|
| 441 |
+
],
|
| 442 |
+
"ignored": [],
|
| 443 |
+
"failed_keys": []
|
| 444 |
+
},
|
| 445 |
+
"failed_keys": []
|
| 446 |
+
}
|
| 447 |
+
},
|
| 448 |
+
"gripper": null,
|
| 449 |
+
"post_done_wait_frames": 0,
|
| 450 |
+
"post_done_wait_exhausted": false
|
| 451 |
+
},
|
| 452 |
+
"physical_semantics": {
|
| 453 |
+
"skill": "shake",
|
| 454 |
+
"target": "beaker_a",
|
| 455 |
+
"attach_used": false,
|
| 456 |
+
"attach_object": null,
|
| 457 |
+
"attach_object_path": null,
|
| 458 |
+
"attach_allowed": false,
|
| 459 |
+
"ordinary_object_physical_only": true
|
| 460 |
+
}
|
| 461 |
+
},
|
| 462 |
+
{
|
| 463 |
+
"step_index": 2,
|
| 464 |
+
"skill": "place",
|
| 465 |
+
"target": "inspection_platform",
|
| 466 |
+
"success": true,
|
| 467 |
+
"reason": "executed",
|
| 468 |
+
"debug": {
|
| 469 |
+
"arm": null,
|
| 470 |
+
"checker": {
|
| 471 |
+
"checker": "PlaceSuccessChecker",
|
| 472 |
+
"skill": "place",
|
| 473 |
+
"target": "inspection_platform",
|
| 474 |
+
"passed": true,
|
| 475 |
+
"metrics": {
|
| 476 |
+
"held": "beaker_a",
|
| 477 |
+
"target": "inspection_platform",
|
| 478 |
+
"object_position": [
|
| 479 |
+
0.35434962887847965,
|
| 480 |
+
0.239953014850384,
|
| 481 |
+
0.7671055597069396
|
| 482 |
+
],
|
| 483 |
+
"target_position": [
|
| 484 |
+
0.3622569757614553,
|
| 485 |
+
0.24062953749558935,
|
| 486 |
+
0.7158860691194898
|
| 487 |
+
],
|
| 488 |
+
"target_position_source": "target_object:_xform_position",
|
| 489 |
+
"xy_dist": 0.007936234473425086,
|
| 490 |
+
"xy_threshold": 0.08,
|
| 491 |
+
"gripper_dist": 0.16370098059565086,
|
| 492 |
+
"gripper_away_threshold": 0.04,
|
| 493 |
+
"gripper_away_ok": true,
|
| 494 |
+
"object_z": 0.7671055597069396,
|
| 495 |
+
"min_z": 0.5158860691194898,
|
| 496 |
+
"min_z_margin": 0.2,
|
| 497 |
+
"require_object_upright": true,
|
| 498 |
+
"object_upright_reference_source": "scene_initial",
|
| 499 |
+
"release_fingertip_source": "active_contact_pad_positions",
|
| 500 |
+
"release_finger_gap": 0.07545256308747289,
|
| 501 |
+
"release_finger_gap_metric": "3d_contact_pad_distance",
|
| 502 |
+
"release_fingertip_min_gap": 0.08776828444239092,
|
| 503 |
+
"release_gap_margin": 0.02,
|
| 504 |
+
"release_gap_missing_size": false,
|
| 505 |
+
"release_min_pad_clearance": 0.13219847727564274,
|
| 506 |
+
"release_required_pad_clearance": 0.05388414222119546,
|
| 507 |
+
"release_pad_clearance_ok": true,
|
| 508 |
+
"release_gap_ok": false,
|
| 509 |
+
"force_virtual_attach": false,
|
| 510 |
+
"virtual_attach_allowed": false,
|
| 511 |
+
"max_z": 0.8774145980897915,
|
| 512 |
+
"max_z_margin": 0.1,
|
| 513 |
+
"object_tilt_deg": 2.770721661201172,
|
| 514 |
+
"object_max_tilt_deg": 12.0,
|
| 515 |
+
"object_axis_flip_tolerance_deg": 3.0,
|
| 516 |
+
"object_upright_axis_local": null,
|
| 517 |
+
"required_placed_release_frames": 2,
|
| 518 |
+
"placed_release_frames": 127,
|
| 519 |
+
"max_placed_release_frames": 127
|
| 520 |
+
},
|
| 521 |
+
"failed_keys": [],
|
| 522 |
+
"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 |
+
"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": 91,
|
| 660 |
+
"reproducibility": {
|
| 661 |
+
"enabled": true,
|
| 662 |
+
"action_seed": 8965520104066671838,
|
| 663 |
+
"physical_seed": 3697495222794957137,
|
| 664 |
+
"layout_id": "layout_00032",
|
| 665 |
+
"step_seeds": [
|
| 666 |
+
5868908299052723470,
|
| 667 |
+
1147186024122430536,
|
| 668 |
+
7048677080094423649
|
| 669 |
+
],
|
| 670 |
+
"workflow_spec_digest": "41fe1ccdd76518f49a9649d8ad52abbf640a2a9139023383414c5dce78b542b9",
|
| 671 |
+
"strict_task_state": false,
|
| 672 |
+
"allow_physical_randomization": true,
|
| 673 |
+
"seed_source": "workflow.reproducibility",
|
| 674 |
+
"task_island_state_digest": "8be2bb7c0dfaba1efb29e48d9133469962060437effed815f99fecffbfa83e59",
|
| 675 |
+
"visual_seed": 5403861730709282492,
|
| 676 |
+
"episode_index": 91,
|
| 677 |
+
"physical_randomization_enabled": true,
|
| 678 |
+
"motion_controller_type": "ik_servo",
|
| 679 |
+
"runtime_step_seeds": [
|
| 680 |
+
5868908299052723470,
|
| 681 |
+
1147186024122430536,
|
| 682 |
+
7048677080094423649
|
| 683 |
+
],
|
| 684 |
+
"runtime_workflow_digest": "95e4a3a6883347e144f1827ff91137e46eda0b934cef6dd52ac0cf2336bdc1d0"
|
| 685 |
+
}
|
| 686 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00032/results/episode_92_success.json
ADDED
|
@@ -0,0 +1,686 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 92,
|
| 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 |
+
0.16830485946735563,
|
| 26 |
+
0.23585096368055797,
|
| 27 |
+
1.048625777049815
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.048625777049815,
|
| 30 |
+
"required_z": 0.8611068060379897,
|
| 31 |
+
"initial_z": 0.7611068060379897,
|
| 32 |
+
"lift_margin": 0.18751897101182535,
|
| 33 |
+
"gripper_z": 1.0545799722560962,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.16553472785618886,
|
| 38 |
+
0.2323852417884202,
|
| 39 |
+
1.0545799722560962
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.002770131611166765,
|
| 43 |
+
0.0034657218921377575,
|
| 44 |
+
-0.005954195206281154
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.004436762037435442,
|
| 47 |
+
"object_to_gripper_z": -0.005954195206281154,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.16830485946735563,
|
| 51 |
+
0.21247275553328662,
|
| 52 |
+
1.048625777049815
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.15920492873282122,
|
| 56 |
+
0.23585096368055797,
|
| 57 |
+
1.048625777049815
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.16375489410008842,
|
| 61 |
+
0.2241618596069223,
|
| 62 |
+
1.048625777049815
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.004549965367267206,
|
| 66 |
+
0.011689104073635659,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.025086836300148893,
|
| 70 |
+
"fingertip_max_gap": 0.09701573017878895,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.012543418150074434,
|
| 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": 1.048625777049815,
|
| 78 |
+
"object_top_z": 1.1014372856296304,
|
| 79 |
+
"finger_top_clearance": 0.052811508579815314,
|
| 80 |
+
"fingertip_min_top_clearance": 0.01584345257394461,
|
| 81 |
+
"object_projection_between_fingers": 0.8684216665306755,
|
| 82 |
+
"object_to_finger_line_xy": 0.008480147607788823,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.05100786508939448,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 2.383822338872818,
|
| 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 |
+
"ignored_prim_substrings": [
|
| 185 |
+
"base_link",
|
| 186 |
+
"caster",
|
| 187 |
+
"defaultgroundplane",
|
| 188 |
+
"desk",
|
| 189 |
+
"floor",
|
| 190 |
+
"ground",
|
| 191 |
+
"groundplane",
|
| 192 |
+
"link0",
|
| 193 |
+
"table",
|
| 194 |
+
"wheel",
|
| 195 |
+
"workbench"
|
| 196 |
+
],
|
| 197 |
+
"enabled": true
|
| 198 |
+
},
|
| 199 |
+
"status": "active",
|
| 200 |
+
"passed": true,
|
| 201 |
+
"source_missing": false,
|
| 202 |
+
"forbidden": [],
|
| 203 |
+
"disturbances": [],
|
| 204 |
+
"last_frame": {
|
| 205 |
+
"passed": true,
|
| 206 |
+
"source_missing": false,
|
| 207 |
+
"forbidden": [],
|
| 208 |
+
"allowed": [
|
| 209 |
+
{
|
| 210 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 211 |
+
"b": "/World/beaker_2/mesh"
|
| 212 |
+
},
|
| 213 |
+
{
|
| 214 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 215 |
+
"b": "/World/beaker_2/mesh"
|
| 216 |
+
}
|
| 217 |
+
],
|
| 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 |
+
},
|
| 228 |
+
"physical_semantics": {
|
| 229 |
+
"skill": "pick",
|
| 230 |
+
"target": "beaker_a",
|
| 231 |
+
"attach_used": false,
|
| 232 |
+
"attach_object": null,
|
| 233 |
+
"attach_object_path": null,
|
| 234 |
+
"attach_allowed": false,
|
| 235 |
+
"ordinary_object_physical_only": true
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
{
|
| 239 |
+
"step_index": 1,
|
| 240 |
+
"skill": "shake",
|
| 241 |
+
"target": "beaker_a",
|
| 242 |
+
"success": true,
|
| 243 |
+
"reason": "executed",
|
| 244 |
+
"debug": {
|
| 245 |
+
"arm": null,
|
| 246 |
+
"checker": {
|
| 247 |
+
"checker": "ShakeSuccessChecker",
|
| 248 |
+
"skill": "shake",
|
| 249 |
+
"target": "beaker_a",
|
| 250 |
+
"passed": true,
|
| 251 |
+
"metrics": {
|
| 252 |
+
"held": "beaker_a",
|
| 253 |
+
"force_virtual_attach": false,
|
| 254 |
+
"virtual_attach_allowed": false,
|
| 255 |
+
"gripper_position": [
|
| 256 |
+
0.16907554792033366,
|
| 257 |
+
0.23827977246757068,
|
| 258 |
+
1.2443183665860325
|
| 259 |
+
],
|
| 260 |
+
"held_position": [
|
| 261 |
+
0.17192594446560516,
|
| 262 |
+
0.24157492356734928,
|
| 263 |
+
1.2382826553270343
|
| 264 |
+
],
|
| 265 |
+
"object_initial_z": 0.7774145980897915,
|
| 266 |
+
"required_gripper_z": 0.8974145980897915,
|
| 267 |
+
"shake_count": 5,
|
| 268 |
+
"held_shake_count": 5,
|
| 269 |
+
"effective_shake_count": 5,
|
| 270 |
+
"min_shake_count": 3,
|
| 271 |
+
"held_gripper_dist": 0.007443963436077914,
|
| 272 |
+
"max_held_gripper_dist": 0.007459901483957837,
|
| 273 |
+
"held_gripper_max_dist": 0.15,
|
| 274 |
+
"held_gripper_z_dist": 0.006035711258998155,
|
| 275 |
+
"max_held_gripper_z_dist": 0.006067637912761548,
|
| 276 |
+
"held_gripper_z_max_dist": 0.15,
|
| 277 |
+
"held_object_xy_range": 0.08578163004679565,
|
| 278 |
+
"held_object_min_xy_range": 0.04,
|
| 279 |
+
"held_motion_ok": true,
|
| 280 |
+
"held_grasp_geometry_checked": true,
|
| 281 |
+
"held_grasp_geometry_required": true,
|
| 282 |
+
"held_grasp_source": "active_contact_pad_positions",
|
| 283 |
+
"held_grasp_finger_a": [
|
| 284 |
+
0.17192594446560516,
|
| 285 |
+
0.2177917924961308,
|
| 286 |
+
1.2382826553270343
|
| 287 |
+
],
|
| 288 |
+
"held_grasp_finger_b": [
|
| 289 |
+
0.16386224200284125,
|
| 290 |
+
0.24157492356734928,
|
| 291 |
+
1.2382826553270343
|
| 292 |
+
],
|
| 293 |
+
"held_grasp_midpoint": [
|
| 294 |
+
0.16789409323422322,
|
| 295 |
+
0.22968335803174003,
|
| 296 |
+
1.2382826553270343
|
| 297 |
+
],
|
| 298 |
+
"held_grasp_object_position": [
|
| 299 |
+
0.17192594446560516,
|
| 300 |
+
0.24157492356734928,
|
| 301 |
+
1.2382826553270343
|
| 302 |
+
],
|
| 303 |
+
"held_grasp_finger_gap": 0.02511295723244762,
|
| 304 |
+
"held_grasp_max_gap": 0.1249237185716629,
|
| 305 |
+
"held_grasp_geometry_frame": "object_local",
|
| 306 |
+
"held_grasp_size_source": "beaker_a_local_size",
|
| 307 |
+
"held_grasp_z_skew": 0.023705676773804422,
|
| 308 |
+
"held_grasp_world_z_skew": 0.0,
|
| 309 |
+
"held_grasp_z_skew_max": 0.08,
|
| 310 |
+
"held_grasp_z_skew_frame": "object_local_up",
|
| 311 |
+
"held_grasp_local_up_axis": [
|
| 312 |
+
-0.0069604363405861985,
|
| 313 |
+
-0.9991032547527613,
|
| 314 |
+
0.041764083473573965
|
| 315 |
+
],
|
| 316 |
+
"held_grasp_object_projection_between_fingers": 0.5,
|
| 317 |
+
"held_grasp_object_to_finger_line_xy": 0.00398016348017535,
|
| 318 |
+
"held_grasp_line_xy_max_dist": 0.04746185928583145,
|
| 319 |
+
"held_grasp_object_top_z": 0.04972025007009506,
|
| 320 |
+
"held_grasp_top_clearance": 0.03781128479553136,
|
| 321 |
+
"held_grasp_min_top_clearance": 0.014916075021028518
|
| 322 |
+
},
|
| 323 |
+
"failed_keys": [],
|
| 324 |
+
"failure_code": null,
|
| 325 |
+
"failure_messages": {},
|
| 326 |
+
"safety": {
|
| 327 |
+
"policy": {
|
| 328 |
+
"skill": "shake",
|
| 329 |
+
"target_object": "beaker_a",
|
| 330 |
+
"held_object": "beaker_a",
|
| 331 |
+
"allowed_objects": [
|
| 332 |
+
"beaker_a"
|
| 333 |
+
],
|
| 334 |
+
"allowed_object_paths": [
|
| 335 |
+
"/World/beaker_2"
|
| 336 |
+
],
|
| 337 |
+
"allowed_prim_substrings": [],
|
| 338 |
+
"robot_prim_substrings": [
|
| 339 |
+
"Robotiq2F85",
|
| 340 |
+
"Robotiq_2F_85",
|
| 341 |
+
"contact_sensor",
|
| 342 |
+
"dummy_base_prismatic_x_joint",
|
| 343 |
+
"dummy_base_prismatic_y_joint",
|
| 344 |
+
"dummy_base_revolute_z_joint",
|
| 345 |
+
"elbow_joint",
|
| 346 |
+
"festo",
|
| 347 |
+
"finger",
|
| 348 |
+
"fr3",
|
| 349 |
+
"fr3_duo_mobile",
|
| 350 |
+
"fr3_joint1",
|
| 351 |
+
"fr3_joint2",
|
| 352 |
+
"fr3_joint3",
|
| 353 |
+
"fr3_joint4",
|
| 354 |
+
"fr3_joint5",
|
| 355 |
+
"fr3_joint6",
|
| 356 |
+
"fr3_joint7",
|
| 357 |
+
"fr3_leftfinger",
|
| 358 |
+
"fr3_rightfinger",
|
| 359 |
+
"franka",
|
| 360 |
+
"geometry",
|
| 361 |
+
"gripper",
|
| 362 |
+
"gripper_center",
|
| 363 |
+
"joint1",
|
| 364 |
+
"joint2",
|
| 365 |
+
"joint3",
|
| 366 |
+
"joint4",
|
| 367 |
+
"joint5",
|
| 368 |
+
"joint6",
|
| 369 |
+
"joint7",
|
| 370 |
+
"left_inner_finger",
|
| 371 |
+
"lift2",
|
| 372 |
+
"mobile_rotate",
|
| 373 |
+
"mobile_translate_x",
|
| 374 |
+
"mobile_translate_y",
|
| 375 |
+
"panda_joint1",
|
| 376 |
+
"panda_joint2",
|
| 377 |
+
"panda_joint3",
|
| 378 |
+
"panda_joint4",
|
| 379 |
+
"panda_joint5",
|
| 380 |
+
"panda_joint6",
|
| 381 |
+
"panda_joint7",
|
| 382 |
+
"panda_leftfinger",
|
| 383 |
+
"panda_leftfingertip",
|
| 384 |
+
"panda_rightfinger",
|
| 385 |
+
"panda_rightfingertip",
|
| 386 |
+
"ridgebase",
|
| 387 |
+
"ridgebase_festo",
|
| 388 |
+
"ridgebase_fr3",
|
| 389 |
+
"ridgebase_rizon4",
|
| 390 |
+
"ridgebase_ur16e",
|
| 391 |
+
"ridgebase_ur5e",
|
| 392 |
+
"right_inner_finger",
|
| 393 |
+
"rizon4",
|
| 394 |
+
"robot",
|
| 395 |
+
"robotiq_2f85",
|
| 396 |
+
"shoulder_lift_joint",
|
| 397 |
+
"shoulder_pan_joint",
|
| 398 |
+
"split_aloha",
|
| 399 |
+
"tool_center",
|
| 400 |
+
"ur16e",
|
| 401 |
+
"ur5e",
|
| 402 |
+
"visuals",
|
| 403 |
+
"wrist",
|
| 404 |
+
"wrist_1_joint",
|
| 405 |
+
"wrist_2_joint",
|
| 406 |
+
"wrist_3_joint"
|
| 407 |
+
],
|
| 408 |
+
"ignored_prim_substrings": [
|
| 409 |
+
"base_link",
|
| 410 |
+
"caster",
|
| 411 |
+
"defaultgroundplane",
|
| 412 |
+
"desk",
|
| 413 |
+
"floor",
|
| 414 |
+
"ground",
|
| 415 |
+
"groundplane",
|
| 416 |
+
"link0",
|
| 417 |
+
"table",
|
| 418 |
+
"wheel",
|
| 419 |
+
"workbench"
|
| 420 |
+
],
|
| 421 |
+
"enabled": true
|
| 422 |
+
},
|
| 423 |
+
"status": "active",
|
| 424 |
+
"passed": true,
|
| 425 |
+
"source_missing": false,
|
| 426 |
+
"forbidden": [],
|
| 427 |
+
"disturbances": [],
|
| 428 |
+
"last_frame": {
|
| 429 |
+
"passed": true,
|
| 430 |
+
"source_missing": false,
|
| 431 |
+
"forbidden": [],
|
| 432 |
+
"allowed": [
|
| 433 |
+
{
|
| 434 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 435 |
+
"b": "/World/beaker_2/mesh"
|
| 436 |
+
},
|
| 437 |
+
{
|
| 438 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 439 |
+
"b": "/World/beaker_2/mesh"
|
| 440 |
+
}
|
| 441 |
+
],
|
| 442 |
+
"ignored": [],
|
| 443 |
+
"failed_keys": []
|
| 444 |
+
},
|
| 445 |
+
"failed_keys": []
|
| 446 |
+
}
|
| 447 |
+
},
|
| 448 |
+
"gripper": null,
|
| 449 |
+
"post_done_wait_frames": 0,
|
| 450 |
+
"post_done_wait_exhausted": false
|
| 451 |
+
},
|
| 452 |
+
"physical_semantics": {
|
| 453 |
+
"skill": "shake",
|
| 454 |
+
"target": "beaker_a",
|
| 455 |
+
"attach_used": false,
|
| 456 |
+
"attach_object": null,
|
| 457 |
+
"attach_object_path": null,
|
| 458 |
+
"attach_allowed": false,
|
| 459 |
+
"ordinary_object_physical_only": true
|
| 460 |
+
}
|
| 461 |
+
},
|
| 462 |
+
{
|
| 463 |
+
"step_index": 2,
|
| 464 |
+
"skill": "place",
|
| 465 |
+
"target": "inspection_platform",
|
| 466 |
+
"success": true,
|
| 467 |
+
"reason": "executed",
|
| 468 |
+
"debug": {
|
| 469 |
+
"arm": null,
|
| 470 |
+
"checker": {
|
| 471 |
+
"checker": "PlaceSuccessChecker",
|
| 472 |
+
"skill": "place",
|
| 473 |
+
"target": "inspection_platform",
|
| 474 |
+
"passed": true,
|
| 475 |
+
"metrics": {
|
| 476 |
+
"held": "beaker_a",
|
| 477 |
+
"target": "inspection_platform",
|
| 478 |
+
"object_position": [
|
| 479 |
+
0.35001527380712316,
|
| 480 |
+
0.23863177468482977,
|
| 481 |
+
0.7671048978219913
|
| 482 |
+
],
|
| 483 |
+
"target_position": [
|
| 484 |
+
0.36042741255321836,
|
| 485 |
+
0.2406983652299292,
|
| 486 |
+
0.7158860691194898
|
| 487 |
+
],
|
| 488 |
+
"target_position_source": "target_object:_xform_position",
|
| 489 |
+
"xy_dist": 0.010615245157274106,
|
| 490 |
+
"xy_threshold": 0.08,
|
| 491 |
+
"gripper_dist": 0.16325684949045943,
|
| 492 |
+
"gripper_away_threshold": 0.04,
|
| 493 |
+
"gripper_away_ok": true,
|
| 494 |
+
"object_z": 0.7671048978219913,
|
| 495 |
+
"min_z": 0.5158860691194898,
|
| 496 |
+
"min_z_margin": 0.2,
|
| 497 |
+
"require_object_upright": true,
|
| 498 |
+
"object_upright_reference_source": "scene_initial",
|
| 499 |
+
"release_fingertip_source": "active_contact_pad_positions",
|
| 500 |
+
"release_finger_gap": 0.07516233031337659,
|
| 501 |
+
"release_finger_gap_metric": "3d_contact_pad_distance",
|
| 502 |
+
"release_fingertip_min_gap": 0.08825525027151486,
|
| 503 |
+
"release_gap_margin": 0.02,
|
| 504 |
+
"release_gap_missing_size": false,
|
| 505 |
+
"release_min_pad_clearance": 0.1322575592962373,
|
| 506 |
+
"release_required_pad_clearance": 0.05412762513575743,
|
| 507 |
+
"release_pad_clearance_ok": true,
|
| 508 |
+
"release_gap_ok": false,
|
| 509 |
+
"force_virtual_attach": false,
|
| 510 |
+
"virtual_attach_allowed": false,
|
| 511 |
+
"max_z": 0.8774145980897915,
|
| 512 |
+
"max_z_margin": 0.1,
|
| 513 |
+
"object_tilt_deg": 3.259090124318799,
|
| 514 |
+
"object_max_tilt_deg": 12.0,
|
| 515 |
+
"object_axis_flip_tolerance_deg": 3.0,
|
| 516 |
+
"object_upright_axis_local": null,
|
| 517 |
+
"required_placed_release_frames": 2,
|
| 518 |
+
"placed_release_frames": 127,
|
| 519 |
+
"max_placed_release_frames": 127
|
| 520 |
+
},
|
| 521 |
+
"failed_keys": [],
|
| 522 |
+
"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 |
+
"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": 92,
|
| 660 |
+
"reproducibility": {
|
| 661 |
+
"enabled": true,
|
| 662 |
+
"action_seed": 8965520104066671838,
|
| 663 |
+
"physical_seed": 3697495222794957137,
|
| 664 |
+
"layout_id": "layout_00032",
|
| 665 |
+
"step_seeds": [
|
| 666 |
+
5868908299052723470,
|
| 667 |
+
1147186024122430536,
|
| 668 |
+
7048677080094423649
|
| 669 |
+
],
|
| 670 |
+
"workflow_spec_digest": "41fe1ccdd76518f49a9649d8ad52abbf640a2a9139023383414c5dce78b542b9",
|
| 671 |
+
"strict_task_state": false,
|
| 672 |
+
"allow_physical_randomization": true,
|
| 673 |
+
"seed_source": "workflow.reproducibility",
|
| 674 |
+
"task_island_state_digest": "73cfb601f7fa59a97b83543b1bb205a64226fff3e88dfd4c40adbe532acb4c0a",
|
| 675 |
+
"visual_seed": 3646104064563872849,
|
| 676 |
+
"episode_index": 92,
|
| 677 |
+
"physical_randomization_enabled": true,
|
| 678 |
+
"motion_controller_type": "ik_servo",
|
| 679 |
+
"runtime_step_seeds": [
|
| 680 |
+
5868908299052723470,
|
| 681 |
+
1147186024122430536,
|
| 682 |
+
7048677080094423649
|
| 683 |
+
],
|
| 684 |
+
"runtime_workflow_digest": "95e4a3a6883347e144f1827ff91137e46eda0b934cef6dd52ac0cf2336bdc1d0"
|
| 685 |
+
}
|
| 686 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00032/results/episode_93_success.json
ADDED
|
@@ -0,0 +1,686 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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 |
+
0.16652562444956992,
|
| 26 |
+
0.2389342078647205,
|
| 27 |
+
1.047616855225853
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.047616855225853,
|
| 30 |
+
"required_z": 0.8611066272240554,
|
| 31 |
+
"initial_z": 0.7611066272240554,
|
| 32 |
+
"lift_margin": 0.1865102280017975,
|
| 33 |
+
"gripper_z": 1.0534432657716926,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.16377734843926492,
|
| 38 |
+
0.23547183243807168,
|
| 39 |
+
1.0534432657716926
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.002748276010305001,
|
| 43 |
+
0.003462375426648817,
|
| 44 |
+
-0.005826410545839655
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.004420527640890797,
|
| 47 |
+
"object_to_gripper_z": -0.005826410545839655,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.16652562444956992,
|
| 51 |
+
0.21563130913843362,
|
| 52 |
+
1.047616855225853
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.1573452405435411,
|
| 56 |
+
0.2389342078647205,
|
| 57 |
+
1.047616855225853
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.1619354324965555,
|
| 61 |
+
0.22728275850157706,
|
| 62 |
+
1.047616855225853
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.004590191953014411,
|
| 66 |
+
0.01165144936314344,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.025046048345191217,
|
| 70 |
+
"fingertip_max_gap": 0.0947606895076265,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.012523024172595609,
|
| 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": 1.047616855225853,
|
| 78 |
+
"object_top_z": 1.0995749044033278,
|
| 79 |
+
"finger_top_clearance": 0.05195804917747493,
|
| 80 |
+
"fingertip_min_top_clearance": 0.015587414753242462,
|
| 81 |
+
"object_projection_between_fingers": 0.8656482719385632,
|
| 82 |
+
"object_to_finger_line_xy": 0.008541449472674906,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.049880344753813255,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 1.6377587299360419,
|
| 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 |
+
"passed": true,
|
| 206 |
+
"source_missing": false,
|
| 207 |
+
"forbidden": [],
|
| 208 |
+
"allowed": [
|
| 209 |
+
{
|
| 210 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 211 |
+
"b": "/World/beaker_2/mesh"
|
| 212 |
+
},
|
| 213 |
+
{
|
| 214 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 215 |
+
"b": "/World/beaker_2/mesh"
|
| 216 |
+
}
|
| 217 |
+
],
|
| 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 |
+
},
|
| 228 |
+
"physical_semantics": {
|
| 229 |
+
"skill": "pick",
|
| 230 |
+
"target": "beaker_a",
|
| 231 |
+
"attach_used": false,
|
| 232 |
+
"attach_object": null,
|
| 233 |
+
"attach_object_path": null,
|
| 234 |
+
"attach_allowed": false,
|
| 235 |
+
"ordinary_object_physical_only": true
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
{
|
| 239 |
+
"step_index": 1,
|
| 240 |
+
"skill": "shake",
|
| 241 |
+
"target": "beaker_a",
|
| 242 |
+
"success": true,
|
| 243 |
+
"reason": "executed",
|
| 244 |
+
"debug": {
|
| 245 |
+
"arm": null,
|
| 246 |
+
"checker": {
|
| 247 |
+
"checker": "ShakeSuccessChecker",
|
| 248 |
+
"skill": "shake",
|
| 249 |
+
"target": "beaker_a",
|
| 250 |
+
"passed": true,
|
| 251 |
+
"metrics": {
|
| 252 |
+
"held": "beaker_a",
|
| 253 |
+
"force_virtual_attach": false,
|
| 254 |
+
"virtual_attach_allowed": false,
|
| 255 |
+
"gripper_position": [
|
| 256 |
+
0.1675517558695014,
|
| 257 |
+
0.24071767907235536,
|
| 258 |
+
1.2427517635654424
|
| 259 |
+
],
|
| 260 |
+
"held_position": [
|
| 261 |
+
0.1704011150363472,
|
| 262 |
+
0.24396859365610538,
|
| 263 |
+
1.2368300972504556
|
| 264 |
+
],
|
| 265 |
+
"object_initial_z": 0.7774145980897915,
|
| 266 |
+
"required_gripper_z": 0.8974145980897915,
|
| 267 |
+
"shake_count": 5,
|
| 268 |
+
"held_shake_count": 5,
|
| 269 |
+
"effective_shake_count": 5,
|
| 270 |
+
"min_shake_count": 3,
|
| 271 |
+
"held_gripper_dist": 0.0073316727449181775,
|
| 272 |
+
"max_held_gripper_dist": 0.007348185919147643,
|
| 273 |
+
"held_gripper_max_dist": 0.15,
|
| 274 |
+
"held_gripper_z_dist": 0.0059216663149868065,
|
| 275 |
+
"max_held_gripper_z_dist": 0.005954172907432165,
|
| 276 |
+
"held_gripper_z_max_dist": 0.15,
|
| 277 |
+
"held_object_xy_range": 0.08620869702665954,
|
| 278 |
+
"held_object_min_xy_range": 0.04,
|
| 279 |
+
"held_motion_ok": true,
|
| 280 |
+
"held_grasp_geometry_checked": true,
|
| 281 |
+
"held_grasp_geometry_required": true,
|
| 282 |
+
"held_grasp_source": "active_contact_pad_positions",
|
| 283 |
+
"held_grasp_finger_a": [
|
| 284 |
+
0.1704011150363472,
|
| 285 |
+
0.2200999438801406,
|
| 286 |
+
1.2368300972504556
|
| 287 |
+
],
|
| 288 |
+
"held_grasp_finger_b": [
|
| 289 |
+
0.16255376463782817,
|
| 290 |
+
0.24396859365610538,
|
| 291 |
+
1.2368300972504556
|
| 292 |
+
],
|
| 293 |
+
"held_grasp_midpoint": [
|
| 294 |
+
0.16647743983708768,
|
| 295 |
+
0.232034268768123,
|
| 296 |
+
1.2368300972504556
|
| 297 |
+
],
|
| 298 |
+
"held_grasp_object_position": [
|
| 299 |
+
0.1704011150363472,
|
| 300 |
+
0.24396859365610538,
|
| 301 |
+
1.2368300972504556
|
| 302 |
+
],
|
| 303 |
+
"held_grasp_finger_gap": 0.02512555174329114,
|
| 304 |
+
"held_grasp_max_gap": 0.1249237185716629,
|
| 305 |
+
"held_grasp_geometry_frame": "object_local",
|
| 306 |
+
"held_grasp_size_source": "beaker_a_local_size",
|
| 307 |
+
"held_grasp_z_skew": 0.023615961688919454,
|
| 308 |
+
"held_grasp_world_z_skew": 0.0,
|
| 309 |
+
"held_grasp_z_skew_max": 0.08,
|
| 310 |
+
"held_grasp_z_skew_frame": "object_local_up",
|
| 311 |
+
"held_grasp_local_up_axis": [
|
| 312 |
+
-0.028891681289586926,
|
| 313 |
+
-0.9989121738930641,
|
| 314 |
+
0.03660245347642721
|
| 315 |
+
],
|
| 316 |
+
"held_grasp_object_projection_between_fingers": 0.5,
|
| 317 |
+
"held_grasp_object_to_finger_line_xy": 0.0036040584688381712,
|
| 318 |
+
"held_grasp_line_xy_max_dist": 0.04746185928583145,
|
| 319 |
+
"held_grasp_object_top_z": 0.04972025007009506,
|
| 320 |
+
"held_grasp_top_clearance": 0.03768554607895361,
|
| 321 |
+
"held_grasp_min_top_clearance": 0.014916075021028518
|
| 322 |
+
},
|
| 323 |
+
"failed_keys": [],
|
| 324 |
+
"failure_code": null,
|
| 325 |
+
"failure_messages": {},
|
| 326 |
+
"safety": {
|
| 327 |
+
"policy": {
|
| 328 |
+
"skill": "shake",
|
| 329 |
+
"target_object": "beaker_a",
|
| 330 |
+
"held_object": "beaker_a",
|
| 331 |
+
"allowed_objects": [
|
| 332 |
+
"beaker_a"
|
| 333 |
+
],
|
| 334 |
+
"allowed_object_paths": [
|
| 335 |
+
"/World/beaker_2"
|
| 336 |
+
],
|
| 337 |
+
"allowed_prim_substrings": [],
|
| 338 |
+
"robot_prim_substrings": [
|
| 339 |
+
"Robotiq2F85",
|
| 340 |
+
"Robotiq_2F_85",
|
| 341 |
+
"contact_sensor",
|
| 342 |
+
"dummy_base_prismatic_x_joint",
|
| 343 |
+
"dummy_base_prismatic_y_joint",
|
| 344 |
+
"dummy_base_revolute_z_joint",
|
| 345 |
+
"elbow_joint",
|
| 346 |
+
"festo",
|
| 347 |
+
"finger",
|
| 348 |
+
"fr3",
|
| 349 |
+
"fr3_duo_mobile",
|
| 350 |
+
"fr3_joint1",
|
| 351 |
+
"fr3_joint2",
|
| 352 |
+
"fr3_joint3",
|
| 353 |
+
"fr3_joint4",
|
| 354 |
+
"fr3_joint5",
|
| 355 |
+
"fr3_joint6",
|
| 356 |
+
"fr3_joint7",
|
| 357 |
+
"fr3_leftfinger",
|
| 358 |
+
"fr3_rightfinger",
|
| 359 |
+
"franka",
|
| 360 |
+
"geometry",
|
| 361 |
+
"gripper",
|
| 362 |
+
"gripper_center",
|
| 363 |
+
"joint1",
|
| 364 |
+
"joint2",
|
| 365 |
+
"joint3",
|
| 366 |
+
"joint4",
|
| 367 |
+
"joint5",
|
| 368 |
+
"joint6",
|
| 369 |
+
"joint7",
|
| 370 |
+
"left_inner_finger",
|
| 371 |
+
"lift2",
|
| 372 |
+
"mobile_rotate",
|
| 373 |
+
"mobile_translate_x",
|
| 374 |
+
"mobile_translate_y",
|
| 375 |
+
"panda_joint1",
|
| 376 |
+
"panda_joint2",
|
| 377 |
+
"panda_joint3",
|
| 378 |
+
"panda_joint4",
|
| 379 |
+
"panda_joint5",
|
| 380 |
+
"panda_joint6",
|
| 381 |
+
"panda_joint7",
|
| 382 |
+
"panda_leftfinger",
|
| 383 |
+
"panda_leftfingertip",
|
| 384 |
+
"panda_rightfinger",
|
| 385 |
+
"panda_rightfingertip",
|
| 386 |
+
"ridgebase",
|
| 387 |
+
"ridgebase_festo",
|
| 388 |
+
"ridgebase_fr3",
|
| 389 |
+
"ridgebase_rizon4",
|
| 390 |
+
"ridgebase_ur16e",
|
| 391 |
+
"ridgebase_ur5e",
|
| 392 |
+
"right_inner_finger",
|
| 393 |
+
"rizon4",
|
| 394 |
+
"robot",
|
| 395 |
+
"robotiq_2f85",
|
| 396 |
+
"shoulder_lift_joint",
|
| 397 |
+
"shoulder_pan_joint",
|
| 398 |
+
"split_aloha",
|
| 399 |
+
"tool_center",
|
| 400 |
+
"ur16e",
|
| 401 |
+
"ur5e",
|
| 402 |
+
"visuals",
|
| 403 |
+
"wrist",
|
| 404 |
+
"wrist_1_joint",
|
| 405 |
+
"wrist_2_joint",
|
| 406 |
+
"wrist_3_joint"
|
| 407 |
+
],
|
| 408 |
+
"ignored_prim_substrings": [
|
| 409 |
+
"base_link",
|
| 410 |
+
"caster",
|
| 411 |
+
"defaultgroundplane",
|
| 412 |
+
"desk",
|
| 413 |
+
"floor",
|
| 414 |
+
"ground",
|
| 415 |
+
"groundplane",
|
| 416 |
+
"link0",
|
| 417 |
+
"table",
|
| 418 |
+
"wheel",
|
| 419 |
+
"workbench"
|
| 420 |
+
],
|
| 421 |
+
"enabled": true
|
| 422 |
+
},
|
| 423 |
+
"status": "active",
|
| 424 |
+
"passed": true,
|
| 425 |
+
"source_missing": false,
|
| 426 |
+
"forbidden": [],
|
| 427 |
+
"disturbances": [],
|
| 428 |
+
"last_frame": {
|
| 429 |
+
"passed": true,
|
| 430 |
+
"source_missing": false,
|
| 431 |
+
"forbidden": [],
|
| 432 |
+
"allowed": [
|
| 433 |
+
{
|
| 434 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 435 |
+
"b": "/World/beaker_2/mesh"
|
| 436 |
+
},
|
| 437 |
+
{
|
| 438 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 439 |
+
"b": "/World/beaker_2/mesh"
|
| 440 |
+
}
|
| 441 |
+
],
|
| 442 |
+
"ignored": [],
|
| 443 |
+
"failed_keys": []
|
| 444 |
+
},
|
| 445 |
+
"failed_keys": []
|
| 446 |
+
}
|
| 447 |
+
},
|
| 448 |
+
"gripper": null,
|
| 449 |
+
"post_done_wait_frames": 0,
|
| 450 |
+
"post_done_wait_exhausted": false
|
| 451 |
+
},
|
| 452 |
+
"physical_semantics": {
|
| 453 |
+
"skill": "shake",
|
| 454 |
+
"target": "beaker_a",
|
| 455 |
+
"attach_used": false,
|
| 456 |
+
"attach_object": null,
|
| 457 |
+
"attach_object_path": null,
|
| 458 |
+
"attach_allowed": false,
|
| 459 |
+
"ordinary_object_physical_only": true
|
| 460 |
+
}
|
| 461 |
+
},
|
| 462 |
+
{
|
| 463 |
+
"step_index": 2,
|
| 464 |
+
"skill": "place",
|
| 465 |
+
"target": "inspection_platform",
|
| 466 |
+
"success": true,
|
| 467 |
+
"reason": "executed",
|
| 468 |
+
"debug": {
|
| 469 |
+
"arm": null,
|
| 470 |
+
"checker": {
|
| 471 |
+
"checker": "PlaceSuccessChecker",
|
| 472 |
+
"skill": "place",
|
| 473 |
+
"target": "inspection_platform",
|
| 474 |
+
"passed": true,
|
| 475 |
+
"metrics": {
|
| 476 |
+
"held": "beaker_a",
|
| 477 |
+
"target": "inspection_platform",
|
| 478 |
+
"object_position": [
|
| 479 |
+
0.35082699404583984,
|
| 480 |
+
0.2461426447910853,
|
| 481 |
+
0.7671065168943789
|
| 482 |
+
],
|
| 483 |
+
"target_position": [
|
| 484 |
+
0.36150266986186314,
|
| 485 |
+
0.24850053047789641,
|
| 486 |
+
0.7158860691194898
|
| 487 |
+
],
|
| 488 |
+
"target_position_source": "target_object:_xform_position",
|
| 489 |
+
"xy_dist": 0.010932962957995123,
|
| 490 |
+
"xy_threshold": 0.08,
|
| 491 |
+
"gripper_dist": 0.1634847995960442,
|
| 492 |
+
"gripper_away_threshold": 0.04,
|
| 493 |
+
"gripper_away_ok": true,
|
| 494 |
+
"object_z": 0.7671065168943789,
|
| 495 |
+
"min_z": 0.5158860691194898,
|
| 496 |
+
"min_z_margin": 0.2,
|
| 497 |
+
"require_object_upright": true,
|
| 498 |
+
"object_upright_reference_source": "scene_initial",
|
| 499 |
+
"release_fingertip_source": "active_contact_pad_positions",
|
| 500 |
+
"release_finger_gap": 0.07578515266841297,
|
| 501 |
+
"release_finger_gap_metric": "3d_contact_pad_distance",
|
| 502 |
+
"release_fingertip_min_gap": 0.08881167516690945,
|
| 503 |
+
"release_gap_margin": 0.02,
|
| 504 |
+
"release_gap_missing_size": false,
|
| 505 |
+
"release_min_pad_clearance": 0.13092793952284879,
|
| 506 |
+
"release_required_pad_clearance": 0.05440583758345473,
|
| 507 |
+
"release_pad_clearance_ok": true,
|
| 508 |
+
"release_gap_ok": false,
|
| 509 |
+
"force_virtual_attach": false,
|
| 510 |
+
"virtual_attach_allowed": false,
|
| 511 |
+
"max_z": 0.8774145980897915,
|
| 512 |
+
"max_z_margin": 0.1,
|
| 513 |
+
"object_tilt_deg": 3.8350963004209824,
|
| 514 |
+
"object_max_tilt_deg": 12.0,
|
| 515 |
+
"object_axis_flip_tolerance_deg": 3.0,
|
| 516 |
+
"object_upright_axis_local": null,
|
| 517 |
+
"required_placed_release_frames": 2,
|
| 518 |
+
"placed_release_frames": 127,
|
| 519 |
+
"max_placed_release_frames": 127
|
| 520 |
+
},
|
| 521 |
+
"failed_keys": [],
|
| 522 |
+
"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 |
+
"passed": true,
|
| 625 |
+
"source_missing": false,
|
| 626 |
+
"forbidden": [],
|
| 627 |
+
"disturbances": [],
|
| 628 |
+
"last_frame": {
|
| 629 |
+
"passed": true,
|
| 630 |
+
"source_missing": false,
|
| 631 |
+
"forbidden": [],
|
| 632 |
+
"allowed": [],
|
| 633 |
+
"ignored": [],
|
| 634 |
+
"failed_keys": []
|
| 635 |
+
},
|
| 636 |
+
"failed_keys": []
|
| 637 |
+
}
|
| 638 |
+
},
|
| 639 |
+
"gripper": null,
|
| 640 |
+
"post_done_wait_frames": 0,
|
| 641 |
+
"post_done_wait_exhausted": false
|
| 642 |
+
},
|
| 643 |
+
"physical_semantics": {
|
| 644 |
+
"skill": "place",
|
| 645 |
+
"target": "inspection_platform",
|
| 646 |
+
"attach_used": false,
|
| 647 |
+
"attach_object": null,
|
| 648 |
+
"attach_object_path": null,
|
| 649 |
+
"attach_allowed": false,
|
| 650 |
+
"ordinary_object_physical_only": true
|
| 651 |
+
}
|
| 652 |
+
}
|
| 653 |
+
],
|
| 654 |
+
"physical_semantics": {
|
| 655 |
+
"attach_records": [],
|
| 656 |
+
"ordinary_attach_violations": [],
|
| 657 |
+
"forbidden_shortcuts_absent": true
|
| 658 |
+
},
|
| 659 |
+
"h5_episode_index": 93,
|
| 660 |
+
"reproducibility": {
|
| 661 |
+
"enabled": true,
|
| 662 |
+
"action_seed": 8965520104066671838,
|
| 663 |
+
"physical_seed": 3697495222794957137,
|
| 664 |
+
"layout_id": "layout_00032",
|
| 665 |
+
"step_seeds": [
|
| 666 |
+
5868908299052723470,
|
| 667 |
+
1147186024122430536,
|
| 668 |
+
7048677080094423649
|
| 669 |
+
],
|
| 670 |
+
"workflow_spec_digest": "41fe1ccdd76518f49a9649d8ad52abbf640a2a9139023383414c5dce78b542b9",
|
| 671 |
+
"strict_task_state": false,
|
| 672 |
+
"allow_physical_randomization": true,
|
| 673 |
+
"seed_source": "workflow.reproducibility",
|
| 674 |
+
"task_island_state_digest": "5ba90eb56171cbe4feaff58fc8cc3bf8574677e4565f9daaabb33b2d96683767",
|
| 675 |
+
"visual_seed": 316110684234013086,
|
| 676 |
+
"episode_index": 93,
|
| 677 |
+
"physical_randomization_enabled": true,
|
| 678 |
+
"motion_controller_type": "ik_servo",
|
| 679 |
+
"runtime_step_seeds": [
|
| 680 |
+
5868908299052723470,
|
| 681 |
+
1147186024122430536,
|
| 682 |
+
7048677080094423649
|
| 683 |
+
],
|
| 684 |
+
"runtime_workflow_digest": "95e4a3a6883347e144f1827ff91137e46eda0b934cef6dd52ac0cf2336bdc1d0"
|
| 685 |
+
}
|
| 686 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00032/results/episode_94_success.json
ADDED
|
@@ -0,0 +1,686 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 94,
|
| 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 |
+
0.16953153310301755,
|
| 26 |
+
0.24236640053666508,
|
| 27 |
+
1.0489256893666807
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0489256893666807,
|
| 30 |
+
"required_z": 0.8611066868287005,
|
| 31 |
+
"initial_z": 0.7611066868287005,
|
| 32 |
+
"lift_margin": 0.18781900253798023,
|
| 33 |
+
"gripper_z": 1.0545033048204233,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.16636764625200787,
|
| 38 |
+
0.23866145178964165,
|
| 39 |
+
1.0545033048204233
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.003163886851009684,
|
| 43 |
+
0.003704948747023429,
|
| 44 |
+
-0.005577615453742579
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.004872045281405177,
|
| 47 |
+
"object_to_gripper_z": -0.005577615453742579,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.16953153310301755,
|
| 51 |
+
0.21882908245886562,
|
| 52 |
+
1.0489256893666807
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.15992785463593306,
|
| 56 |
+
0.24236640053666508,
|
| 57 |
+
1.0489256893666807
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.1647296938694753,
|
| 61 |
+
0.23059774149776535,
|
| 62 |
+
1.0489256893666807
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.004801839233542243,
|
| 66 |
+
0.011768659038899731,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.02542117193196741,
|
| 70 |
+
"fingertip_max_gap": 0.09407871412519475,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.012710585965983704,
|
| 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": 1.0489256893666807,
|
| 78 |
+
"object_top_z": 1.1002556319639623,
|
| 79 |
+
"finger_top_clearance": 0.05132994259728152,
|
| 80 |
+
"fingertip_min_top_clearance": 0.015398982779184472,
|
| 81 |
+
"object_projection_between_fingers": 0.8572802465171024,
|
| 82 |
+
"object_to_finger_line_xy": 0.008891991108892487,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.04953935706259738,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 1.5073455696674927,
|
| 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 |
+
"ignored_prim_substrings": [
|
| 185 |
+
"base_link",
|
| 186 |
+
"caster",
|
| 187 |
+
"defaultgroundplane",
|
| 188 |
+
"desk",
|
| 189 |
+
"floor",
|
| 190 |
+
"ground",
|
| 191 |
+
"groundplane",
|
| 192 |
+
"link0",
|
| 193 |
+
"table",
|
| 194 |
+
"wheel",
|
| 195 |
+
"workbench"
|
| 196 |
+
],
|
| 197 |
+
"enabled": true
|
| 198 |
+
},
|
| 199 |
+
"status": "active",
|
| 200 |
+
"passed": true,
|
| 201 |
+
"source_missing": false,
|
| 202 |
+
"forbidden": [],
|
| 203 |
+
"disturbances": [],
|
| 204 |
+
"last_frame": {
|
| 205 |
+
"passed": true,
|
| 206 |
+
"source_missing": false,
|
| 207 |
+
"forbidden": [],
|
| 208 |
+
"allowed": [
|
| 209 |
+
{
|
| 210 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 211 |
+
"b": "/World/beaker_2/mesh"
|
| 212 |
+
},
|
| 213 |
+
{
|
| 214 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 215 |
+
"b": "/World/beaker_2/mesh"
|
| 216 |
+
}
|
| 217 |
+
],
|
| 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 |
+
},
|
| 228 |
+
"physical_semantics": {
|
| 229 |
+
"skill": "pick",
|
| 230 |
+
"target": "beaker_a",
|
| 231 |
+
"attach_used": false,
|
| 232 |
+
"attach_object": null,
|
| 233 |
+
"attach_object_path": null,
|
| 234 |
+
"attach_allowed": false,
|
| 235 |
+
"ordinary_object_physical_only": true
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
{
|
| 239 |
+
"step_index": 1,
|
| 240 |
+
"skill": "shake",
|
| 241 |
+
"target": "beaker_a",
|
| 242 |
+
"success": true,
|
| 243 |
+
"reason": "executed",
|
| 244 |
+
"debug": {
|
| 245 |
+
"arm": null,
|
| 246 |
+
"checker": {
|
| 247 |
+
"checker": "ShakeSuccessChecker",
|
| 248 |
+
"skill": "shake",
|
| 249 |
+
"target": "beaker_a",
|
| 250 |
+
"passed": true,
|
| 251 |
+
"metrics": {
|
| 252 |
+
"held": "beaker_a",
|
| 253 |
+
"force_virtual_attach": false,
|
| 254 |
+
"virtual_attach_allowed": false,
|
| 255 |
+
"gripper_position": [
|
| 256 |
+
0.1699879736771332,
|
| 257 |
+
0.2443056676067053,
|
| 258 |
+
1.242686655280852
|
| 259 |
+
],
|
| 260 |
+
"held_position": [
|
| 261 |
+
0.17324050266828384,
|
| 262 |
+
0.2478058258568881,
|
| 263 |
+
1.236998406279607
|
| 264 |
+
],
|
| 265 |
+
"object_initial_z": 0.7774145980897915,
|
| 266 |
+
"required_gripper_z": 0.8974145980897915,
|
| 267 |
+
"shake_count": 5,
|
| 268 |
+
"held_shake_count": 5,
|
| 269 |
+
"effective_shake_count": 5,
|
| 270 |
+
"min_shake_count": 3,
|
| 271 |
+
"held_gripper_dist": 0.007428743454633587,
|
| 272 |
+
"max_held_gripper_dist": 0.007443469829905309,
|
| 273 |
+
"held_gripper_max_dist": 0.15,
|
| 274 |
+
"held_gripper_z_dist": 0.005688249001244872,
|
| 275 |
+
"max_held_gripper_z_dist": 0.00572150310447328,
|
| 276 |
+
"held_gripper_z_max_dist": 0.15,
|
| 277 |
+
"held_object_xy_range": 0.0861527455385897,
|
| 278 |
+
"held_object_min_xy_range": 0.04,
|
| 279 |
+
"held_motion_ok": true,
|
| 280 |
+
"held_grasp_geometry_checked": true,
|
| 281 |
+
"held_grasp_geometry_required": true,
|
| 282 |
+
"held_grasp_source": "active_contact_pad_positions",
|
| 283 |
+
"held_grasp_finger_a": [
|
| 284 |
+
0.17324050266828384,
|
| 285 |
+
0.22376458189181667,
|
| 286 |
+
1.236998406279607
|
| 287 |
+
],
|
| 288 |
+
"held_grasp_finger_b": [
|
| 289 |
+
0.164907255351646,
|
| 290 |
+
0.2478058258568881,
|
| 291 |
+
1.236998406279607
|
| 292 |
+
],
|
| 293 |
+
"held_grasp_midpoint": [
|
| 294 |
+
0.1690738790099649,
|
| 295 |
+
0.23578520387435237,
|
| 296 |
+
1.236998406279607
|
| 297 |
+
],
|
| 298 |
+
"held_grasp_object_position": [
|
| 299 |
+
0.17324050266828384,
|
| 300 |
+
0.2478058258568881,
|
| 301 |
+
1.236998406279607
|
| 302 |
+
],
|
| 303 |
+
"held_grasp_finger_gap": 0.025444536195976048,
|
| 304 |
+
"held_grasp_max_gap": 0.1249237185716629,
|
| 305 |
+
"held_grasp_geometry_frame": "object_local",
|
| 306 |
+
"held_grasp_size_source": "beaker_a_local_size",
|
| 307 |
+
"held_grasp_z_skew": 0.023857670390483126,
|
| 308 |
+
"held_grasp_world_z_skew": 0.0,
|
| 309 |
+
"held_grasp_z_skew_max": 0.08,
|
| 310 |
+
"held_grasp_z_skew_frame": "object_local_up",
|
| 311 |
+
"held_grasp_local_up_axis": [
|
| 312 |
+
-0.02039857164761684,
|
| 313 |
+
-0.9994348365599428,
|
| 314 |
+
0.02671901467377579
|
| 315 |
+
],
|
| 316 |
+
"held_grasp_object_projection_between_fingers": 0.5,
|
| 317 |
+
"held_grasp_object_to_finger_line_xy": 0.003933779728998238,
|
| 318 |
+
"held_grasp_line_xy_max_dist": 0.04746185928583145,
|
| 319 |
+
"held_grasp_object_top_z": 0.04972025007009506,
|
| 320 |
+
"held_grasp_top_clearance": 0.03762142853240775,
|
| 321 |
+
"held_grasp_min_top_clearance": 0.014916075021028518
|
| 322 |
+
},
|
| 323 |
+
"failed_keys": [],
|
| 324 |
+
"failure_code": null,
|
| 325 |
+
"failure_messages": {},
|
| 326 |
+
"safety": {
|
| 327 |
+
"policy": {
|
| 328 |
+
"skill": "shake",
|
| 329 |
+
"target_object": "beaker_a",
|
| 330 |
+
"held_object": "beaker_a",
|
| 331 |
+
"allowed_objects": [
|
| 332 |
+
"beaker_a"
|
| 333 |
+
],
|
| 334 |
+
"allowed_object_paths": [
|
| 335 |
+
"/World/beaker_2"
|
| 336 |
+
],
|
| 337 |
+
"allowed_prim_substrings": [],
|
| 338 |
+
"robot_prim_substrings": [
|
| 339 |
+
"Robotiq2F85",
|
| 340 |
+
"Robotiq_2F_85",
|
| 341 |
+
"contact_sensor",
|
| 342 |
+
"dummy_base_prismatic_x_joint",
|
| 343 |
+
"dummy_base_prismatic_y_joint",
|
| 344 |
+
"dummy_base_revolute_z_joint",
|
| 345 |
+
"elbow_joint",
|
| 346 |
+
"festo",
|
| 347 |
+
"finger",
|
| 348 |
+
"fr3",
|
| 349 |
+
"fr3_duo_mobile",
|
| 350 |
+
"fr3_joint1",
|
| 351 |
+
"fr3_joint2",
|
| 352 |
+
"fr3_joint3",
|
| 353 |
+
"fr3_joint4",
|
| 354 |
+
"fr3_joint5",
|
| 355 |
+
"fr3_joint6",
|
| 356 |
+
"fr3_joint7",
|
| 357 |
+
"fr3_leftfinger",
|
| 358 |
+
"fr3_rightfinger",
|
| 359 |
+
"franka",
|
| 360 |
+
"geometry",
|
| 361 |
+
"gripper",
|
| 362 |
+
"gripper_center",
|
| 363 |
+
"joint1",
|
| 364 |
+
"joint2",
|
| 365 |
+
"joint3",
|
| 366 |
+
"joint4",
|
| 367 |
+
"joint5",
|
| 368 |
+
"joint6",
|
| 369 |
+
"joint7",
|
| 370 |
+
"left_inner_finger",
|
| 371 |
+
"lift2",
|
| 372 |
+
"mobile_rotate",
|
| 373 |
+
"mobile_translate_x",
|
| 374 |
+
"mobile_translate_y",
|
| 375 |
+
"panda_joint1",
|
| 376 |
+
"panda_joint2",
|
| 377 |
+
"panda_joint3",
|
| 378 |
+
"panda_joint4",
|
| 379 |
+
"panda_joint5",
|
| 380 |
+
"panda_joint6",
|
| 381 |
+
"panda_joint7",
|
| 382 |
+
"panda_leftfinger",
|
| 383 |
+
"panda_leftfingertip",
|
| 384 |
+
"panda_rightfinger",
|
| 385 |
+
"panda_rightfingertip",
|
| 386 |
+
"ridgebase",
|
| 387 |
+
"ridgebase_festo",
|
| 388 |
+
"ridgebase_fr3",
|
| 389 |
+
"ridgebase_rizon4",
|
| 390 |
+
"ridgebase_ur16e",
|
| 391 |
+
"ridgebase_ur5e",
|
| 392 |
+
"right_inner_finger",
|
| 393 |
+
"rizon4",
|
| 394 |
+
"robot",
|
| 395 |
+
"robotiq_2f85",
|
| 396 |
+
"shoulder_lift_joint",
|
| 397 |
+
"shoulder_pan_joint",
|
| 398 |
+
"split_aloha",
|
| 399 |
+
"tool_center",
|
| 400 |
+
"ur16e",
|
| 401 |
+
"ur5e",
|
| 402 |
+
"visuals",
|
| 403 |
+
"wrist",
|
| 404 |
+
"wrist_1_joint",
|
| 405 |
+
"wrist_2_joint",
|
| 406 |
+
"wrist_3_joint"
|
| 407 |
+
],
|
| 408 |
+
"ignored_prim_substrings": [
|
| 409 |
+
"base_link",
|
| 410 |
+
"caster",
|
| 411 |
+
"defaultgroundplane",
|
| 412 |
+
"desk",
|
| 413 |
+
"floor",
|
| 414 |
+
"ground",
|
| 415 |
+
"groundplane",
|
| 416 |
+
"link0",
|
| 417 |
+
"table",
|
| 418 |
+
"wheel",
|
| 419 |
+
"workbench"
|
| 420 |
+
],
|
| 421 |
+
"enabled": true
|
| 422 |
+
},
|
| 423 |
+
"status": "active",
|
| 424 |
+
"passed": true,
|
| 425 |
+
"source_missing": false,
|
| 426 |
+
"forbidden": [],
|
| 427 |
+
"disturbances": [],
|
| 428 |
+
"last_frame": {
|
| 429 |
+
"passed": true,
|
| 430 |
+
"source_missing": false,
|
| 431 |
+
"forbidden": [],
|
| 432 |
+
"allowed": [
|
| 433 |
+
{
|
| 434 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 435 |
+
"b": "/World/beaker_2/mesh"
|
| 436 |
+
},
|
| 437 |
+
{
|
| 438 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 439 |
+
"b": "/World/beaker_2/mesh"
|
| 440 |
+
}
|
| 441 |
+
],
|
| 442 |
+
"ignored": [],
|
| 443 |
+
"failed_keys": []
|
| 444 |
+
},
|
| 445 |
+
"failed_keys": []
|
| 446 |
+
}
|
| 447 |
+
},
|
| 448 |
+
"gripper": null,
|
| 449 |
+
"post_done_wait_frames": 0,
|
| 450 |
+
"post_done_wait_exhausted": false
|
| 451 |
+
},
|
| 452 |
+
"physical_semantics": {
|
| 453 |
+
"skill": "shake",
|
| 454 |
+
"target": "beaker_a",
|
| 455 |
+
"attach_used": false,
|
| 456 |
+
"attach_object": null,
|
| 457 |
+
"attach_object_path": null,
|
| 458 |
+
"attach_allowed": false,
|
| 459 |
+
"ordinary_object_physical_only": true
|
| 460 |
+
}
|
| 461 |
+
},
|
| 462 |
+
{
|
| 463 |
+
"step_index": 2,
|
| 464 |
+
"skill": "place",
|
| 465 |
+
"target": "inspection_platform",
|
| 466 |
+
"success": true,
|
| 467 |
+
"reason": "executed",
|
| 468 |
+
"debug": {
|
| 469 |
+
"arm": null,
|
| 470 |
+
"checker": {
|
| 471 |
+
"checker": "PlaceSuccessChecker",
|
| 472 |
+
"skill": "place",
|
| 473 |
+
"target": "inspection_platform",
|
| 474 |
+
"passed": true,
|
| 475 |
+
"metrics": {
|
| 476 |
+
"held": "beaker_a",
|
| 477 |
+
"target": "inspection_platform",
|
| 478 |
+
"object_position": [
|
| 479 |
+
0.3547030714413823,
|
| 480 |
+
0.24548925585926157,
|
| 481 |
+
0.7671044558109755
|
| 482 |
+
],
|
| 483 |
+
"target_position": [
|
| 484 |
+
0.36339295359491247,
|
| 485 |
+
0.24668174624059855,
|
| 486 |
+
0.7158860691194898
|
| 487 |
+
],
|
| 488 |
+
"target_position_source": "target_object:_xform_position",
|
| 489 |
+
"xy_dist": 0.00877132174485826,
|
| 490 |
+
"xy_threshold": 0.08,
|
| 491 |
+
"gripper_dist": 0.16422488881842945,
|
| 492 |
+
"gripper_away_threshold": 0.04,
|
| 493 |
+
"gripper_away_ok": true,
|
| 494 |
+
"object_z": 0.7671044558109755,
|
| 495 |
+
"min_z": 0.5158860691194898,
|
| 496 |
+
"min_z_margin": 0.2,
|
| 497 |
+
"require_object_upright": true,
|
| 498 |
+
"object_upright_reference_source": "scene_initial",
|
| 499 |
+
"release_fingertip_source": "active_contact_pad_positions",
|
| 500 |
+
"release_finger_gap": 0.07517298667137873,
|
| 501 |
+
"release_finger_gap_metric": "3d_contact_pad_distance",
|
| 502 |
+
"release_fingertip_min_gap": 0.08834155904092687,
|
| 503 |
+
"release_gap_margin": 0.02,
|
| 504 |
+
"release_gap_missing_size": false,
|
| 505 |
+
"release_min_pad_clearance": 0.13342923890151084,
|
| 506 |
+
"release_required_pad_clearance": 0.05417077952046344,
|
| 507 |
+
"release_pad_clearance_ok": true,
|
| 508 |
+
"release_gap_ok": false,
|
| 509 |
+
"force_virtual_attach": false,
|
| 510 |
+
"virtual_attach_allowed": false,
|
| 511 |
+
"max_z": 0.8774145980897915,
|
| 512 |
+
"max_z_margin": 0.1,
|
| 513 |
+
"object_tilt_deg": 3.343264508292965,
|
| 514 |
+
"object_max_tilt_deg": 12.0,
|
| 515 |
+
"object_axis_flip_tolerance_deg": 3.0,
|
| 516 |
+
"object_upright_axis_local": null,
|
| 517 |
+
"required_placed_release_frames": 2,
|
| 518 |
+
"placed_release_frames": 127,
|
| 519 |
+
"max_placed_release_frames": 127
|
| 520 |
+
},
|
| 521 |
+
"failed_keys": [],
|
| 522 |
+
"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 |
+
"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": 94,
|
| 660 |
+
"reproducibility": {
|
| 661 |
+
"enabled": true,
|
| 662 |
+
"action_seed": 8965520104066671838,
|
| 663 |
+
"physical_seed": 3697495222794957137,
|
| 664 |
+
"layout_id": "layout_00032",
|
| 665 |
+
"step_seeds": [
|
| 666 |
+
5868908299052723470,
|
| 667 |
+
1147186024122430536,
|
| 668 |
+
7048677080094423649
|
| 669 |
+
],
|
| 670 |
+
"workflow_spec_digest": "41fe1ccdd76518f49a9649d8ad52abbf640a2a9139023383414c5dce78b542b9",
|
| 671 |
+
"strict_task_state": false,
|
| 672 |
+
"allow_physical_randomization": true,
|
| 673 |
+
"seed_source": "workflow.reproducibility",
|
| 674 |
+
"task_island_state_digest": "109c38b0f85a1523a238bcab970692b4fe63a2de94b812f0766c937132d1f33c",
|
| 675 |
+
"visual_seed": 3796008638628082782,
|
| 676 |
+
"episode_index": 94,
|
| 677 |
+
"physical_randomization_enabled": true,
|
| 678 |
+
"motion_controller_type": "ik_servo",
|
| 679 |
+
"runtime_step_seeds": [
|
| 680 |
+
5868908299052723470,
|
| 681 |
+
1147186024122430536,
|
| 682 |
+
7048677080094423649
|
| 683 |
+
],
|
| 684 |
+
"runtime_workflow_digest": "95e4a3a6883347e144f1827ff91137e46eda0b934cef6dd52ac0cf2336bdc1d0"
|
| 685 |
+
}
|
| 686 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00032/results/episode_95_success.json
ADDED
|
@@ -0,0 +1,686 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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 |
+
0.15944031242287557,
|
| 26 |
+
0.23673219135757678,
|
| 27 |
+
1.0493216540312078
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0493216540312078,
|
| 30 |
+
"required_z": 0.8611066272240555,
|
| 31 |
+
"initial_z": 0.7611066272240555,
|
| 32 |
+
"lift_margin": 0.1882150268071523,
|
| 33 |
+
"gripper_z": 1.0554690008333498,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.15710802084384956,
|
| 38 |
+
0.23351808876063923,
|
| 39 |
+
1.0554690008333498
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.002332291579026008,
|
| 43 |
+
0.0032141025969375514,
|
| 44 |
+
-0.0061473468021420175
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.003971150905371935,
|
| 47 |
+
"object_to_gripper_z": -0.0061473468021420175,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.15944031242287557,
|
| 51 |
+
0.21363289501254093,
|
| 52 |
+
1.0493216540312078
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.1507243956444773,
|
| 56 |
+
0.23673219135757678,
|
| 57 |
+
1.0493216540312078
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.15508235403367643,
|
| 61 |
+
0.22518254318505887,
|
| 62 |
+
1.0493216540312078
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.00435795838919914,
|
| 66 |
+
0.011549648172517912,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.02468895900850725,
|
| 70 |
+
"fingertip_max_gap": 0.09675602646875373,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.012344479504253613,
|
| 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": 1.0493216540312078,
|
| 78 |
+
"object_top_z": 1.1022130580374065,
|
| 79 |
+
"finger_top_clearance": 0.05289140400619874,
|
| 80 |
+
"fingertip_min_top_clearance": 0.015867421201859622,
|
| 81 |
+
"object_projection_between_fingers": 0.5,
|
| 82 |
+
"object_to_finger_line_xy": 0.012344479504253613,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.05087801323437686,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 2.4059984396448124,
|
| 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": 211,
|
| 96 |
+
"max_stable_success_frames": 211,
|
| 97 |
+
"required_stable_lift_frames": 5
|
| 98 |
+
},
|
| 99 |
+
"failed_keys": [],
|
| 100 |
+
"failure_code": null,
|
| 101 |
+
"failure_messages": {},
|
| 102 |
+
"safety": {
|
| 103 |
+
"policy": {
|
| 104 |
+
"skill": "pick",
|
| 105 |
+
"target_object": "beaker_a",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_a"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/beaker_2"
|
| 112 |
+
],
|
| 113 |
+
"allowed_prim_substrings": [],
|
| 114 |
+
"robot_prim_substrings": [
|
| 115 |
+
"Robotiq2F85",
|
| 116 |
+
"Robotiq_2F_85",
|
| 117 |
+
"contact_sensor",
|
| 118 |
+
"dummy_base_prismatic_x_joint",
|
| 119 |
+
"dummy_base_prismatic_y_joint",
|
| 120 |
+
"dummy_base_revolute_z_joint",
|
| 121 |
+
"elbow_joint",
|
| 122 |
+
"festo",
|
| 123 |
+
"finger",
|
| 124 |
+
"fr3",
|
| 125 |
+
"fr3_duo_mobile",
|
| 126 |
+
"fr3_joint1",
|
| 127 |
+
"fr3_joint2",
|
| 128 |
+
"fr3_joint3",
|
| 129 |
+
"fr3_joint4",
|
| 130 |
+
"fr3_joint5",
|
| 131 |
+
"fr3_joint6",
|
| 132 |
+
"fr3_joint7",
|
| 133 |
+
"fr3_leftfinger",
|
| 134 |
+
"fr3_rightfinger",
|
| 135 |
+
"franka",
|
| 136 |
+
"geometry",
|
| 137 |
+
"gripper",
|
| 138 |
+
"gripper_center",
|
| 139 |
+
"joint1",
|
| 140 |
+
"joint2",
|
| 141 |
+
"joint3",
|
| 142 |
+
"joint4",
|
| 143 |
+
"joint5",
|
| 144 |
+
"joint6",
|
| 145 |
+
"joint7",
|
| 146 |
+
"left_inner_finger",
|
| 147 |
+
"lift2",
|
| 148 |
+
"mobile_rotate",
|
| 149 |
+
"mobile_translate_x",
|
| 150 |
+
"mobile_translate_y",
|
| 151 |
+
"panda_joint1",
|
| 152 |
+
"panda_joint2",
|
| 153 |
+
"panda_joint3",
|
| 154 |
+
"panda_joint4",
|
| 155 |
+
"panda_joint5",
|
| 156 |
+
"panda_joint6",
|
| 157 |
+
"panda_joint7",
|
| 158 |
+
"panda_leftfinger",
|
| 159 |
+
"panda_leftfingertip",
|
| 160 |
+
"panda_rightfinger",
|
| 161 |
+
"panda_rightfingertip",
|
| 162 |
+
"ridgebase",
|
| 163 |
+
"ridgebase_festo",
|
| 164 |
+
"ridgebase_fr3",
|
| 165 |
+
"ridgebase_rizon4",
|
| 166 |
+
"ridgebase_ur16e",
|
| 167 |
+
"ridgebase_ur5e",
|
| 168 |
+
"right_inner_finger",
|
| 169 |
+
"rizon4",
|
| 170 |
+
"robot",
|
| 171 |
+
"robotiq_2f85",
|
| 172 |
+
"shoulder_lift_joint",
|
| 173 |
+
"shoulder_pan_joint",
|
| 174 |
+
"split_aloha",
|
| 175 |
+
"tool_center",
|
| 176 |
+
"ur16e",
|
| 177 |
+
"ur5e",
|
| 178 |
+
"visuals",
|
| 179 |
+
"wrist",
|
| 180 |
+
"wrist_1_joint",
|
| 181 |
+
"wrist_2_joint",
|
| 182 |
+
"wrist_3_joint"
|
| 183 |
+
],
|
| 184 |
+
"ignored_prim_substrings": [
|
| 185 |
+
"base_link",
|
| 186 |
+
"caster",
|
| 187 |
+
"defaultgroundplane",
|
| 188 |
+
"desk",
|
| 189 |
+
"floor",
|
| 190 |
+
"ground",
|
| 191 |
+
"groundplane",
|
| 192 |
+
"link0",
|
| 193 |
+
"table",
|
| 194 |
+
"wheel",
|
| 195 |
+
"workbench"
|
| 196 |
+
],
|
| 197 |
+
"enabled": true
|
| 198 |
+
},
|
| 199 |
+
"status": "active",
|
| 200 |
+
"passed": true,
|
| 201 |
+
"source_missing": false,
|
| 202 |
+
"forbidden": [],
|
| 203 |
+
"disturbances": [],
|
| 204 |
+
"last_frame": {
|
| 205 |
+
"passed": true,
|
| 206 |
+
"source_missing": false,
|
| 207 |
+
"forbidden": [],
|
| 208 |
+
"allowed": [
|
| 209 |
+
{
|
| 210 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 211 |
+
"b": "/World/beaker_2/mesh"
|
| 212 |
+
},
|
| 213 |
+
{
|
| 214 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 215 |
+
"b": "/World/beaker_2/mesh"
|
| 216 |
+
}
|
| 217 |
+
],
|
| 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 |
+
},
|
| 228 |
+
"physical_semantics": {
|
| 229 |
+
"skill": "pick",
|
| 230 |
+
"target": "beaker_a",
|
| 231 |
+
"attach_used": false,
|
| 232 |
+
"attach_object": null,
|
| 233 |
+
"attach_object_path": null,
|
| 234 |
+
"attach_allowed": false,
|
| 235 |
+
"ordinary_object_physical_only": true
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
{
|
| 239 |
+
"step_index": 1,
|
| 240 |
+
"skill": "shake",
|
| 241 |
+
"target": "beaker_a",
|
| 242 |
+
"success": true,
|
| 243 |
+
"reason": "executed",
|
| 244 |
+
"debug": {
|
| 245 |
+
"arm": null,
|
| 246 |
+
"checker": {
|
| 247 |
+
"checker": "ShakeSuccessChecker",
|
| 248 |
+
"skill": "shake",
|
| 249 |
+
"target": "beaker_a",
|
| 250 |
+
"passed": true,
|
| 251 |
+
"metrics": {
|
| 252 |
+
"held": "beaker_a",
|
| 253 |
+
"force_virtual_attach": false,
|
| 254 |
+
"virtual_attach_allowed": false,
|
| 255 |
+
"gripper_position": [
|
| 256 |
+
0.1610405850360162,
|
| 257 |
+
0.23875305626854348,
|
| 258 |
+
1.245277392628379
|
| 259 |
+
],
|
| 260 |
+
"held_position": [
|
| 261 |
+
0.16345826277373904,
|
| 262 |
+
0.24177221549468358,
|
| 263 |
+
1.2390409173846757
|
| 264 |
+
],
|
| 265 |
+
"object_initial_z": 0.7774145980897915,
|
| 266 |
+
"required_gripper_z": 0.8974145980897915,
|
| 267 |
+
"shake_count": 5,
|
| 268 |
+
"held_shake_count": 5,
|
| 269 |
+
"effective_shake_count": 5,
|
| 270 |
+
"min_shake_count": 3,
|
| 271 |
+
"held_gripper_dist": 0.00733853606256677,
|
| 272 |
+
"max_held_gripper_dist": 0.007355008268710683,
|
| 273 |
+
"held_gripper_max_dist": 0.15,
|
| 274 |
+
"held_gripper_z_dist": 0.00623647524370341,
|
| 275 |
+
"max_held_gripper_z_dist": 0.006266287955048355,
|
| 276 |
+
"held_gripper_z_max_dist": 0.15,
|
| 277 |
+
"held_object_xy_range": 0.08591437769446686,
|
| 278 |
+
"held_object_min_xy_range": 0.04,
|
| 279 |
+
"held_motion_ok": true,
|
| 280 |
+
"held_grasp_geometry_checked": true,
|
| 281 |
+
"held_grasp_geometry_required": true,
|
| 282 |
+
"held_grasp_source": "active_contact_pad_positions",
|
| 283 |
+
"held_grasp_finger_a": [
|
| 284 |
+
0.16345826277373904,
|
| 285 |
+
0.21812748869923063,
|
| 286 |
+
1.2390409173846757
|
| 287 |
+
],
|
| 288 |
+
"held_grasp_finger_b": [
|
| 289 |
+
0.15607010829072435,
|
| 290 |
+
0.24177221549468358,
|
| 291 |
+
1.2390409173846757
|
| 292 |
+
],
|
| 293 |
+
"held_grasp_midpoint": [
|
| 294 |
+
0.1597641855322317,
|
| 295 |
+
0.22994985209695712,
|
| 296 |
+
1.2390409173846757
|
| 297 |
+
],
|
| 298 |
+
"held_grasp_object_position": [
|
| 299 |
+
0.16345826277373904,
|
| 300 |
+
0.24177221549468358,
|
| 301 |
+
1.2390409173846757
|
| 302 |
+
],
|
| 303 |
+
"held_grasp_finger_gap": 0.024772120052520764,
|
| 304 |
+
"held_grasp_max_gap": 0.1249237185716629,
|
| 305 |
+
"held_grasp_geometry_frame": "object_local",
|
| 306 |
+
"held_grasp_size_source": "beaker_a_local_size",
|
| 307 |
+
"held_grasp_z_skew": 0.023470529495646986,
|
| 308 |
+
"held_grasp_world_z_skew": 0.0,
|
| 309 |
+
"held_grasp_z_skew_max": 0.08,
|
| 310 |
+
"held_grasp_z_skew_frame": "object_local_up",
|
| 311 |
+
"held_grasp_local_up_axis": [
|
| 312 |
+
-0.01939701513007631,
|
| 313 |
+
-0.9986936133463156,
|
| 314 |
+
0.047273908927903736
|
| 315 |
+
],
|
| 316 |
+
"held_grasp_object_projection_between_fingers": 0.5,
|
| 317 |
+
"held_grasp_object_to_finger_line_xy": 0.0035091293821777,
|
| 318 |
+
"held_grasp_line_xy_max_dist": 0.04746185928583145,
|
| 319 |
+
"held_grasp_object_top_z": 0.04972025007009506,
|
| 320 |
+
"held_grasp_top_clearance": 0.03784167717798119,
|
| 321 |
+
"held_grasp_min_top_clearance": 0.014916075021028518
|
| 322 |
+
},
|
| 323 |
+
"failed_keys": [],
|
| 324 |
+
"failure_code": null,
|
| 325 |
+
"failure_messages": {},
|
| 326 |
+
"safety": {
|
| 327 |
+
"policy": {
|
| 328 |
+
"skill": "shake",
|
| 329 |
+
"target_object": "beaker_a",
|
| 330 |
+
"held_object": "beaker_a",
|
| 331 |
+
"allowed_objects": [
|
| 332 |
+
"beaker_a"
|
| 333 |
+
],
|
| 334 |
+
"allowed_object_paths": [
|
| 335 |
+
"/World/beaker_2"
|
| 336 |
+
],
|
| 337 |
+
"allowed_prim_substrings": [],
|
| 338 |
+
"robot_prim_substrings": [
|
| 339 |
+
"Robotiq2F85",
|
| 340 |
+
"Robotiq_2F_85",
|
| 341 |
+
"contact_sensor",
|
| 342 |
+
"dummy_base_prismatic_x_joint",
|
| 343 |
+
"dummy_base_prismatic_y_joint",
|
| 344 |
+
"dummy_base_revolute_z_joint",
|
| 345 |
+
"elbow_joint",
|
| 346 |
+
"festo",
|
| 347 |
+
"finger",
|
| 348 |
+
"fr3",
|
| 349 |
+
"fr3_duo_mobile",
|
| 350 |
+
"fr3_joint1",
|
| 351 |
+
"fr3_joint2",
|
| 352 |
+
"fr3_joint3",
|
| 353 |
+
"fr3_joint4",
|
| 354 |
+
"fr3_joint5",
|
| 355 |
+
"fr3_joint6",
|
| 356 |
+
"fr3_joint7",
|
| 357 |
+
"fr3_leftfinger",
|
| 358 |
+
"fr3_rightfinger",
|
| 359 |
+
"franka",
|
| 360 |
+
"geometry",
|
| 361 |
+
"gripper",
|
| 362 |
+
"gripper_center",
|
| 363 |
+
"joint1",
|
| 364 |
+
"joint2",
|
| 365 |
+
"joint3",
|
| 366 |
+
"joint4",
|
| 367 |
+
"joint5",
|
| 368 |
+
"joint6",
|
| 369 |
+
"joint7",
|
| 370 |
+
"left_inner_finger",
|
| 371 |
+
"lift2",
|
| 372 |
+
"mobile_rotate",
|
| 373 |
+
"mobile_translate_x",
|
| 374 |
+
"mobile_translate_y",
|
| 375 |
+
"panda_joint1",
|
| 376 |
+
"panda_joint2",
|
| 377 |
+
"panda_joint3",
|
| 378 |
+
"panda_joint4",
|
| 379 |
+
"panda_joint5",
|
| 380 |
+
"panda_joint6",
|
| 381 |
+
"panda_joint7",
|
| 382 |
+
"panda_leftfinger",
|
| 383 |
+
"panda_leftfingertip",
|
| 384 |
+
"panda_rightfinger",
|
| 385 |
+
"panda_rightfingertip",
|
| 386 |
+
"ridgebase",
|
| 387 |
+
"ridgebase_festo",
|
| 388 |
+
"ridgebase_fr3",
|
| 389 |
+
"ridgebase_rizon4",
|
| 390 |
+
"ridgebase_ur16e",
|
| 391 |
+
"ridgebase_ur5e",
|
| 392 |
+
"right_inner_finger",
|
| 393 |
+
"rizon4",
|
| 394 |
+
"robot",
|
| 395 |
+
"robotiq_2f85",
|
| 396 |
+
"shoulder_lift_joint",
|
| 397 |
+
"shoulder_pan_joint",
|
| 398 |
+
"split_aloha",
|
| 399 |
+
"tool_center",
|
| 400 |
+
"ur16e",
|
| 401 |
+
"ur5e",
|
| 402 |
+
"visuals",
|
| 403 |
+
"wrist",
|
| 404 |
+
"wrist_1_joint",
|
| 405 |
+
"wrist_2_joint",
|
| 406 |
+
"wrist_3_joint"
|
| 407 |
+
],
|
| 408 |
+
"ignored_prim_substrings": [
|
| 409 |
+
"base_link",
|
| 410 |
+
"caster",
|
| 411 |
+
"defaultgroundplane",
|
| 412 |
+
"desk",
|
| 413 |
+
"floor",
|
| 414 |
+
"ground",
|
| 415 |
+
"groundplane",
|
| 416 |
+
"link0",
|
| 417 |
+
"table",
|
| 418 |
+
"wheel",
|
| 419 |
+
"workbench"
|
| 420 |
+
],
|
| 421 |
+
"enabled": true
|
| 422 |
+
},
|
| 423 |
+
"status": "active",
|
| 424 |
+
"passed": true,
|
| 425 |
+
"source_missing": false,
|
| 426 |
+
"forbidden": [],
|
| 427 |
+
"disturbances": [],
|
| 428 |
+
"last_frame": {
|
| 429 |
+
"passed": true,
|
| 430 |
+
"source_missing": false,
|
| 431 |
+
"forbidden": [],
|
| 432 |
+
"allowed": [
|
| 433 |
+
{
|
| 434 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 435 |
+
"b": "/World/beaker_2/mesh"
|
| 436 |
+
},
|
| 437 |
+
{
|
| 438 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 439 |
+
"b": "/World/beaker_2/mesh"
|
| 440 |
+
}
|
| 441 |
+
],
|
| 442 |
+
"ignored": [],
|
| 443 |
+
"failed_keys": []
|
| 444 |
+
},
|
| 445 |
+
"failed_keys": []
|
| 446 |
+
}
|
| 447 |
+
},
|
| 448 |
+
"gripper": null,
|
| 449 |
+
"post_done_wait_frames": 0,
|
| 450 |
+
"post_done_wait_exhausted": false
|
| 451 |
+
},
|
| 452 |
+
"physical_semantics": {
|
| 453 |
+
"skill": "shake",
|
| 454 |
+
"target": "beaker_a",
|
| 455 |
+
"attach_used": false,
|
| 456 |
+
"attach_object": null,
|
| 457 |
+
"attach_object_path": null,
|
| 458 |
+
"attach_allowed": false,
|
| 459 |
+
"ordinary_object_physical_only": true
|
| 460 |
+
}
|
| 461 |
+
},
|
| 462 |
+
{
|
| 463 |
+
"step_index": 2,
|
| 464 |
+
"skill": "place",
|
| 465 |
+
"target": "inspection_platform",
|
| 466 |
+
"success": true,
|
| 467 |
+
"reason": "executed",
|
| 468 |
+
"debug": {
|
| 469 |
+
"arm": null,
|
| 470 |
+
"checker": {
|
| 471 |
+
"checker": "PlaceSuccessChecker",
|
| 472 |
+
"skill": "place",
|
| 473 |
+
"target": "inspection_platform",
|
| 474 |
+
"passed": true,
|
| 475 |
+
"metrics": {
|
| 476 |
+
"held": "beaker_a",
|
| 477 |
+
"target": "inspection_platform",
|
| 478 |
+
"object_position": [
|
| 479 |
+
0.348220226001056,
|
| 480 |
+
0.2459767361240759,
|
| 481 |
+
0.7671052265921775
|
| 482 |
+
],
|
| 483 |
+
"target_position": [
|
| 484 |
+
0.3590151274952646,
|
| 485 |
+
0.248484891003493,
|
| 486 |
+
0.7158860691194898
|
| 487 |
+
],
|
| 488 |
+
"target_position_source": "target_object:_xform_position",
|
| 489 |
+
"xy_dist": 0.011082451857274663,
|
| 490 |
+
"xy_threshold": 0.08,
|
| 491 |
+
"gripper_dist": 0.16296990707497472,
|
| 492 |
+
"gripper_away_threshold": 0.04,
|
| 493 |
+
"gripper_away_ok": true,
|
| 494 |
+
"object_z": 0.7671052265921775,
|
| 495 |
+
"min_z": 0.5158860691194898,
|
| 496 |
+
"min_z_margin": 0.2,
|
| 497 |
+
"require_object_upright": true,
|
| 498 |
+
"object_upright_reference_source": "scene_initial",
|
| 499 |
+
"release_fingertip_source": "active_contact_pad_positions",
|
| 500 |
+
"release_finger_gap": 0.07564132231775891,
|
| 501 |
+
"release_finger_gap_metric": "3d_contact_pad_distance",
|
| 502 |
+
"release_fingertip_min_gap": 0.0868759491679325,
|
| 503 |
+
"release_gap_margin": 0.02,
|
| 504 |
+
"release_gap_missing_size": false,
|
| 505 |
+
"release_min_pad_clearance": 0.13073516162364734,
|
| 506 |
+
"release_required_pad_clearance": 0.05343797458396625,
|
| 507 |
+
"release_pad_clearance_ok": true,
|
| 508 |
+
"release_gap_ok": false,
|
| 509 |
+
"force_virtual_attach": false,
|
| 510 |
+
"virtual_attach_allowed": false,
|
| 511 |
+
"max_z": 0.8774145980897915,
|
| 512 |
+
"max_z_margin": 0.1,
|
| 513 |
+
"object_tilt_deg": 1.8883799137371349,
|
| 514 |
+
"object_max_tilt_deg": 12.0,
|
| 515 |
+
"object_axis_flip_tolerance_deg": 3.0,
|
| 516 |
+
"object_upright_axis_local": null,
|
| 517 |
+
"required_placed_release_frames": 2,
|
| 518 |
+
"placed_release_frames": 127,
|
| 519 |
+
"max_placed_release_frames": 127
|
| 520 |
+
},
|
| 521 |
+
"failed_keys": [],
|
| 522 |
+
"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 |
+
"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": 95,
|
| 660 |
+
"reproducibility": {
|
| 661 |
+
"enabled": true,
|
| 662 |
+
"action_seed": 8965520104066671838,
|
| 663 |
+
"physical_seed": 3697495222794957137,
|
| 664 |
+
"layout_id": "layout_00032",
|
| 665 |
+
"step_seeds": [
|
| 666 |
+
5868908299052723470,
|
| 667 |
+
1147186024122430536,
|
| 668 |
+
7048677080094423649
|
| 669 |
+
],
|
| 670 |
+
"workflow_spec_digest": "41fe1ccdd76518f49a9649d8ad52abbf640a2a9139023383414c5dce78b542b9",
|
| 671 |
+
"strict_task_state": false,
|
| 672 |
+
"allow_physical_randomization": true,
|
| 673 |
+
"seed_source": "workflow.reproducibility",
|
| 674 |
+
"task_island_state_digest": "0415a647f28869ee9428f64174f190934b08a6504ea3579f5c67ab89aa2b6731",
|
| 675 |
+
"visual_seed": 9004508581614214983,
|
| 676 |
+
"episode_index": 95,
|
| 677 |
+
"physical_randomization_enabled": true,
|
| 678 |
+
"motion_controller_type": "ik_servo",
|
| 679 |
+
"runtime_step_seeds": [
|
| 680 |
+
5868908299052723470,
|
| 681 |
+
1147186024122430536,
|
| 682 |
+
7048677080094423649
|
| 683 |
+
],
|
| 684 |
+
"runtime_workflow_digest": "95e4a3a6883347e144f1827ff91137e46eda0b934cef6dd52ac0cf2336bdc1d0"
|
| 685 |
+
}
|
| 686 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00032/results/episode_96_success.json
ADDED
|
@@ -0,0 +1,686 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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 |
+
0.16572631455544704,
|
| 26 |
+
0.23504830716029892,
|
| 27 |
+
1.047574158839352
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.047574158839352,
|
| 30 |
+
"required_z": 0.8611070444565688,
|
| 31 |
+
"initial_z": 0.7611070444565688,
|
| 32 |
+
"lift_margin": 0.18646711438278307,
|
| 33 |
+
"gripper_z": 1.0535329129950768,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.16295584888237138,
|
| 38 |
+
0.23154971466788715,
|
| 39 |
+
1.0535329129950768
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.0027704656730756505,
|
| 43 |
+
0.003498592492411773,
|
| 44 |
+
-0.005958754155724888
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.004462693074103409,
|
| 47 |
+
"object_to_gripper_z": -0.005958754155724888,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.16572631455544704,
|
| 51 |
+
0.21174146024745139,
|
| 52 |
+
1.047574158839352
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.15648772275117928,
|
| 56 |
+
0.23504830716029892,
|
| 57 |
+
1.047574158839352
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.16110701865331317,
|
| 61 |
+
0.22339488370387517,
|
| 62 |
+
1.047574158839352
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.004619295902133863,
|
| 66 |
+
0.011653423456423756,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.025071112690600594,
|
| 70 |
+
"fingertip_max_gap": 0.09519793740183524,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.01253555634530028,
|
| 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": 1.047574158839352,
|
| 78 |
+
"object_top_z": 1.0998384989569017,
|
| 79 |
+
"finger_top_clearance": 0.05226434011754977,
|
| 80 |
+
"fingertip_min_top_clearance": 0.015679302035264946,
|
| 81 |
+
"object_projection_between_fingers": 0.8642110783031669,
|
| 82 |
+
"object_to_finger_line_xy": 0.008588467832665559,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.05009896870091762,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 1.774448365692503,
|
| 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 |
+
"passed": true,
|
| 206 |
+
"source_missing": false,
|
| 207 |
+
"forbidden": [],
|
| 208 |
+
"allowed": [
|
| 209 |
+
{
|
| 210 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 211 |
+
"b": "/World/beaker_2/mesh"
|
| 212 |
+
},
|
| 213 |
+
{
|
| 214 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 215 |
+
"b": "/World/beaker_2/mesh"
|
| 216 |
+
}
|
| 217 |
+
],
|
| 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 |
+
},
|
| 228 |
+
"physical_semantics": {
|
| 229 |
+
"skill": "pick",
|
| 230 |
+
"target": "beaker_a",
|
| 231 |
+
"attach_used": false,
|
| 232 |
+
"attach_object": null,
|
| 233 |
+
"attach_object_path": null,
|
| 234 |
+
"attach_allowed": false,
|
| 235 |
+
"ordinary_object_physical_only": true
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
{
|
| 239 |
+
"step_index": 1,
|
| 240 |
+
"skill": "shake",
|
| 241 |
+
"target": "beaker_a",
|
| 242 |
+
"success": true,
|
| 243 |
+
"reason": "executed",
|
| 244 |
+
"debug": {
|
| 245 |
+
"arm": null,
|
| 246 |
+
"checker": {
|
| 247 |
+
"checker": "ShakeSuccessChecker",
|
| 248 |
+
"skill": "shake",
|
| 249 |
+
"target": "beaker_a",
|
| 250 |
+
"passed": true,
|
| 251 |
+
"metrics": {
|
| 252 |
+
"held": "beaker_a",
|
| 253 |
+
"force_virtual_attach": false,
|
| 254 |
+
"virtual_attach_allowed": false,
|
| 255 |
+
"gripper_position": [
|
| 256 |
+
0.16649118180652486,
|
| 257 |
+
0.23756913978862393,
|
| 258 |
+
1.241576522700328
|
| 259 |
+
],
|
| 260 |
+
"held_position": [
|
| 261 |
+
0.16932057365650519,
|
| 262 |
+
0.24087660103747366,
|
| 263 |
+
1.2355112824297425
|
| 264 |
+
],
|
| 265 |
+
"object_initial_z": 0.7774145980897915,
|
| 266 |
+
"required_gripper_z": 0.8974145980897915,
|
| 267 |
+
"shake_count": 5,
|
| 268 |
+
"held_shake_count": 5,
|
| 269 |
+
"effective_shake_count": 5,
|
| 270 |
+
"min_shake_count": 3,
|
| 271 |
+
"held_gripper_dist": 0.007465379942997457,
|
| 272 |
+
"max_held_gripper_dist": 0.007483646014782496,
|
| 273 |
+
"held_gripper_max_dist": 0.15,
|
| 274 |
+
"held_gripper_z_dist": 0.006065240270585415,
|
| 275 |
+
"max_held_gripper_z_dist": 0.0060985385757850175,
|
| 276 |
+
"held_gripper_z_max_dist": 0.15,
|
| 277 |
+
"held_object_xy_range": 0.08571133656732077,
|
| 278 |
+
"held_object_min_xy_range": 0.04,
|
| 279 |
+
"held_motion_ok": true,
|
| 280 |
+
"held_grasp_geometry_checked": true,
|
| 281 |
+
"held_grasp_geometry_required": true,
|
| 282 |
+
"held_grasp_source": "active_contact_pad_positions",
|
| 283 |
+
"held_grasp_finger_a": [
|
| 284 |
+
0.16932057365650519,
|
| 285 |
+
0.21709024087419043,
|
| 286 |
+
1.2355112824297425
|
| 287 |
+
],
|
| 288 |
+
"held_grasp_finger_b": [
|
| 289 |
+
0.1613205063691927,
|
| 290 |
+
0.24087660103747366,
|
| 291 |
+
1.2355112824297425
|
| 292 |
+
],
|
| 293 |
+
"held_grasp_midpoint": [
|
| 294 |
+
0.16532054001284896,
|
| 295 |
+
0.22898342095583205,
|
| 296 |
+
1.2355112824297425
|
| 297 |
+
],
|
| 298 |
+
"held_grasp_object_position": [
|
| 299 |
+
0.16932057365650519,
|
| 300 |
+
0.24087660103747366,
|
| 301 |
+
1.2355112824297425
|
| 302 |
+
],
|
| 303 |
+
"held_grasp_finger_gap": 0.025095657122676713,
|
| 304 |
+
"held_grasp_max_gap": 0.1249237185716629,
|
| 305 |
+
"held_grasp_geometry_frame": "object_local",
|
| 306 |
+
"held_grasp_size_source": "beaker_a_local_size",
|
| 307 |
+
"held_grasp_z_skew": 0.023574438666732516,
|
| 308 |
+
"held_grasp_world_z_skew": 0.0,
|
| 309 |
+
"held_grasp_z_skew_max": 0.08,
|
| 310 |
+
"held_grasp_z_skew_frame": "object_local_up",
|
| 311 |
+
"held_grasp_local_up_axis": [
|
| 312 |
+
-0.02341158455487015,
|
| 313 |
+
-0.9989646484523026,
|
| 314 |
+
0.039006779554298314
|
| 315 |
+
],
|
| 316 |
+
"held_grasp_object_projection_between_fingers": 0.5,
|
| 317 |
+
"held_grasp_object_to_finger_line_xy": 0.0037495367720302144,
|
| 318 |
+
"held_grasp_line_xy_max_dist": 0.04746185928583145,
|
| 319 |
+
"held_grasp_object_top_z": 0.04972025007009506,
|
| 320 |
+
"held_grasp_top_clearance": 0.03774573648498723,
|
| 321 |
+
"held_grasp_min_top_clearance": 0.014916075021028518
|
| 322 |
+
},
|
| 323 |
+
"failed_keys": [],
|
| 324 |
+
"failure_code": null,
|
| 325 |
+
"failure_messages": {},
|
| 326 |
+
"safety": {
|
| 327 |
+
"policy": {
|
| 328 |
+
"skill": "shake",
|
| 329 |
+
"target_object": "beaker_a",
|
| 330 |
+
"held_object": "beaker_a",
|
| 331 |
+
"allowed_objects": [
|
| 332 |
+
"beaker_a"
|
| 333 |
+
],
|
| 334 |
+
"allowed_object_paths": [
|
| 335 |
+
"/World/beaker_2"
|
| 336 |
+
],
|
| 337 |
+
"allowed_prim_substrings": [],
|
| 338 |
+
"robot_prim_substrings": [
|
| 339 |
+
"Robotiq2F85",
|
| 340 |
+
"Robotiq_2F_85",
|
| 341 |
+
"contact_sensor",
|
| 342 |
+
"dummy_base_prismatic_x_joint",
|
| 343 |
+
"dummy_base_prismatic_y_joint",
|
| 344 |
+
"dummy_base_revolute_z_joint",
|
| 345 |
+
"elbow_joint",
|
| 346 |
+
"festo",
|
| 347 |
+
"finger",
|
| 348 |
+
"fr3",
|
| 349 |
+
"fr3_duo_mobile",
|
| 350 |
+
"fr3_joint1",
|
| 351 |
+
"fr3_joint2",
|
| 352 |
+
"fr3_joint3",
|
| 353 |
+
"fr3_joint4",
|
| 354 |
+
"fr3_joint5",
|
| 355 |
+
"fr3_joint6",
|
| 356 |
+
"fr3_joint7",
|
| 357 |
+
"fr3_leftfinger",
|
| 358 |
+
"fr3_rightfinger",
|
| 359 |
+
"franka",
|
| 360 |
+
"geometry",
|
| 361 |
+
"gripper",
|
| 362 |
+
"gripper_center",
|
| 363 |
+
"joint1",
|
| 364 |
+
"joint2",
|
| 365 |
+
"joint3",
|
| 366 |
+
"joint4",
|
| 367 |
+
"joint5",
|
| 368 |
+
"joint6",
|
| 369 |
+
"joint7",
|
| 370 |
+
"left_inner_finger",
|
| 371 |
+
"lift2",
|
| 372 |
+
"mobile_rotate",
|
| 373 |
+
"mobile_translate_x",
|
| 374 |
+
"mobile_translate_y",
|
| 375 |
+
"panda_joint1",
|
| 376 |
+
"panda_joint2",
|
| 377 |
+
"panda_joint3",
|
| 378 |
+
"panda_joint4",
|
| 379 |
+
"panda_joint5",
|
| 380 |
+
"panda_joint6",
|
| 381 |
+
"panda_joint7",
|
| 382 |
+
"panda_leftfinger",
|
| 383 |
+
"panda_leftfingertip",
|
| 384 |
+
"panda_rightfinger",
|
| 385 |
+
"panda_rightfingertip",
|
| 386 |
+
"ridgebase",
|
| 387 |
+
"ridgebase_festo",
|
| 388 |
+
"ridgebase_fr3",
|
| 389 |
+
"ridgebase_rizon4",
|
| 390 |
+
"ridgebase_ur16e",
|
| 391 |
+
"ridgebase_ur5e",
|
| 392 |
+
"right_inner_finger",
|
| 393 |
+
"rizon4",
|
| 394 |
+
"robot",
|
| 395 |
+
"robotiq_2f85",
|
| 396 |
+
"shoulder_lift_joint",
|
| 397 |
+
"shoulder_pan_joint",
|
| 398 |
+
"split_aloha",
|
| 399 |
+
"tool_center",
|
| 400 |
+
"ur16e",
|
| 401 |
+
"ur5e",
|
| 402 |
+
"visuals",
|
| 403 |
+
"wrist",
|
| 404 |
+
"wrist_1_joint",
|
| 405 |
+
"wrist_2_joint",
|
| 406 |
+
"wrist_3_joint"
|
| 407 |
+
],
|
| 408 |
+
"ignored_prim_substrings": [
|
| 409 |
+
"base_link",
|
| 410 |
+
"caster",
|
| 411 |
+
"defaultgroundplane",
|
| 412 |
+
"desk",
|
| 413 |
+
"floor",
|
| 414 |
+
"ground",
|
| 415 |
+
"groundplane",
|
| 416 |
+
"link0",
|
| 417 |
+
"table",
|
| 418 |
+
"wheel",
|
| 419 |
+
"workbench"
|
| 420 |
+
],
|
| 421 |
+
"enabled": true
|
| 422 |
+
},
|
| 423 |
+
"status": "active",
|
| 424 |
+
"passed": true,
|
| 425 |
+
"source_missing": false,
|
| 426 |
+
"forbidden": [],
|
| 427 |
+
"disturbances": [],
|
| 428 |
+
"last_frame": {
|
| 429 |
+
"passed": true,
|
| 430 |
+
"source_missing": false,
|
| 431 |
+
"forbidden": [],
|
| 432 |
+
"allowed": [
|
| 433 |
+
{
|
| 434 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 435 |
+
"b": "/World/beaker_2/mesh"
|
| 436 |
+
},
|
| 437 |
+
{
|
| 438 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 439 |
+
"b": "/World/beaker_2/mesh"
|
| 440 |
+
}
|
| 441 |
+
],
|
| 442 |
+
"ignored": [],
|
| 443 |
+
"failed_keys": []
|
| 444 |
+
},
|
| 445 |
+
"failed_keys": []
|
| 446 |
+
}
|
| 447 |
+
},
|
| 448 |
+
"gripper": null,
|
| 449 |
+
"post_done_wait_frames": 0,
|
| 450 |
+
"post_done_wait_exhausted": false
|
| 451 |
+
},
|
| 452 |
+
"physical_semantics": {
|
| 453 |
+
"skill": "shake",
|
| 454 |
+
"target": "beaker_a",
|
| 455 |
+
"attach_used": false,
|
| 456 |
+
"attach_object": null,
|
| 457 |
+
"attach_object_path": null,
|
| 458 |
+
"attach_allowed": false,
|
| 459 |
+
"ordinary_object_physical_only": true
|
| 460 |
+
}
|
| 461 |
+
},
|
| 462 |
+
{
|
| 463 |
+
"step_index": 2,
|
| 464 |
+
"skill": "place",
|
| 465 |
+
"target": "inspection_platform",
|
| 466 |
+
"success": true,
|
| 467 |
+
"reason": "executed",
|
| 468 |
+
"debug": {
|
| 469 |
+
"arm": null,
|
| 470 |
+
"checker": {
|
| 471 |
+
"checker": "PlaceSuccessChecker",
|
| 472 |
+
"skill": "place",
|
| 473 |
+
"target": "inspection_platform",
|
| 474 |
+
"passed": true,
|
| 475 |
+
"metrics": {
|
| 476 |
+
"held": "beaker_a",
|
| 477 |
+
"target": "inspection_platform",
|
| 478 |
+
"object_position": [
|
| 479 |
+
0.347340916275682,
|
| 480 |
+
0.24250026027579913,
|
| 481 |
+
0.767104134367147
|
| 482 |
+
],
|
| 483 |
+
"target_position": [
|
| 484 |
+
0.3574575930033709,
|
| 485 |
+
0.24445368677448254,
|
| 486 |
+
0.7158860691194898
|
| 487 |
+
],
|
| 488 |
+
"target_position_source": "target_object:_xform_position",
|
| 489 |
+
"xy_dist": 0.010303544200823361,
|
| 490 |
+
"xy_threshold": 0.08,
|
| 491 |
+
"gripper_dist": 0.16360721493216582,
|
| 492 |
+
"gripper_away_threshold": 0.04,
|
| 493 |
+
"gripper_away_ok": true,
|
| 494 |
+
"object_z": 0.767104134367147,
|
| 495 |
+
"min_z": 0.5158860691194898,
|
| 496 |
+
"min_z_margin": 0.2,
|
| 497 |
+
"require_object_upright": true,
|
| 498 |
+
"object_upright_reference_source": "scene_initial",
|
| 499 |
+
"release_fingertip_source": "active_contact_pad_positions",
|
| 500 |
+
"release_finger_gap": 0.0751515410275695,
|
| 501 |
+
"release_finger_gap_metric": "3d_contact_pad_distance",
|
| 502 |
+
"release_fingertip_min_gap": 0.09042128248384838,
|
| 503 |
+
"release_gap_margin": 0.02,
|
| 504 |
+
"release_gap_missing_size": false,
|
| 505 |
+
"release_min_pad_clearance": 0.13264573112375383,
|
| 506 |
+
"release_required_pad_clearance": 0.055210641241924194,
|
| 507 |
+
"release_pad_clearance_ok": true,
|
| 508 |
+
"release_gap_ok": false,
|
| 509 |
+
"force_virtual_attach": false,
|
| 510 |
+
"virtual_attach_allowed": false,
|
| 511 |
+
"max_z": 0.8774145980897915,
|
| 512 |
+
"max_z_margin": 0.1,
|
| 513 |
+
"object_tilt_deg": 5.508406004714095,
|
| 514 |
+
"object_max_tilt_deg": 12.0,
|
| 515 |
+
"object_axis_flip_tolerance_deg": 3.0,
|
| 516 |
+
"object_upright_axis_local": null,
|
| 517 |
+
"required_placed_release_frames": 2,
|
| 518 |
+
"placed_release_frames": 127,
|
| 519 |
+
"max_placed_release_frames": 127
|
| 520 |
+
},
|
| 521 |
+
"failed_keys": [],
|
| 522 |
+
"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 |
+
"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": 96,
|
| 660 |
+
"reproducibility": {
|
| 661 |
+
"enabled": true,
|
| 662 |
+
"action_seed": 8965520104066671838,
|
| 663 |
+
"physical_seed": 3697495222794957137,
|
| 664 |
+
"layout_id": "layout_00032",
|
| 665 |
+
"step_seeds": [
|
| 666 |
+
5868908299052723470,
|
| 667 |
+
1147186024122430536,
|
| 668 |
+
7048677080094423649
|
| 669 |
+
],
|
| 670 |
+
"workflow_spec_digest": "41fe1ccdd76518f49a9649d8ad52abbf640a2a9139023383414c5dce78b542b9",
|
| 671 |
+
"strict_task_state": false,
|
| 672 |
+
"allow_physical_randomization": true,
|
| 673 |
+
"seed_source": "workflow.reproducibility",
|
| 674 |
+
"task_island_state_digest": "b5f7910f83b09ff0d0d8e3eb8ef6bf2a9ba0c0f0517be1890ad1d2defff27fcb",
|
| 675 |
+
"visual_seed": 1184197785269978235,
|
| 676 |
+
"episode_index": 96,
|
| 677 |
+
"physical_randomization_enabled": true,
|
| 678 |
+
"motion_controller_type": "ik_servo",
|
| 679 |
+
"runtime_step_seeds": [
|
| 680 |
+
5868908299052723470,
|
| 681 |
+
1147186024122430536,
|
| 682 |
+
7048677080094423649
|
| 683 |
+
],
|
| 684 |
+
"runtime_workflow_digest": "95e4a3a6883347e144f1827ff91137e46eda0b934cef6dd52ac0cf2336bdc1d0"
|
| 685 |
+
}
|
| 686 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00032/results/episode_97_success.json
ADDED
|
@@ -0,0 +1,686 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 97,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_a",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_a",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_a",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.16485312681492975,
|
| 26 |
+
0.23176117382372896,
|
| 27 |
+
1.0475298674831763
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0475298674831763,
|
| 30 |
+
"required_z": 0.8611068656426345,
|
| 31 |
+
"initial_z": 0.7611068656426345,
|
| 32 |
+
"lift_margin": 0.18642300184054184,
|
| 33 |
+
"gripper_z": 1.0533509160985575,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.162230838511808,
|
| 38 |
+
0.22835357409176182,
|
| 39 |
+
1.0533509160985575
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.0026222883031217503,
|
| 43 |
+
0.003407599731967137,
|
| 44 |
+
-0.00582104861538113
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.004299782771023631,
|
| 47 |
+
"object_to_gripper_z": -0.00582104861538113,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.16485312681492975,
|
| 51 |
+
0.20858506139557073,
|
| 52 |
+
1.0475298674831763
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.15569506186163834,
|
| 56 |
+
0.23176117382372896,
|
| 57 |
+
1.0475298674831763
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.16027409433828405,
|
| 61 |
+
0.22017311760964986,
|
| 62 |
+
1.0475298674831763
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.004579032476645706,
|
| 66 |
+
0.011588056214079101,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.024919918558681822,
|
| 70 |
+
"fingertip_max_gap": 0.09402102868431189,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.012459959279340899,
|
| 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": 1.0475298674831763,
|
| 78 |
+
"object_top_z": 1.0991997173258414,
|
| 79 |
+
"finger_top_clearance": 0.051669849842665094,
|
| 80 |
+
"fingertip_min_top_clearance": 0.01550095495279951,
|
| 81 |
+
"object_projection_between_fingers": 0.5,
|
| 82 |
+
"object_to_finger_line_xy": 0.012459959279340899,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.04951051434215595,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 1.420128487345752,
|
| 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 |
+
"passed": true,
|
| 206 |
+
"source_missing": false,
|
| 207 |
+
"forbidden": [],
|
| 208 |
+
"allowed": [
|
| 209 |
+
{
|
| 210 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 211 |
+
"b": "/World/beaker_2/mesh"
|
| 212 |
+
},
|
| 213 |
+
{
|
| 214 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 215 |
+
"b": "/World/beaker_2/mesh"
|
| 216 |
+
}
|
| 217 |
+
],
|
| 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 |
+
},
|
| 228 |
+
"physical_semantics": {
|
| 229 |
+
"skill": "pick",
|
| 230 |
+
"target": "beaker_a",
|
| 231 |
+
"attach_used": false,
|
| 232 |
+
"attach_object": null,
|
| 233 |
+
"attach_object_path": null,
|
| 234 |
+
"attach_allowed": false,
|
| 235 |
+
"ordinary_object_physical_only": true
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
{
|
| 239 |
+
"step_index": 1,
|
| 240 |
+
"skill": "shake",
|
| 241 |
+
"target": "beaker_a",
|
| 242 |
+
"success": true,
|
| 243 |
+
"reason": "executed",
|
| 244 |
+
"debug": {
|
| 245 |
+
"arm": null,
|
| 246 |
+
"checker": {
|
| 247 |
+
"checker": "ShakeSuccessChecker",
|
| 248 |
+
"skill": "shake",
|
| 249 |
+
"target": "beaker_a",
|
| 250 |
+
"passed": true,
|
| 251 |
+
"metrics": {
|
| 252 |
+
"held": "beaker_a",
|
| 253 |
+
"force_virtual_attach": false,
|
| 254 |
+
"virtual_attach_allowed": false,
|
| 255 |
+
"gripper_position": [
|
| 256 |
+
0.16618173007472578,
|
| 257 |
+
0.23348496715748915,
|
| 258 |
+
1.2430779459790318
|
| 259 |
+
],
|
| 260 |
+
"held_position": [
|
| 261 |
+
0.16891267395879814,
|
| 262 |
+
0.23666265188892405,
|
| 263 |
+
1.2371560593808386
|
| 264 |
+
],
|
| 265 |
+
"object_initial_z": 0.7774145980897915,
|
| 266 |
+
"required_gripper_z": 0.8974145980897915,
|
| 267 |
+
"shake_count": 5,
|
| 268 |
+
"held_shake_count": 5,
|
| 269 |
+
"effective_shake_count": 5,
|
| 270 |
+
"min_shake_count": 3,
|
| 271 |
+
"held_gripper_dist": 0.0072542729223683275,
|
| 272 |
+
"max_held_gripper_dist": 0.007269115311168184,
|
| 273 |
+
"held_gripper_max_dist": 0.15,
|
| 274 |
+
"held_gripper_z_dist": 0.005921886598193149,
|
| 275 |
+
"max_held_gripper_z_dist": 0.005953447543805224,
|
| 276 |
+
"held_gripper_z_max_dist": 0.15,
|
| 277 |
+
"held_object_xy_range": 0.08604001239156811,
|
| 278 |
+
"held_object_min_xy_range": 0.04,
|
| 279 |
+
"held_motion_ok": true,
|
| 280 |
+
"held_grasp_geometry_checked": true,
|
| 281 |
+
"held_grasp_geometry_required": true,
|
| 282 |
+
"held_grasp_source": "active_contact_pad_positions",
|
| 283 |
+
"held_grasp_finger_a": [
|
| 284 |
+
0.16891267395879814,
|
| 285 |
+
0.2128384269001918,
|
| 286 |
+
1.2371560593808386
|
| 287 |
+
],
|
| 288 |
+
"held_grasp_finger_b": [
|
| 289 |
+
0.16125188432982673,
|
| 290 |
+
0.23666265188892405,
|
| 291 |
+
1.2371560593808386
|
| 292 |
+
],
|
| 293 |
+
"held_grasp_midpoint": [
|
| 294 |
+
0.16508227914431245,
|
| 295 |
+
0.2247505393945579,
|
| 296 |
+
1.2371560593808386
|
| 297 |
+
],
|
| 298 |
+
"held_grasp_object_position": [
|
| 299 |
+
0.16891267395879814,
|
| 300 |
+
0.23666265188892405,
|
| 301 |
+
1.2371560593808386
|
| 302 |
+
],
|
| 303 |
+
"held_grasp_finger_gap": 0.02502561475874448,
|
| 304 |
+
"held_grasp_max_gap": 0.1249237185716629,
|
| 305 |
+
"held_grasp_geometry_frame": "object_local",
|
| 306 |
+
"held_grasp_size_source": "beaker_a_local_size",
|
| 307 |
+
"held_grasp_z_skew": 0.02350302431027601,
|
| 308 |
+
"held_grasp_world_z_skew": 0.0,
|
| 309 |
+
"held_grasp_z_skew_max": 0.08,
|
| 310 |
+
"held_grasp_z_skew_frame": "object_local_up",
|
| 311 |
+
"held_grasp_local_up_axis": [
|
| 312 |
+
-0.03774865138523551,
|
| 313 |
+
-0.998656149300483,
|
| 314 |
+
0.03550964352014107
|
| 315 |
+
],
|
| 316 |
+
"held_grasp_object_projection_between_fingers": 0.5,
|
| 317 |
+
"held_grasp_object_to_finger_line_xy": 0.003404698683457551,
|
| 318 |
+
"held_grasp_line_xy_max_dist": 0.04746185928583145,
|
| 319 |
+
"held_grasp_object_top_z": 0.04972025007009506,
|
| 320 |
+
"held_grasp_top_clearance": 0.03767955343791739,
|
| 321 |
+
"held_grasp_min_top_clearance": 0.014916075021028518
|
| 322 |
+
},
|
| 323 |
+
"failed_keys": [],
|
| 324 |
+
"failure_code": null,
|
| 325 |
+
"failure_messages": {},
|
| 326 |
+
"safety": {
|
| 327 |
+
"policy": {
|
| 328 |
+
"skill": "shake",
|
| 329 |
+
"target_object": "beaker_a",
|
| 330 |
+
"held_object": "beaker_a",
|
| 331 |
+
"allowed_objects": [
|
| 332 |
+
"beaker_a"
|
| 333 |
+
],
|
| 334 |
+
"allowed_object_paths": [
|
| 335 |
+
"/World/beaker_2"
|
| 336 |
+
],
|
| 337 |
+
"allowed_prim_substrings": [],
|
| 338 |
+
"robot_prim_substrings": [
|
| 339 |
+
"Robotiq2F85",
|
| 340 |
+
"Robotiq_2F_85",
|
| 341 |
+
"contact_sensor",
|
| 342 |
+
"dummy_base_prismatic_x_joint",
|
| 343 |
+
"dummy_base_prismatic_y_joint",
|
| 344 |
+
"dummy_base_revolute_z_joint",
|
| 345 |
+
"elbow_joint",
|
| 346 |
+
"festo",
|
| 347 |
+
"finger",
|
| 348 |
+
"fr3",
|
| 349 |
+
"fr3_duo_mobile",
|
| 350 |
+
"fr3_joint1",
|
| 351 |
+
"fr3_joint2",
|
| 352 |
+
"fr3_joint3",
|
| 353 |
+
"fr3_joint4",
|
| 354 |
+
"fr3_joint5",
|
| 355 |
+
"fr3_joint6",
|
| 356 |
+
"fr3_joint7",
|
| 357 |
+
"fr3_leftfinger",
|
| 358 |
+
"fr3_rightfinger",
|
| 359 |
+
"franka",
|
| 360 |
+
"geometry",
|
| 361 |
+
"gripper",
|
| 362 |
+
"gripper_center",
|
| 363 |
+
"joint1",
|
| 364 |
+
"joint2",
|
| 365 |
+
"joint3",
|
| 366 |
+
"joint4",
|
| 367 |
+
"joint5",
|
| 368 |
+
"joint6",
|
| 369 |
+
"joint7",
|
| 370 |
+
"left_inner_finger",
|
| 371 |
+
"lift2",
|
| 372 |
+
"mobile_rotate",
|
| 373 |
+
"mobile_translate_x",
|
| 374 |
+
"mobile_translate_y",
|
| 375 |
+
"panda_joint1",
|
| 376 |
+
"panda_joint2",
|
| 377 |
+
"panda_joint3",
|
| 378 |
+
"panda_joint4",
|
| 379 |
+
"panda_joint5",
|
| 380 |
+
"panda_joint6",
|
| 381 |
+
"panda_joint7",
|
| 382 |
+
"panda_leftfinger",
|
| 383 |
+
"panda_leftfingertip",
|
| 384 |
+
"panda_rightfinger",
|
| 385 |
+
"panda_rightfingertip",
|
| 386 |
+
"ridgebase",
|
| 387 |
+
"ridgebase_festo",
|
| 388 |
+
"ridgebase_fr3",
|
| 389 |
+
"ridgebase_rizon4",
|
| 390 |
+
"ridgebase_ur16e",
|
| 391 |
+
"ridgebase_ur5e",
|
| 392 |
+
"right_inner_finger",
|
| 393 |
+
"rizon4",
|
| 394 |
+
"robot",
|
| 395 |
+
"robotiq_2f85",
|
| 396 |
+
"shoulder_lift_joint",
|
| 397 |
+
"shoulder_pan_joint",
|
| 398 |
+
"split_aloha",
|
| 399 |
+
"tool_center",
|
| 400 |
+
"ur16e",
|
| 401 |
+
"ur5e",
|
| 402 |
+
"visuals",
|
| 403 |
+
"wrist",
|
| 404 |
+
"wrist_1_joint",
|
| 405 |
+
"wrist_2_joint",
|
| 406 |
+
"wrist_3_joint"
|
| 407 |
+
],
|
| 408 |
+
"ignored_prim_substrings": [
|
| 409 |
+
"base_link",
|
| 410 |
+
"caster",
|
| 411 |
+
"defaultgroundplane",
|
| 412 |
+
"desk",
|
| 413 |
+
"floor",
|
| 414 |
+
"ground",
|
| 415 |
+
"groundplane",
|
| 416 |
+
"link0",
|
| 417 |
+
"table",
|
| 418 |
+
"wheel",
|
| 419 |
+
"workbench"
|
| 420 |
+
],
|
| 421 |
+
"enabled": true
|
| 422 |
+
},
|
| 423 |
+
"status": "active",
|
| 424 |
+
"passed": true,
|
| 425 |
+
"source_missing": false,
|
| 426 |
+
"forbidden": [],
|
| 427 |
+
"disturbances": [],
|
| 428 |
+
"last_frame": {
|
| 429 |
+
"passed": true,
|
| 430 |
+
"source_missing": false,
|
| 431 |
+
"forbidden": [],
|
| 432 |
+
"allowed": [
|
| 433 |
+
{
|
| 434 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 435 |
+
"b": "/World/beaker_2/mesh"
|
| 436 |
+
},
|
| 437 |
+
{
|
| 438 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 439 |
+
"b": "/World/beaker_2/mesh"
|
| 440 |
+
}
|
| 441 |
+
],
|
| 442 |
+
"ignored": [],
|
| 443 |
+
"failed_keys": []
|
| 444 |
+
},
|
| 445 |
+
"failed_keys": []
|
| 446 |
+
}
|
| 447 |
+
},
|
| 448 |
+
"gripper": null,
|
| 449 |
+
"post_done_wait_frames": 0,
|
| 450 |
+
"post_done_wait_exhausted": false
|
| 451 |
+
},
|
| 452 |
+
"physical_semantics": {
|
| 453 |
+
"skill": "shake",
|
| 454 |
+
"target": "beaker_a",
|
| 455 |
+
"attach_used": false,
|
| 456 |
+
"attach_object": null,
|
| 457 |
+
"attach_object_path": null,
|
| 458 |
+
"attach_allowed": false,
|
| 459 |
+
"ordinary_object_physical_only": true
|
| 460 |
+
}
|
| 461 |
+
},
|
| 462 |
+
{
|
| 463 |
+
"step_index": 2,
|
| 464 |
+
"skill": "place",
|
| 465 |
+
"target": "inspection_platform",
|
| 466 |
+
"success": true,
|
| 467 |
+
"reason": "executed",
|
| 468 |
+
"debug": {
|
| 469 |
+
"arm": null,
|
| 470 |
+
"checker": {
|
| 471 |
+
"checker": "PlaceSuccessChecker",
|
| 472 |
+
"skill": "place",
|
| 473 |
+
"target": "inspection_platform",
|
| 474 |
+
"passed": true,
|
| 475 |
+
"metrics": {
|
| 476 |
+
"held": "beaker_a",
|
| 477 |
+
"target": "inspection_platform",
|
| 478 |
+
"object_position": [
|
| 479 |
+
0.34358142849578044,
|
| 480 |
+
0.24659340547931188,
|
| 481 |
+
0.7671047200435743
|
| 482 |
+
],
|
| 483 |
+
"target_position": [
|
| 484 |
+
0.35404399137122394,
|
| 485 |
+
0.24889628064624167,
|
| 486 |
+
0.7158860691194898
|
| 487 |
+
],
|
| 488 |
+
"target_position_source": "target_object:_xform_position",
|
| 489 |
+
"xy_dist": 0.010713004058482875,
|
| 490 |
+
"xy_threshold": 0.08,
|
| 491 |
+
"gripper_dist": 0.16444052864372458,
|
| 492 |
+
"gripper_away_threshold": 0.04,
|
| 493 |
+
"gripper_away_ok": true,
|
| 494 |
+
"object_z": 0.7671047200435743,
|
| 495 |
+
"min_z": 0.5158860691194898,
|
| 496 |
+
"min_z_margin": 0.2,
|
| 497 |
+
"require_object_upright": true,
|
| 498 |
+
"object_upright_reference_source": "scene_initial",
|
| 499 |
+
"release_fingertip_source": "active_contact_pad_positions",
|
| 500 |
+
"release_finger_gap": 0.07551728108064286,
|
| 501 |
+
"release_finger_gap_metric": "3d_contact_pad_distance",
|
| 502 |
+
"release_fingertip_min_gap": 0.08855965842521467,
|
| 503 |
+
"release_gap_margin": 0.02,
|
| 504 |
+
"release_gap_missing_size": false,
|
| 505 |
+
"release_min_pad_clearance": 0.13228858168355948,
|
| 506 |
+
"release_required_pad_clearance": 0.054279829212607336,
|
| 507 |
+
"release_pad_clearance_ok": true,
|
| 508 |
+
"release_gap_ok": false,
|
| 509 |
+
"force_virtual_attach": false,
|
| 510 |
+
"virtual_attach_allowed": false,
|
| 511 |
+
"max_z": 0.8774145980897915,
|
| 512 |
+
"max_z_margin": 0.1,
|
| 513 |
+
"object_tilt_deg": 3.568644134789411,
|
| 514 |
+
"object_max_tilt_deg": 12.0,
|
| 515 |
+
"object_axis_flip_tolerance_deg": 3.0,
|
| 516 |
+
"object_upright_axis_local": null,
|
| 517 |
+
"required_placed_release_frames": 2,
|
| 518 |
+
"placed_release_frames": 128,
|
| 519 |
+
"max_placed_release_frames": 128
|
| 520 |
+
},
|
| 521 |
+
"failed_keys": [],
|
| 522 |
+
"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 |
+
"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": 97,
|
| 660 |
+
"reproducibility": {
|
| 661 |
+
"enabled": true,
|
| 662 |
+
"action_seed": 8965520104066671838,
|
| 663 |
+
"physical_seed": 3697495222794957137,
|
| 664 |
+
"layout_id": "layout_00032",
|
| 665 |
+
"step_seeds": [
|
| 666 |
+
5868908299052723470,
|
| 667 |
+
1147186024122430536,
|
| 668 |
+
7048677080094423649
|
| 669 |
+
],
|
| 670 |
+
"workflow_spec_digest": "41fe1ccdd76518f49a9649d8ad52abbf640a2a9139023383414c5dce78b542b9",
|
| 671 |
+
"strict_task_state": false,
|
| 672 |
+
"allow_physical_randomization": true,
|
| 673 |
+
"seed_source": "workflow.reproducibility",
|
| 674 |
+
"task_island_state_digest": "9dcc9142d5505ca46aecfb5f95510deefe427e96e1effb9eaad18767aa1b95f3",
|
| 675 |
+
"visual_seed": 3479543910944236189,
|
| 676 |
+
"episode_index": 97,
|
| 677 |
+
"physical_randomization_enabled": true,
|
| 678 |
+
"motion_controller_type": "ik_servo",
|
| 679 |
+
"runtime_step_seeds": [
|
| 680 |
+
5868908299052723470,
|
| 681 |
+
1147186024122430536,
|
| 682 |
+
7048677080094423649
|
| 683 |
+
],
|
| 684 |
+
"runtime_workflow_digest": "95e4a3a6883347e144f1827ff91137e46eda0b934cef6dd52ac0cf2336bdc1d0"
|
| 685 |
+
}
|
| 686 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00032/results/episode_98_success.json
ADDED
|
@@ -0,0 +1,686 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 98,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_a",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_a",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_a",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.1606283978394732,
|
| 26 |
+
0.2390503772562634,
|
| 27 |
+
1.0490442739620767
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0490442739620767,
|
| 30 |
+
"required_z": 0.8611065676194108,
|
| 31 |
+
"initial_z": 0.7611065676194109,
|
| 32 |
+
"lift_margin": 0.18793770634266582,
|
| 33 |
+
"gripper_z": 1.054908223885885,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.15771742833734803,
|
| 38 |
+
0.23543195045134852,
|
| 39 |
+
1.054908223885885
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.0029109695021251603,
|
| 43 |
+
0.0036184268049148927,
|
| 44 |
+
-0.0058639499238082315
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.004644002151682254,
|
| 47 |
+
"object_to_gripper_z": -0.0058639499238082315,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.1606283978394732,
|
| 51 |
+
0.21580053536018892,
|
| 52 |
+
1.0490442739620767
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.15100857820618982,
|
| 56 |
+
0.2390503772562634,
|
| 57 |
+
1.0490442739620767
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.1558184880228315,
|
| 61 |
+
0.22742545630822616,
|
| 62 |
+
1.0490442739620767
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.0048099098166417,
|
| 66 |
+
0.011624920948037243,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.025161400556593917,
|
| 70 |
+
"fingertip_max_gap": 0.09151706193100256,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.012580700278296964,
|
| 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": 1.0490442739620767,
|
| 78 |
+
"object_top_z": 1.0990328256838784,
|
| 79 |
+
"finger_top_clearance": 0.04998855172180172,
|
| 80 |
+
"fingertip_min_top_clearance": 0.014996565516540515,
|
| 81 |
+
"object_projection_between_fingers": 0.8538279844131615,
|
| 82 |
+
"object_to_finger_line_xy": 0.008888983943462497,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.048258530965501284,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 0.9789112048160076,
|
| 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 |
+
"passed": true,
|
| 206 |
+
"source_missing": false,
|
| 207 |
+
"forbidden": [],
|
| 208 |
+
"allowed": [
|
| 209 |
+
{
|
| 210 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 211 |
+
"b": "/World/beaker_2/mesh"
|
| 212 |
+
},
|
| 213 |
+
{
|
| 214 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 215 |
+
"b": "/World/beaker_2/mesh"
|
| 216 |
+
}
|
| 217 |
+
],
|
| 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 |
+
},
|
| 228 |
+
"physical_semantics": {
|
| 229 |
+
"skill": "pick",
|
| 230 |
+
"target": "beaker_a",
|
| 231 |
+
"attach_used": false,
|
| 232 |
+
"attach_object": null,
|
| 233 |
+
"attach_object_path": null,
|
| 234 |
+
"attach_allowed": false,
|
| 235 |
+
"ordinary_object_physical_only": true
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
{
|
| 239 |
+
"step_index": 1,
|
| 240 |
+
"skill": "shake",
|
| 241 |
+
"target": "beaker_a",
|
| 242 |
+
"success": true,
|
| 243 |
+
"reason": "executed",
|
| 244 |
+
"debug": {
|
| 245 |
+
"arm": null,
|
| 246 |
+
"checker": {
|
| 247 |
+
"checker": "ShakeSuccessChecker",
|
| 248 |
+
"skill": "shake",
|
| 249 |
+
"target": "beaker_a",
|
| 250 |
+
"passed": true,
|
| 251 |
+
"metrics": {
|
| 252 |
+
"held": "beaker_a",
|
| 253 |
+
"force_virtual_attach": false,
|
| 254 |
+
"virtual_attach_allowed": false,
|
| 255 |
+
"gripper_position": [
|
| 256 |
+
0.161327368059324,
|
| 257 |
+
0.2412170523069812,
|
| 258 |
+
1.2449660162161382
|
| 259 |
+
],
|
| 260 |
+
"held_position": [
|
| 261 |
+
0.16437062976723027,
|
| 262 |
+
0.24461062659636632,
|
| 263 |
+
1.2390130769461631
|
| 264 |
+
],
|
| 265 |
+
"object_initial_z": 0.7774145980897915,
|
| 266 |
+
"required_gripper_z": 0.8974145980897915,
|
| 267 |
+
"shake_count": 5,
|
| 268 |
+
"held_shake_count": 5,
|
| 269 |
+
"effective_shake_count": 5,
|
| 270 |
+
"min_shake_count": 3,
|
| 271 |
+
"held_gripper_dist": 0.0074976845914185965,
|
| 272 |
+
"max_held_gripper_dist": 0.007512778804592065,
|
| 273 |
+
"held_gripper_max_dist": 0.15,
|
| 274 |
+
"held_gripper_z_dist": 0.005952939269975088,
|
| 275 |
+
"max_held_gripper_z_dist": 0.005987499583283817,
|
| 276 |
+
"held_gripper_z_max_dist": 0.15,
|
| 277 |
+
"held_object_xy_range": 0.08589303789322109,
|
| 278 |
+
"held_object_min_xy_range": 0.04,
|
| 279 |
+
"held_motion_ok": true,
|
| 280 |
+
"held_grasp_geometry_checked": true,
|
| 281 |
+
"held_grasp_geometry_required": true,
|
| 282 |
+
"held_grasp_source": "active_contact_pad_positions",
|
| 283 |
+
"held_grasp_finger_a": [
|
| 284 |
+
0.16437062976723027,
|
| 285 |
+
0.22071226059212273,
|
| 286 |
+
1.2390130769461631
|
| 287 |
+
],
|
| 288 |
+
"held_grasp_finger_b": [
|
| 289 |
+
0.15614767122454498,
|
| 290 |
+
0.24461062659636632,
|
| 291 |
+
1.2390130769461631
|
| 292 |
+
],
|
| 293 |
+
"held_grasp_midpoint": [
|
| 294 |
+
0.16025915049588763,
|
| 295 |
+
0.2326614435942445,
|
| 296 |
+
1.2390130769461631
|
| 297 |
+
],
|
| 298 |
+
"held_grasp_object_position": [
|
| 299 |
+
0.16437062976723027,
|
| 300 |
+
0.24461062659636632,
|
| 301 |
+
1.2390130769461631
|
| 302 |
+
],
|
| 303 |
+
"held_grasp_finger_gap": 0.02527348303790964,
|
| 304 |
+
"held_grasp_max_gap": 0.1249237185716629,
|
| 305 |
+
"held_grasp_geometry_frame": "object_local",
|
| 306 |
+
"held_grasp_size_source": "beaker_a_local_size",
|
| 307 |
+
"held_grasp_z_skew": 0.02360933565810737,
|
| 308 |
+
"held_grasp_world_z_skew": 0.0,
|
| 309 |
+
"held_grasp_z_skew_max": 0.08,
|
| 310 |
+
"held_grasp_z_skew_frame": "object_local_up",
|
| 311 |
+
"held_grasp_local_up_axis": [
|
| 312 |
+
-0.03326279970748029,
|
| 313 |
+
-0.9993509295520371,
|
| 314 |
+
0.013831332513515312
|
| 315 |
+
],
|
| 316 |
+
"held_grasp_object_projection_between_fingers": 0.5,
|
| 317 |
+
"held_grasp_object_to_finger_line_xy": 0.003715460704421993,
|
| 318 |
+
"held_grasp_line_xy_max_dist": 0.04746185928583145,
|
| 319 |
+
"held_grasp_object_top_z": 0.04972025007009506,
|
| 320 |
+
"held_grasp_top_clearance": 0.037642063618033114,
|
| 321 |
+
"held_grasp_min_top_clearance": 0.014916075021028518
|
| 322 |
+
},
|
| 323 |
+
"failed_keys": [],
|
| 324 |
+
"failure_code": null,
|
| 325 |
+
"failure_messages": {},
|
| 326 |
+
"safety": {
|
| 327 |
+
"policy": {
|
| 328 |
+
"skill": "shake",
|
| 329 |
+
"target_object": "beaker_a",
|
| 330 |
+
"held_object": "beaker_a",
|
| 331 |
+
"allowed_objects": [
|
| 332 |
+
"beaker_a"
|
| 333 |
+
],
|
| 334 |
+
"allowed_object_paths": [
|
| 335 |
+
"/World/beaker_2"
|
| 336 |
+
],
|
| 337 |
+
"allowed_prim_substrings": [],
|
| 338 |
+
"robot_prim_substrings": [
|
| 339 |
+
"Robotiq2F85",
|
| 340 |
+
"Robotiq_2F_85",
|
| 341 |
+
"contact_sensor",
|
| 342 |
+
"dummy_base_prismatic_x_joint",
|
| 343 |
+
"dummy_base_prismatic_y_joint",
|
| 344 |
+
"dummy_base_revolute_z_joint",
|
| 345 |
+
"elbow_joint",
|
| 346 |
+
"festo",
|
| 347 |
+
"finger",
|
| 348 |
+
"fr3",
|
| 349 |
+
"fr3_duo_mobile",
|
| 350 |
+
"fr3_joint1",
|
| 351 |
+
"fr3_joint2",
|
| 352 |
+
"fr3_joint3",
|
| 353 |
+
"fr3_joint4",
|
| 354 |
+
"fr3_joint5",
|
| 355 |
+
"fr3_joint6",
|
| 356 |
+
"fr3_joint7",
|
| 357 |
+
"fr3_leftfinger",
|
| 358 |
+
"fr3_rightfinger",
|
| 359 |
+
"franka",
|
| 360 |
+
"geometry",
|
| 361 |
+
"gripper",
|
| 362 |
+
"gripper_center",
|
| 363 |
+
"joint1",
|
| 364 |
+
"joint2",
|
| 365 |
+
"joint3",
|
| 366 |
+
"joint4",
|
| 367 |
+
"joint5",
|
| 368 |
+
"joint6",
|
| 369 |
+
"joint7",
|
| 370 |
+
"left_inner_finger",
|
| 371 |
+
"lift2",
|
| 372 |
+
"mobile_rotate",
|
| 373 |
+
"mobile_translate_x",
|
| 374 |
+
"mobile_translate_y",
|
| 375 |
+
"panda_joint1",
|
| 376 |
+
"panda_joint2",
|
| 377 |
+
"panda_joint3",
|
| 378 |
+
"panda_joint4",
|
| 379 |
+
"panda_joint5",
|
| 380 |
+
"panda_joint6",
|
| 381 |
+
"panda_joint7",
|
| 382 |
+
"panda_leftfinger",
|
| 383 |
+
"panda_leftfingertip",
|
| 384 |
+
"panda_rightfinger",
|
| 385 |
+
"panda_rightfingertip",
|
| 386 |
+
"ridgebase",
|
| 387 |
+
"ridgebase_festo",
|
| 388 |
+
"ridgebase_fr3",
|
| 389 |
+
"ridgebase_rizon4",
|
| 390 |
+
"ridgebase_ur16e",
|
| 391 |
+
"ridgebase_ur5e",
|
| 392 |
+
"right_inner_finger",
|
| 393 |
+
"rizon4",
|
| 394 |
+
"robot",
|
| 395 |
+
"robotiq_2f85",
|
| 396 |
+
"shoulder_lift_joint",
|
| 397 |
+
"shoulder_pan_joint",
|
| 398 |
+
"split_aloha",
|
| 399 |
+
"tool_center",
|
| 400 |
+
"ur16e",
|
| 401 |
+
"ur5e",
|
| 402 |
+
"visuals",
|
| 403 |
+
"wrist",
|
| 404 |
+
"wrist_1_joint",
|
| 405 |
+
"wrist_2_joint",
|
| 406 |
+
"wrist_3_joint"
|
| 407 |
+
],
|
| 408 |
+
"ignored_prim_substrings": [
|
| 409 |
+
"base_link",
|
| 410 |
+
"caster",
|
| 411 |
+
"defaultgroundplane",
|
| 412 |
+
"desk",
|
| 413 |
+
"floor",
|
| 414 |
+
"ground",
|
| 415 |
+
"groundplane",
|
| 416 |
+
"link0",
|
| 417 |
+
"table",
|
| 418 |
+
"wheel",
|
| 419 |
+
"workbench"
|
| 420 |
+
],
|
| 421 |
+
"enabled": true
|
| 422 |
+
},
|
| 423 |
+
"status": "active",
|
| 424 |
+
"passed": true,
|
| 425 |
+
"source_missing": false,
|
| 426 |
+
"forbidden": [],
|
| 427 |
+
"disturbances": [],
|
| 428 |
+
"last_frame": {
|
| 429 |
+
"passed": true,
|
| 430 |
+
"source_missing": false,
|
| 431 |
+
"forbidden": [],
|
| 432 |
+
"allowed": [
|
| 433 |
+
{
|
| 434 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 435 |
+
"b": "/World/beaker_2/mesh"
|
| 436 |
+
},
|
| 437 |
+
{
|
| 438 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 439 |
+
"b": "/World/beaker_2/mesh"
|
| 440 |
+
}
|
| 441 |
+
],
|
| 442 |
+
"ignored": [],
|
| 443 |
+
"failed_keys": []
|
| 444 |
+
},
|
| 445 |
+
"failed_keys": []
|
| 446 |
+
}
|
| 447 |
+
},
|
| 448 |
+
"gripper": null,
|
| 449 |
+
"post_done_wait_frames": 0,
|
| 450 |
+
"post_done_wait_exhausted": false
|
| 451 |
+
},
|
| 452 |
+
"physical_semantics": {
|
| 453 |
+
"skill": "shake",
|
| 454 |
+
"target": "beaker_a",
|
| 455 |
+
"attach_used": false,
|
| 456 |
+
"attach_object": null,
|
| 457 |
+
"attach_object_path": null,
|
| 458 |
+
"attach_allowed": false,
|
| 459 |
+
"ordinary_object_physical_only": true
|
| 460 |
+
}
|
| 461 |
+
},
|
| 462 |
+
{
|
| 463 |
+
"step_index": 2,
|
| 464 |
+
"skill": "place",
|
| 465 |
+
"target": "inspection_platform",
|
| 466 |
+
"success": true,
|
| 467 |
+
"reason": "executed",
|
| 468 |
+
"debug": {
|
| 469 |
+
"arm": null,
|
| 470 |
+
"checker": {
|
| 471 |
+
"checker": "PlaceSuccessChecker",
|
| 472 |
+
"skill": "place",
|
| 473 |
+
"target": "inspection_platform",
|
| 474 |
+
"passed": true,
|
| 475 |
+
"metrics": {
|
| 476 |
+
"held": "beaker_a",
|
| 477 |
+
"target": "inspection_platform",
|
| 478 |
+
"object_position": [
|
| 479 |
+
0.3525533567730078,
|
| 480 |
+
0.2405080275020737,
|
| 481 |
+
0.7671053537076324
|
| 482 |
+
],
|
| 483 |
+
"target_position": [
|
| 484 |
+
0.3605552170958348,
|
| 485 |
+
0.24125895686152923,
|
| 486 |
+
0.7158860691194898
|
| 487 |
+
],
|
| 488 |
+
"target_position_source": "target_object:_xform_position",
|
| 489 |
+
"xy_dist": 0.00803701832329164,
|
| 490 |
+
"xy_threshold": 0.08,
|
| 491 |
+
"gripper_dist": 0.16511884695312062,
|
| 492 |
+
"gripper_away_threshold": 0.04,
|
| 493 |
+
"gripper_away_ok": true,
|
| 494 |
+
"object_z": 0.7671053537076324,
|
| 495 |
+
"min_z": 0.5158860691194898,
|
| 496 |
+
"min_z_margin": 0.2,
|
| 497 |
+
"require_object_upright": true,
|
| 498 |
+
"object_upright_reference_source": "scene_initial",
|
| 499 |
+
"release_fingertip_source": "active_contact_pad_positions",
|
| 500 |
+
"release_finger_gap": 0.07586145697442961,
|
| 501 |
+
"release_finger_gap_metric": "3d_contact_pad_distance",
|
| 502 |
+
"release_fingertip_min_gap": 0.08530242451834173,
|
| 503 |
+
"release_gap_margin": 0.02,
|
| 504 |
+
"release_gap_missing_size": false,
|
| 505 |
+
"release_min_pad_clearance": 0.13250583744545347,
|
| 506 |
+
"release_required_pad_clearance": 0.05265121225917087,
|
| 507 |
+
"release_pad_clearance_ok": true,
|
| 508 |
+
"release_gap_ok": false,
|
| 509 |
+
"force_virtual_attach": false,
|
| 510 |
+
"virtual_attach_allowed": false,
|
| 511 |
+
"max_z": 0.8774145980897915,
|
| 512 |
+
"max_z_margin": 0.1,
|
| 513 |
+
"object_tilt_deg": 0.3560655975083319,
|
| 514 |
+
"object_max_tilt_deg": 12.0,
|
| 515 |
+
"object_axis_flip_tolerance_deg": 3.0,
|
| 516 |
+
"object_upright_axis_local": null,
|
| 517 |
+
"required_placed_release_frames": 2,
|
| 518 |
+
"placed_release_frames": 128,
|
| 519 |
+
"max_placed_release_frames": 128
|
| 520 |
+
},
|
| 521 |
+
"failed_keys": [],
|
| 522 |
+
"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 |
+
"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": 98,
|
| 660 |
+
"reproducibility": {
|
| 661 |
+
"enabled": true,
|
| 662 |
+
"action_seed": 8965520104066671838,
|
| 663 |
+
"physical_seed": 3697495222794957137,
|
| 664 |
+
"layout_id": "layout_00032",
|
| 665 |
+
"step_seeds": [
|
| 666 |
+
5868908299052723470,
|
| 667 |
+
1147186024122430536,
|
| 668 |
+
7048677080094423649
|
| 669 |
+
],
|
| 670 |
+
"workflow_spec_digest": "41fe1ccdd76518f49a9649d8ad52abbf640a2a9139023383414c5dce78b542b9",
|
| 671 |
+
"strict_task_state": false,
|
| 672 |
+
"allow_physical_randomization": true,
|
| 673 |
+
"seed_source": "workflow.reproducibility",
|
| 674 |
+
"task_island_state_digest": "31aa625906a8101f189c2c6da00c9f8722622505386aac95aa700af8a990fd85",
|
| 675 |
+
"visual_seed": 7542151175259198664,
|
| 676 |
+
"episode_index": 98,
|
| 677 |
+
"physical_randomization_enabled": true,
|
| 678 |
+
"motion_controller_type": "ik_servo",
|
| 679 |
+
"runtime_step_seeds": [
|
| 680 |
+
5868908299052723470,
|
| 681 |
+
1147186024122430536,
|
| 682 |
+
7048677080094423649
|
| 683 |
+
],
|
| 684 |
+
"runtime_workflow_digest": "95e4a3a6883347e144f1827ff91137e46eda0b934cef6dd52ac0cf2336bdc1d0"
|
| 685 |
+
}
|
| 686 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00032/results/episode_99_success.json
ADDED
|
@@ -0,0 +1,686 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 99,
|
| 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 |
+
0.16608554713335438,
|
| 26 |
+
0.24069513240696014,
|
| 27 |
+
1.0466079382992457
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0466079382992457,
|
| 30 |
+
"required_z": 0.8611068060379901,
|
| 31 |
+
"initial_z": 0.7611068060379901,
|
| 32 |
+
"lift_margin": 0.18550113226125564,
|
| 33 |
+
"gripper_z": 1.0528648022903742,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.16279374328308646,
|
| 38 |
+
0.23692058849718783,
|
| 39 |
+
1.0528648022903742
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.0032918038502679214,
|
| 43 |
+
0.0037745439097723044,
|
| 44 |
+
-0.0062568639911284585
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.0050083085283794074,
|
| 47 |
+
"object_to_gripper_z": -0.0062568639911284585,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.16608554713335438,
|
| 51 |
+
0.21713548801787041,
|
| 52 |
+
1.0466079382992457
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.1563196168944519,
|
| 56 |
+
0.24069513240696014,
|
| 57 |
+
1.0466079382992457
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.16120258201390314,
|
| 61 |
+
0.2289153102124153,
|
| 62 |
+
1.0466079382992457
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.0048829651194512436,
|
| 66 |
+
0.011779822194544848,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.025503533817325726,
|
| 70 |
+
"fingertip_max_gap": 0.10618952610696375,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.012751766908662851,
|
| 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": 1.0466079382992457,
|
| 78 |
+
"object_top_z": 1.1034483546261544,
|
| 79 |
+
"finger_top_clearance": 0.05684041632690873,
|
| 80 |
+
"fingertip_min_top_clearance": 0.0170521248980726,
|
| 81 |
+
"object_projection_between_fingers": 0.8533687581225315,
|
| 82 |
+
"object_to_finger_line_xy": 0.009021567175953303,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.05559476305348188,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 5.937795480003361,
|
| 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 |
+
"wrist_3_joint"
|
| 183 |
+
],
|
| 184 |
+
"ignored_prim_substrings": [
|
| 185 |
+
"base_link",
|
| 186 |
+
"caster",
|
| 187 |
+
"defaultgroundplane",
|
| 188 |
+
"desk",
|
| 189 |
+
"floor",
|
| 190 |
+
"ground",
|
| 191 |
+
"groundplane",
|
| 192 |
+
"link0",
|
| 193 |
+
"table",
|
| 194 |
+
"wheel",
|
| 195 |
+
"workbench"
|
| 196 |
+
],
|
| 197 |
+
"enabled": true
|
| 198 |
+
},
|
| 199 |
+
"status": "active",
|
| 200 |
+
"passed": true,
|
| 201 |
+
"source_missing": false,
|
| 202 |
+
"forbidden": [],
|
| 203 |
+
"disturbances": [],
|
| 204 |
+
"last_frame": {
|
| 205 |
+
"passed": true,
|
| 206 |
+
"source_missing": false,
|
| 207 |
+
"forbidden": [],
|
| 208 |
+
"allowed": [
|
| 209 |
+
{
|
| 210 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 211 |
+
"b": "/World/beaker_2/mesh"
|
| 212 |
+
},
|
| 213 |
+
{
|
| 214 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 215 |
+
"b": "/World/beaker_2/mesh"
|
| 216 |
+
}
|
| 217 |
+
],
|
| 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 |
+
},
|
| 228 |
+
"physical_semantics": {
|
| 229 |
+
"skill": "pick",
|
| 230 |
+
"target": "beaker_a",
|
| 231 |
+
"attach_used": false,
|
| 232 |
+
"attach_object": null,
|
| 233 |
+
"attach_object_path": null,
|
| 234 |
+
"attach_allowed": false,
|
| 235 |
+
"ordinary_object_physical_only": true
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
{
|
| 239 |
+
"step_index": 1,
|
| 240 |
+
"skill": "shake",
|
| 241 |
+
"target": "beaker_a",
|
| 242 |
+
"success": true,
|
| 243 |
+
"reason": "executed",
|
| 244 |
+
"debug": {
|
| 245 |
+
"arm": null,
|
| 246 |
+
"checker": {
|
| 247 |
+
"checker": "ShakeSuccessChecker",
|
| 248 |
+
"skill": "shake",
|
| 249 |
+
"target": "beaker_a",
|
| 250 |
+
"passed": true,
|
| 251 |
+
"metrics": {
|
| 252 |
+
"held": "beaker_a",
|
| 253 |
+
"force_virtual_attach": false,
|
| 254 |
+
"virtual_attach_allowed": false,
|
| 255 |
+
"gripper_position": [
|
| 256 |
+
0.16552080267353297,
|
| 257 |
+
0.24407135079962747,
|
| 258 |
+
1.2424003360726554
|
| 259 |
+
],
|
| 260 |
+
"held_position": [
|
| 261 |
+
0.16936409054053464,
|
| 262 |
+
0.24790923890433464,
|
| 263 |
+
1.235856067398751
|
| 264 |
+
],
|
| 265 |
+
"object_initial_z": 0.7774145980897915,
|
| 266 |
+
"required_gripper_z": 0.8974145980897915,
|
| 267 |
+
"shake_count": 5,
|
| 268 |
+
"held_shake_count": 5,
|
| 269 |
+
"effective_shake_count": 5,
|
| 270 |
+
"min_shake_count": 3,
|
| 271 |
+
"held_gripper_dist": 0.008504569313559664,
|
| 272 |
+
"max_held_gripper_dist": 0.00852187551926531,
|
| 273 |
+
"held_gripper_max_dist": 0.15,
|
| 274 |
+
"held_gripper_z_dist": 0.006544268673904341,
|
| 275 |
+
"max_held_gripper_z_dist": 0.00658530265150703,
|
| 276 |
+
"held_gripper_z_max_dist": 0.15,
|
| 277 |
+
"held_object_xy_range": 0.08594010002110838,
|
| 278 |
+
"held_object_min_xy_range": 0.04,
|
| 279 |
+
"held_motion_ok": true,
|
| 280 |
+
"held_grasp_geometry_checked": true,
|
| 281 |
+
"held_grasp_geometry_required": true,
|
| 282 |
+
"held_grasp_source": "active_contact_pad_positions",
|
| 283 |
+
"held_grasp_finger_a": [
|
| 284 |
+
0.16936409054053464,
|
| 285 |
+
0.22388233811299482,
|
| 286 |
+
1.235856067398751
|
| 287 |
+
],
|
| 288 |
+
"held_grasp_finger_b": [
|
| 289 |
+
0.15980493324247136,
|
| 290 |
+
0.24790923890433464,
|
| 291 |
+
1.235856067398751
|
| 292 |
+
],
|
| 293 |
+
"held_grasp_midpoint": [
|
| 294 |
+
0.164584511891503,
|
| 295 |
+
0.23589578850866472,
|
| 296 |
+
1.235856067398751
|
| 297 |
+
],
|
| 298 |
+
"held_grasp_object_position": [
|
| 299 |
+
0.16936409054053464,
|
| 300 |
+
0.24790923890433464,
|
| 301 |
+
1.235856067398751
|
| 302 |
+
],
|
| 303 |
+
"held_grasp_finger_gap": 0.02585864362038354,
|
| 304 |
+
"held_grasp_max_gap": 0.1249237185716629,
|
| 305 |
+
"held_grasp_geometry_frame": "object_local",
|
| 306 |
+
"held_grasp_size_source": "beaker_a_local_size",
|
| 307 |
+
"held_grasp_z_skew": 0.024516610740805515,
|
| 308 |
+
"held_grasp_world_z_skew": 0.0,
|
| 309 |
+
"held_grasp_z_skew_max": 0.08,
|
| 310 |
+
"held_grasp_z_skew_frame": "object_local_up",
|
| 311 |
+
"held_grasp_local_up_axis": [
|
| 312 |
+
0.06590505742085265,
|
| 313 |
+
-0.9941612585669523,
|
| 314 |
+
0.08543954219755479
|
| 315 |
+
],
|
| 316 |
+
"held_grasp_object_projection_between_fingers": 0.5,
|
| 317 |
+
"held_grasp_object_to_finger_line_xy": 0.005652415634936321,
|
| 318 |
+
"held_grasp_line_xy_max_dist": 0.04746185928583145,
|
| 319 |
+
"held_grasp_object_top_z": 0.04972025007009506,
|
| 320 |
+
"held_grasp_top_clearance": 0.03809194151031613,
|
| 321 |
+
"held_grasp_min_top_clearance": 0.014916075021028518
|
| 322 |
+
},
|
| 323 |
+
"failed_keys": [],
|
| 324 |
+
"failure_code": null,
|
| 325 |
+
"failure_messages": {},
|
| 326 |
+
"safety": {
|
| 327 |
+
"policy": {
|
| 328 |
+
"skill": "shake",
|
| 329 |
+
"target_object": "beaker_a",
|
| 330 |
+
"held_object": "beaker_a",
|
| 331 |
+
"allowed_objects": [
|
| 332 |
+
"beaker_a"
|
| 333 |
+
],
|
| 334 |
+
"allowed_object_paths": [
|
| 335 |
+
"/World/beaker_2"
|
| 336 |
+
],
|
| 337 |
+
"allowed_prim_substrings": [],
|
| 338 |
+
"robot_prim_substrings": [
|
| 339 |
+
"Robotiq2F85",
|
| 340 |
+
"Robotiq_2F_85",
|
| 341 |
+
"contact_sensor",
|
| 342 |
+
"dummy_base_prismatic_x_joint",
|
| 343 |
+
"dummy_base_prismatic_y_joint",
|
| 344 |
+
"dummy_base_revolute_z_joint",
|
| 345 |
+
"elbow_joint",
|
| 346 |
+
"festo",
|
| 347 |
+
"finger",
|
| 348 |
+
"fr3",
|
| 349 |
+
"fr3_duo_mobile",
|
| 350 |
+
"fr3_joint1",
|
| 351 |
+
"fr3_joint2",
|
| 352 |
+
"fr3_joint3",
|
| 353 |
+
"fr3_joint4",
|
| 354 |
+
"fr3_joint5",
|
| 355 |
+
"fr3_joint6",
|
| 356 |
+
"fr3_joint7",
|
| 357 |
+
"fr3_leftfinger",
|
| 358 |
+
"fr3_rightfinger",
|
| 359 |
+
"franka",
|
| 360 |
+
"geometry",
|
| 361 |
+
"gripper",
|
| 362 |
+
"gripper_center",
|
| 363 |
+
"joint1",
|
| 364 |
+
"joint2",
|
| 365 |
+
"joint3",
|
| 366 |
+
"joint4",
|
| 367 |
+
"joint5",
|
| 368 |
+
"joint6",
|
| 369 |
+
"joint7",
|
| 370 |
+
"left_inner_finger",
|
| 371 |
+
"lift2",
|
| 372 |
+
"mobile_rotate",
|
| 373 |
+
"mobile_translate_x",
|
| 374 |
+
"mobile_translate_y",
|
| 375 |
+
"panda_joint1",
|
| 376 |
+
"panda_joint2",
|
| 377 |
+
"panda_joint3",
|
| 378 |
+
"panda_joint4",
|
| 379 |
+
"panda_joint5",
|
| 380 |
+
"panda_joint6",
|
| 381 |
+
"panda_joint7",
|
| 382 |
+
"panda_leftfinger",
|
| 383 |
+
"panda_leftfingertip",
|
| 384 |
+
"panda_rightfinger",
|
| 385 |
+
"panda_rightfingertip",
|
| 386 |
+
"ridgebase",
|
| 387 |
+
"ridgebase_festo",
|
| 388 |
+
"ridgebase_fr3",
|
| 389 |
+
"ridgebase_rizon4",
|
| 390 |
+
"ridgebase_ur16e",
|
| 391 |
+
"ridgebase_ur5e",
|
| 392 |
+
"right_inner_finger",
|
| 393 |
+
"rizon4",
|
| 394 |
+
"robot",
|
| 395 |
+
"robotiq_2f85",
|
| 396 |
+
"shoulder_lift_joint",
|
| 397 |
+
"shoulder_pan_joint",
|
| 398 |
+
"split_aloha",
|
| 399 |
+
"tool_center",
|
| 400 |
+
"ur16e",
|
| 401 |
+
"ur5e",
|
| 402 |
+
"visuals",
|
| 403 |
+
"wrist",
|
| 404 |
+
"wrist_1_joint",
|
| 405 |
+
"wrist_2_joint",
|
| 406 |
+
"wrist_3_joint"
|
| 407 |
+
],
|
| 408 |
+
"ignored_prim_substrings": [
|
| 409 |
+
"base_link",
|
| 410 |
+
"caster",
|
| 411 |
+
"defaultgroundplane",
|
| 412 |
+
"desk",
|
| 413 |
+
"floor",
|
| 414 |
+
"ground",
|
| 415 |
+
"groundplane",
|
| 416 |
+
"link0",
|
| 417 |
+
"table",
|
| 418 |
+
"wheel",
|
| 419 |
+
"workbench"
|
| 420 |
+
],
|
| 421 |
+
"enabled": true
|
| 422 |
+
},
|
| 423 |
+
"status": "active",
|
| 424 |
+
"passed": true,
|
| 425 |
+
"source_missing": false,
|
| 426 |
+
"forbidden": [],
|
| 427 |
+
"disturbances": [],
|
| 428 |
+
"last_frame": {
|
| 429 |
+
"passed": true,
|
| 430 |
+
"source_missing": false,
|
| 431 |
+
"forbidden": [],
|
| 432 |
+
"allowed": [
|
| 433 |
+
{
|
| 434 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 435 |
+
"b": "/World/beaker_2/mesh"
|
| 436 |
+
},
|
| 437 |
+
{
|
| 438 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 439 |
+
"b": "/World/beaker_2/mesh"
|
| 440 |
+
}
|
| 441 |
+
],
|
| 442 |
+
"ignored": [],
|
| 443 |
+
"failed_keys": []
|
| 444 |
+
},
|
| 445 |
+
"failed_keys": []
|
| 446 |
+
}
|
| 447 |
+
},
|
| 448 |
+
"gripper": null,
|
| 449 |
+
"post_done_wait_frames": 0,
|
| 450 |
+
"post_done_wait_exhausted": false
|
| 451 |
+
},
|
| 452 |
+
"physical_semantics": {
|
| 453 |
+
"skill": "shake",
|
| 454 |
+
"target": "beaker_a",
|
| 455 |
+
"attach_used": false,
|
| 456 |
+
"attach_object": null,
|
| 457 |
+
"attach_object_path": null,
|
| 458 |
+
"attach_allowed": false,
|
| 459 |
+
"ordinary_object_physical_only": true
|
| 460 |
+
}
|
| 461 |
+
},
|
| 462 |
+
{
|
| 463 |
+
"step_index": 2,
|
| 464 |
+
"skill": "place",
|
| 465 |
+
"target": "inspection_platform",
|
| 466 |
+
"success": true,
|
| 467 |
+
"reason": "executed",
|
| 468 |
+
"debug": {
|
| 469 |
+
"arm": null,
|
| 470 |
+
"checker": {
|
| 471 |
+
"checker": "PlaceSuccessChecker",
|
| 472 |
+
"skill": "place",
|
| 473 |
+
"target": "inspection_platform",
|
| 474 |
+
"passed": true,
|
| 475 |
+
"metrics": {
|
| 476 |
+
"held": "beaker_a",
|
| 477 |
+
"target": "inspection_platform",
|
| 478 |
+
"object_position": [
|
| 479 |
+
0.34287343567889667,
|
| 480 |
+
0.24316229529561584,
|
| 481 |
+
0.7671056593950679
|
| 482 |
+
],
|
| 483 |
+
"target_position": [
|
| 484 |
+
0.3588799138739236,
|
| 485 |
+
0.24847004424537872,
|
| 486 |
+
0.7158860691194898
|
| 487 |
+
],
|
| 488 |
+
"target_position_source": "target_object:_xform_position",
|
| 489 |
+
"xy_dist": 0.016863556656932767,
|
| 490 |
+
"xy_threshold": 0.08,
|
| 491 |
+
"gripper_dist": 0.15822472541903584,
|
| 492 |
+
"gripper_away_threshold": 0.04,
|
| 493 |
+
"gripper_away_ok": true,
|
| 494 |
+
"object_z": 0.7671056593950679,
|
| 495 |
+
"min_z": 0.5158860691194898,
|
| 496 |
+
"min_z_margin": 0.2,
|
| 497 |
+
"require_object_upright": true,
|
| 498 |
+
"object_upright_reference_source": "scene_initial",
|
| 499 |
+
"release_fingertip_source": "active_contact_pad_positions",
|
| 500 |
+
"release_finger_gap": 0.07532007038942513,
|
| 501 |
+
"release_finger_gap_metric": "3d_contact_pad_distance",
|
| 502 |
+
"release_fingertip_min_gap": 0.08930940112172801,
|
| 503 |
+
"release_gap_margin": 0.02,
|
| 504 |
+
"release_gap_missing_size": false,
|
| 505 |
+
"release_min_pad_clearance": 0.12623855297238826,
|
| 506 |
+
"release_required_pad_clearance": 0.05465470056086401,
|
| 507 |
+
"release_pad_clearance_ok": true,
|
| 508 |
+
"release_gap_ok": false,
|
| 509 |
+
"force_virtual_attach": false,
|
| 510 |
+
"virtual_attach_allowed": false,
|
| 511 |
+
"max_z": 0.8774145980897915,
|
| 512 |
+
"max_z_margin": 0.1,
|
| 513 |
+
"object_tilt_deg": 4.351297229572806,
|
| 514 |
+
"object_max_tilt_deg": 12.0,
|
| 515 |
+
"object_axis_flip_tolerance_deg": 3.0,
|
| 516 |
+
"object_upright_axis_local": null,
|
| 517 |
+
"required_placed_release_frames": 2,
|
| 518 |
+
"placed_release_frames": 122,
|
| 519 |
+
"max_placed_release_frames": 122
|
| 520 |
+
},
|
| 521 |
+
"failed_keys": [],
|
| 522 |
+
"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 |
+
"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": 99,
|
| 660 |
+
"reproducibility": {
|
| 661 |
+
"enabled": true,
|
| 662 |
+
"action_seed": 8965520104066671838,
|
| 663 |
+
"physical_seed": 3697495222794957137,
|
| 664 |
+
"layout_id": "layout_00032",
|
| 665 |
+
"step_seeds": [
|
| 666 |
+
5868908299052723470,
|
| 667 |
+
1147186024122430536,
|
| 668 |
+
7048677080094423649
|
| 669 |
+
],
|
| 670 |
+
"workflow_spec_digest": "41fe1ccdd76518f49a9649d8ad52abbf640a2a9139023383414c5dce78b542b9",
|
| 671 |
+
"strict_task_state": false,
|
| 672 |
+
"allow_physical_randomization": true,
|
| 673 |
+
"seed_source": "workflow.reproducibility",
|
| 674 |
+
"task_island_state_digest": "0c2547c939f8d800879613d8d0d9e68a8ef67f25426c35ef4e50ab2bf670e0f4",
|
| 675 |
+
"visual_seed": 2470811775857687310,
|
| 676 |
+
"episode_index": 99,
|
| 677 |
+
"physical_randomization_enabled": true,
|
| 678 |
+
"motion_controller_type": "ik_servo",
|
| 679 |
+
"runtime_step_seeds": [
|
| 680 |
+
5868908299052723470,
|
| 681 |
+
1147186024122430536,
|
| 682 |
+
7048677080094423649
|
| 683 |
+
],
|
| 684 |
+
"runtime_workflow_digest": "95e4a3a6883347e144f1827ff91137e46eda0b934cef6dd52ac0cf2336bdc1d0"
|
| 685 |
+
}
|
| 686 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00032/results/episode_9_success.json
ADDED
|
@@ -0,0 +1,686 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 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 |
+
0.1649396049089248,
|
| 26 |
+
0.2334654006579151,
|
| 27 |
+
1.0470227156890903
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0470227156890903,
|
| 30 |
+
"required_z": 0.8611066868287004,
|
| 31 |
+
"initial_z": 0.7611066868287004,
|
| 32 |
+
"lift_margin": 0.18591602886038994,
|
| 33 |
+
"gripper_z": 1.0528501160488637,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.16192206115826546,
|
| 38 |
+
0.22978081067830985,
|
| 39 |
+
1.0528501160488637
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.003017543750659324,
|
| 43 |
+
0.003684589979605246,
|
| 44 |
+
-0.00582740035977336
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.004762538567292713,
|
| 47 |
+
"object_to_gripper_z": -0.00582740035977336,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.1649396049089248,
|
| 51 |
+
0.21022016428392792,
|
| 52 |
+
1.0470227156890903
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.15510889318940063,
|
| 56 |
+
0.2334654006579151,
|
| 57 |
+
1.0470227156890903
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.1600242490491627,
|
| 61 |
+
0.2218427824709215,
|
| 62 |
+
1.0470227156890903
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.004915355859762077,
|
| 66 |
+
0.011622618186993589,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.025238540112195992,
|
| 70 |
+
"fingertip_max_gap": 0.09193115822317749,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.012619270056097996,
|
| 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": 1.0470227156890903,
|
| 78 |
+
"object_top_z": 1.0972054510668992,
|
| 79 |
+
"finger_top_clearance": 0.05018273537780882,
|
| 80 |
+
"fingertip_min_top_clearance": 0.015054820613342644,
|
| 81 |
+
"object_projection_between_fingers": 0.8482804795362604,
|
| 82 |
+
"object_to_finger_line_xy": 0.009054296192608967,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.04846557911158875,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 1.182724446058343,
|
| 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 |
+
"passed": true,
|
| 206 |
+
"source_missing": false,
|
| 207 |
+
"forbidden": [],
|
| 208 |
+
"allowed": [
|
| 209 |
+
{
|
| 210 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 211 |
+
"b": "/World/beaker_2/mesh"
|
| 212 |
+
},
|
| 213 |
+
{
|
| 214 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 215 |
+
"b": "/World/beaker_2/mesh"
|
| 216 |
+
}
|
| 217 |
+
],
|
| 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 |
+
},
|
| 228 |
+
"physical_semantics": {
|
| 229 |
+
"skill": "pick",
|
| 230 |
+
"target": "beaker_a",
|
| 231 |
+
"attach_used": false,
|
| 232 |
+
"attach_object": null,
|
| 233 |
+
"attach_object_path": null,
|
| 234 |
+
"attach_allowed": false,
|
| 235 |
+
"ordinary_object_physical_only": true
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
{
|
| 239 |
+
"step_index": 1,
|
| 240 |
+
"skill": "shake",
|
| 241 |
+
"target": "beaker_a",
|
| 242 |
+
"success": true,
|
| 243 |
+
"reason": "executed",
|
| 244 |
+
"debug": {
|
| 245 |
+
"arm": null,
|
| 246 |
+
"checker": {
|
| 247 |
+
"checker": "ShakeSuccessChecker",
|
| 248 |
+
"skill": "shake",
|
| 249 |
+
"target": "beaker_a",
|
| 250 |
+
"passed": true,
|
| 251 |
+
"metrics": {
|
| 252 |
+
"held": "beaker_a",
|
| 253 |
+
"force_virtual_attach": false,
|
| 254 |
+
"virtual_attach_allowed": false,
|
| 255 |
+
"gripper_position": [
|
| 256 |
+
0.16574023087821735,
|
| 257 |
+
0.2349464333794843,
|
| 258 |
+
1.2416375217936202
|
| 259 |
+
],
|
| 260 |
+
"held_position": [
|
| 261 |
+
0.1689004015335917,
|
| 262 |
+
0.23836079272903982,
|
| 263 |
+
1.2356961568811236
|
| 264 |
+
],
|
| 265 |
+
"object_initial_z": 0.7774145980897915,
|
| 266 |
+
"required_gripper_z": 0.8974145980897915,
|
| 267 |
+
"shake_count": 5,
|
| 268 |
+
"held_shake_count": 5,
|
| 269 |
+
"effective_shake_count": 5,
|
| 270 |
+
"min_shake_count": 3,
|
| 271 |
+
"held_gripper_dist": 0.007546147716711662,
|
| 272 |
+
"max_held_gripper_dist": 0.007562122503430182,
|
| 273 |
+
"held_gripper_max_dist": 0.15,
|
| 274 |
+
"held_gripper_z_dist": 0.005941364912496638,
|
| 275 |
+
"max_held_gripper_z_dist": 0.005975095529434871,
|
| 276 |
+
"held_gripper_z_max_dist": 0.15,
|
| 277 |
+
"held_object_xy_range": 0.08607428669199038,
|
| 278 |
+
"held_object_min_xy_range": 0.04,
|
| 279 |
+
"held_motion_ok": true,
|
| 280 |
+
"held_grasp_geometry_checked": true,
|
| 281 |
+
"held_grasp_geometry_required": true,
|
| 282 |
+
"held_grasp_source": "active_contact_pad_positions",
|
| 283 |
+
"held_grasp_finger_a": [
|
| 284 |
+
0.1689004015335917,
|
| 285 |
+
0.214338714183547,
|
| 286 |
+
1.2356961568811236
|
| 287 |
+
],
|
| 288 |
+
"held_grasp_finger_b": [
|
| 289 |
+
0.1607666554626056,
|
| 290 |
+
0.23836079272903982,
|
| 291 |
+
1.2356961568811236
|
| 292 |
+
],
|
| 293 |
+
"held_grasp_midpoint": [
|
| 294 |
+
0.16483352849809865,
|
| 295 |
+
0.2263497534562934,
|
| 296 |
+
1.2356961568811236
|
| 297 |
+
],
|
| 298 |
+
"held_grasp_object_position": [
|
| 299 |
+
0.1689004015335917,
|
| 300 |
+
0.23836079272903982,
|
| 301 |
+
1.2356961568811236
|
| 302 |
+
],
|
| 303 |
+
"held_grasp_finger_gap": 0.025361744474564605,
|
| 304 |
+
"held_grasp_max_gap": 0.1249237185716629,
|
| 305 |
+
"held_grasp_geometry_frame": "object_local",
|
| 306 |
+
"held_grasp_size_source": "beaker_a_local_size",
|
| 307 |
+
"held_grasp_z_skew": 0.023678357494114555,
|
| 308 |
+
"held_grasp_world_z_skew": 0.0,
|
| 309 |
+
"held_grasp_z_skew_max": 0.08,
|
| 310 |
+
"held_grasp_z_skew_frame": "object_local_up",
|
| 311 |
+
"held_grasp_local_up_axis": [
|
| 312 |
+
-0.03944584986466778,
|
| 313 |
+
-0.9990476042703179,
|
| 314 |
+
0.018652327741932817
|
| 315 |
+
],
|
| 316 |
+
"held_grasp_object_projection_between_fingers": 0.5,
|
| 317 |
+
"held_grasp_object_to_finger_line_xy": 0.0035969992116312247,
|
| 318 |
+
"held_grasp_line_xy_max_dist": 0.04746185928583145,
|
| 319 |
+
"held_grasp_object_top_z": 0.04972025007009506,
|
| 320 |
+
"held_grasp_top_clearance": 0.03756022879668434,
|
| 321 |
+
"held_grasp_min_top_clearance": 0.014916075021028518
|
| 322 |
+
},
|
| 323 |
+
"failed_keys": [],
|
| 324 |
+
"failure_code": null,
|
| 325 |
+
"failure_messages": {},
|
| 326 |
+
"safety": {
|
| 327 |
+
"policy": {
|
| 328 |
+
"skill": "shake",
|
| 329 |
+
"target_object": "beaker_a",
|
| 330 |
+
"held_object": "beaker_a",
|
| 331 |
+
"allowed_objects": [
|
| 332 |
+
"beaker_a"
|
| 333 |
+
],
|
| 334 |
+
"allowed_object_paths": [
|
| 335 |
+
"/World/beaker_2"
|
| 336 |
+
],
|
| 337 |
+
"allowed_prim_substrings": [],
|
| 338 |
+
"robot_prim_substrings": [
|
| 339 |
+
"Robotiq2F85",
|
| 340 |
+
"Robotiq_2F_85",
|
| 341 |
+
"contact_sensor",
|
| 342 |
+
"dummy_base_prismatic_x_joint",
|
| 343 |
+
"dummy_base_prismatic_y_joint",
|
| 344 |
+
"dummy_base_revolute_z_joint",
|
| 345 |
+
"elbow_joint",
|
| 346 |
+
"festo",
|
| 347 |
+
"finger",
|
| 348 |
+
"fr3",
|
| 349 |
+
"fr3_duo_mobile",
|
| 350 |
+
"fr3_joint1",
|
| 351 |
+
"fr3_joint2",
|
| 352 |
+
"fr3_joint3",
|
| 353 |
+
"fr3_joint4",
|
| 354 |
+
"fr3_joint5",
|
| 355 |
+
"fr3_joint6",
|
| 356 |
+
"fr3_joint7",
|
| 357 |
+
"fr3_leftfinger",
|
| 358 |
+
"fr3_rightfinger",
|
| 359 |
+
"franka",
|
| 360 |
+
"geometry",
|
| 361 |
+
"gripper",
|
| 362 |
+
"gripper_center",
|
| 363 |
+
"joint1",
|
| 364 |
+
"joint2",
|
| 365 |
+
"joint3",
|
| 366 |
+
"joint4",
|
| 367 |
+
"joint5",
|
| 368 |
+
"joint6",
|
| 369 |
+
"joint7",
|
| 370 |
+
"left_inner_finger",
|
| 371 |
+
"lift2",
|
| 372 |
+
"mobile_rotate",
|
| 373 |
+
"mobile_translate_x",
|
| 374 |
+
"mobile_translate_y",
|
| 375 |
+
"panda_joint1",
|
| 376 |
+
"panda_joint2",
|
| 377 |
+
"panda_joint3",
|
| 378 |
+
"panda_joint4",
|
| 379 |
+
"panda_joint5",
|
| 380 |
+
"panda_joint6",
|
| 381 |
+
"panda_joint7",
|
| 382 |
+
"panda_leftfinger",
|
| 383 |
+
"panda_leftfingertip",
|
| 384 |
+
"panda_rightfinger",
|
| 385 |
+
"panda_rightfingertip",
|
| 386 |
+
"ridgebase",
|
| 387 |
+
"ridgebase_festo",
|
| 388 |
+
"ridgebase_fr3",
|
| 389 |
+
"ridgebase_rizon4",
|
| 390 |
+
"ridgebase_ur16e",
|
| 391 |
+
"ridgebase_ur5e",
|
| 392 |
+
"right_inner_finger",
|
| 393 |
+
"rizon4",
|
| 394 |
+
"robot",
|
| 395 |
+
"robotiq_2f85",
|
| 396 |
+
"shoulder_lift_joint",
|
| 397 |
+
"shoulder_pan_joint",
|
| 398 |
+
"split_aloha",
|
| 399 |
+
"tool_center",
|
| 400 |
+
"ur16e",
|
| 401 |
+
"ur5e",
|
| 402 |
+
"visuals",
|
| 403 |
+
"wrist",
|
| 404 |
+
"wrist_1_joint",
|
| 405 |
+
"wrist_2_joint",
|
| 406 |
+
"wrist_3_joint"
|
| 407 |
+
],
|
| 408 |
+
"ignored_prim_substrings": [
|
| 409 |
+
"base_link",
|
| 410 |
+
"caster",
|
| 411 |
+
"defaultgroundplane",
|
| 412 |
+
"desk",
|
| 413 |
+
"floor",
|
| 414 |
+
"ground",
|
| 415 |
+
"groundplane",
|
| 416 |
+
"link0",
|
| 417 |
+
"table",
|
| 418 |
+
"wheel",
|
| 419 |
+
"workbench"
|
| 420 |
+
],
|
| 421 |
+
"enabled": true
|
| 422 |
+
},
|
| 423 |
+
"status": "active",
|
| 424 |
+
"passed": true,
|
| 425 |
+
"source_missing": false,
|
| 426 |
+
"forbidden": [],
|
| 427 |
+
"disturbances": [],
|
| 428 |
+
"last_frame": {
|
| 429 |
+
"passed": true,
|
| 430 |
+
"source_missing": false,
|
| 431 |
+
"forbidden": [],
|
| 432 |
+
"allowed": [
|
| 433 |
+
{
|
| 434 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 435 |
+
"b": "/World/beaker_2/mesh"
|
| 436 |
+
},
|
| 437 |
+
{
|
| 438 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 439 |
+
"b": "/World/beaker_2/mesh"
|
| 440 |
+
}
|
| 441 |
+
],
|
| 442 |
+
"ignored": [],
|
| 443 |
+
"failed_keys": []
|
| 444 |
+
},
|
| 445 |
+
"failed_keys": []
|
| 446 |
+
}
|
| 447 |
+
},
|
| 448 |
+
"gripper": null,
|
| 449 |
+
"post_done_wait_frames": 0,
|
| 450 |
+
"post_done_wait_exhausted": false
|
| 451 |
+
},
|
| 452 |
+
"physical_semantics": {
|
| 453 |
+
"skill": "shake",
|
| 454 |
+
"target": "beaker_a",
|
| 455 |
+
"attach_used": false,
|
| 456 |
+
"attach_object": null,
|
| 457 |
+
"attach_object_path": null,
|
| 458 |
+
"attach_allowed": false,
|
| 459 |
+
"ordinary_object_physical_only": true
|
| 460 |
+
}
|
| 461 |
+
},
|
| 462 |
+
{
|
| 463 |
+
"step_index": 2,
|
| 464 |
+
"skill": "place",
|
| 465 |
+
"target": "inspection_platform",
|
| 466 |
+
"success": true,
|
| 467 |
+
"reason": "executed",
|
| 468 |
+
"debug": {
|
| 469 |
+
"arm": null,
|
| 470 |
+
"checker": {
|
| 471 |
+
"checker": "PlaceSuccessChecker",
|
| 472 |
+
"skill": "place",
|
| 473 |
+
"target": "inspection_platform",
|
| 474 |
+
"passed": true,
|
| 475 |
+
"metrics": {
|
| 476 |
+
"held": "beaker_a",
|
| 477 |
+
"target": "inspection_platform",
|
| 478 |
+
"object_position": [
|
| 479 |
+
0.35426016882303957,
|
| 480 |
+
0.2406189410420201,
|
| 481 |
+
0.7671042735365029
|
| 482 |
+
],
|
| 483 |
+
"target_position": [
|
| 484 |
+
0.362562512392574,
|
| 485 |
+
0.2415829416032019,
|
| 486 |
+
0.7158860691194898
|
| 487 |
+
],
|
| 488 |
+
"target_position_source": "target_object:_xform_position",
|
| 489 |
+
"xy_dist": 0.008358122147261797,
|
| 490 |
+
"xy_threshold": 0.08,
|
| 491 |
+
"gripper_dist": 0.16670282334983602,
|
| 492 |
+
"gripper_away_threshold": 0.04,
|
| 493 |
+
"gripper_away_ok": true,
|
| 494 |
+
"object_z": 0.7671042735365029,
|
| 495 |
+
"min_z": 0.5158860691194898,
|
| 496 |
+
"min_z_margin": 0.2,
|
| 497 |
+
"require_object_upright": true,
|
| 498 |
+
"object_upright_reference_source": "scene_initial",
|
| 499 |
+
"release_fingertip_source": "active_contact_pad_positions",
|
| 500 |
+
"release_finger_gap": 0.07564141207551799,
|
| 501 |
+
"release_finger_gap_metric": "3d_contact_pad_distance",
|
| 502 |
+
"release_fingertip_min_gap": 0.08632445610866134,
|
| 503 |
+
"release_gap_margin": 0.02,
|
| 504 |
+
"release_gap_missing_size": false,
|
| 505 |
+
"release_min_pad_clearance": 0.13448121218403322,
|
| 506 |
+
"release_required_pad_clearance": 0.05316222805433067,
|
| 507 |
+
"release_pad_clearance_ok": true,
|
| 508 |
+
"release_gap_ok": false,
|
| 509 |
+
"force_virtual_attach": false,
|
| 510 |
+
"virtual_attach_allowed": false,
|
| 511 |
+
"max_z": 0.8774145980897915,
|
| 512 |
+
"max_z_margin": 0.1,
|
| 513 |
+
"object_tilt_deg": 1.3434555070304448,
|
| 514 |
+
"object_max_tilt_deg": 12.0,
|
| 515 |
+
"object_axis_flip_tolerance_deg": 3.0,
|
| 516 |
+
"object_upright_axis_local": null,
|
| 517 |
+
"required_placed_release_frames": 2,
|
| 518 |
+
"placed_release_frames": 130,
|
| 519 |
+
"max_placed_release_frames": 130
|
| 520 |
+
},
|
| 521 |
+
"failed_keys": [],
|
| 522 |
+
"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 |
+
"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": 9,
|
| 660 |
+
"reproducibility": {
|
| 661 |
+
"enabled": true,
|
| 662 |
+
"action_seed": 8965520104066671838,
|
| 663 |
+
"physical_seed": 3697495222794957137,
|
| 664 |
+
"layout_id": "layout_00032",
|
| 665 |
+
"step_seeds": [
|
| 666 |
+
5868908299052723470,
|
| 667 |
+
1147186024122430536,
|
| 668 |
+
7048677080094423649
|
| 669 |
+
],
|
| 670 |
+
"workflow_spec_digest": "41fe1ccdd76518f49a9649d8ad52abbf640a2a9139023383414c5dce78b542b9",
|
| 671 |
+
"strict_task_state": false,
|
| 672 |
+
"allow_physical_randomization": true,
|
| 673 |
+
"seed_source": "workflow.reproducibility",
|
| 674 |
+
"task_island_state_digest": "95f367d93f48769ae2f153f77e94a8028e38837cc58f2d57bfb0a334d23c7aa4",
|
| 675 |
+
"visual_seed": 6355062296353771680,
|
| 676 |
+
"episode_index": 9,
|
| 677 |
+
"physical_randomization_enabled": true,
|
| 678 |
+
"motion_controller_type": "ik_servo",
|
| 679 |
+
"runtime_step_seeds": [
|
| 680 |
+
5868908299052723470,
|
| 681 |
+
1147186024122430536,
|
| 682 |
+
7048677080094423649
|
| 683 |
+
],
|
| 684 |
+
"runtime_workflow_digest": "95e4a3a6883347e144f1827ff91137e46eda0b934cef6dd52ac0cf2336bdc1d0"
|
| 685 |
+
}
|
| 686 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00032/results/summary.json
ADDED
|
@@ -0,0 +1,9 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scope": "published_success_subset",
|
| 3 |
+
"case": "fast_2beaker_dual_target_s03_psl_knn_00032",
|
| 4 |
+
"family": "fastfix_v3",
|
| 5 |
+
"published_episodes": 100,
|
| 6 |
+
"published_successes": 100,
|
| 7 |
+
"published_failures": 0,
|
| 8 |
+
"matched_success_results": 100
|
| 9 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0000.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ded849cad7838985eb47c3c2cef34fdef9a0e2730d4ff07169a1c1bf4339bc58
|
| 3 |
+
size 4917604
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0001.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:989f577ffef69291904292e92192a766392ec34e1e99a4d8aa7922272c8d55b6
|
| 3 |
+
size 5523778
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0002.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d89ca045eea92005a41f11b801e57f85da3c09476e84be832509221518edea81
|
| 3 |
+
size 5898744
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0003.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:24905936a4dff93a0f5e789b4f498304b5ff5eadf8e0da51189ede83f0713933
|
| 3 |
+
size 4941841
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0004.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b098433429503667a37bad637f5e5b70f517ce050b60c33c83ff0998aa384dd5
|
| 3 |
+
size 5883043
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0005.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ecb7dc603a4fc9519ab43532180bba3e35fe63ec686ceb7c8962bd3ed7a83fc9
|
| 3 |
+
size 4938751
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0007.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c51c1bb1c6ea394eee3eda92a3058e07ac2d594829fef1b01bf7ed2994483d5c
|
| 3 |
+
size 5028853
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0008.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:7340c540fa8b091a2717746666c5eefd350d799ecb3c96c59bc2e0474b8bb149
|
| 3 |
+
size 4624721
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0009.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:caa9e5f23019feb1ee0c154e490f357a2877e423bdecce3c4ccaece0e004b419
|
| 3 |
+
size 4855270
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0010.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:15eb38c94ac99a4d9ed907c8e052dfbc89c88887d5476d3aba47974d91a32d46
|
| 3 |
+
size 4977457
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0011.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:8734bd689fa6cd37d815307cb84f51909781de1b4dd1c2ec32d83655024de2d3
|
| 3 |
+
size 4789936
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0012.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:5b22b849f212521f7f024688884e9699b9c2a7cc545d8ac1ac5027b41499453a
|
| 3 |
+
size 4582057
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0014.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:30b9239dee90969695bdc950469566c70865f12409526eb1d99736a5662a2d2e
|
| 3 |
+
size 5469346
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0015.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:74d87b7a04b5421ba6b327f89451bb4b178f22e390b14ba8f70dc36059394384
|
| 3 |
+
size 5312633
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0016.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:4bea067746990cca11657cf7482b72430980c04b7fb40c00863a12c860e95f6a
|
| 3 |
+
size 5177628
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0017.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:4291bb4eeee3d8e3a0e54837ded709312f0848e6199ff951729c1a26528cb799
|
| 3 |
+
size 4840516
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0018.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:494b3974f983c7ad097dcc83dbf5d61b8565a8e01af9d73a2f98cb64736a18de
|
| 3 |
+
size 5506818
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0019.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c618813820729fbc95422df168e336d847ecb13763f55b540f7f8e9bf21d0274
|
| 3 |
+
size 5232418
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0020.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:78b17d162e9e2a2b2adfd640c2fae2127a47888f8ebcc0aed825a7900ab0f8b6
|
| 3 |
+
size 4355829
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0021.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:fa9a2e7acac5f2ca4218be42dd0dabbd46a835398fdf96ea075a7780bd13db62
|
| 3 |
+
size 4864479
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0023.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:16fb375544d488ffffe0db7fdc4b0b98a97ce85b051810e651cdbbc72c61572a
|
| 3 |
+
size 4918894
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0024.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:4fa7b59bf9579dc5158c47b93d563fb38164a26663f570644936004890117b48
|
| 3 |
+
size 3853337
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0025.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:7fd076ad0e239bd3c851f3e9d5d8ac2d9cfd54e10e595b167c0e95e266d4f58d
|
| 3 |
+
size 4579675
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0026.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:4df9c047eaf1e587d4c42cc637eb7ef427a5db243025f73cce82abba74c510a4
|
| 3 |
+
size 4351833
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0027.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:a2e8a5e77db3fd7f106e50f8b420fff4a9d177c4dd3c03a986d4a7378f6549ec
|
| 3 |
+
size 5658702
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0028.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e92f26274f58115bd3e18227f41542b868f5a11090fbb96fcf82afc445f28192
|
| 3 |
+
size 5078583
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0029.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1c06a5db64e774a0af71e044186099b207896fb8d77bee7d4773990c162b4d5c
|
| 3 |
+
size 4653412
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0032.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d70e6868988889705b4a46e628dc455171f8015964ec7765bb657fd71e92eefc
|
| 3 |
+
size 6407113
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0033.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:78d5730726fc4eaea0d1218c6e8f6f05ca9b15b00976b1829ee6848a3575465c
|
| 3 |
+
size 6106364
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0035.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:4a15d446078ee43ae8c750bdcaff24d335b937c8464f9372e54075eb502cd82b
|
| 3 |
+
size 5998173
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0036.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:0b6a5bd3d8c270062a0f69003a282d15095bbd3ba23b83c461dacdfb3ed23eff
|
| 3 |
+
size 4891739
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0037.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:807154fb56a00f41c5a43535990cf8f4c37de66bc15927bdb4dd735545c923a8
|
| 3 |
+
size 5163450
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0038.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:322b9b19118751db70ce1709b4b6d42d8aa84827bf339c48beb9e8ce258decb5
|
| 3 |
+
size 5149821
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0039.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:45586858c23d69ce77c63fc114fb50c14f3c2e7c92fd4d5fa2cf9a32dd33f817
|
| 3 |
+
size 4629007
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0042.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:f401ad677b908ed1a03cb2b393a1c82a7fb08f5bebff6dda598313e2c1faba66
|
| 3 |
+
size 4862230
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00034/dataset/episode_0043.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:1e2025176c89ba6d3f4e6c9425b4d7af7de14de39a05401a22080f666c486caf
|
| 3 |
+
size 4606313
|