Upload folder using huggingface_hub (part 69)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00027/results/episode_89_success.json +700 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00027/results/episode_8_success.json +700 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00027/results/episode_90_success.json +700 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00027/results/episode_91_success.json +700 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00027/results/episode_92_success.json +700 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00027/results/episode_93_success.json +700 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00027/results/episode_94_success.json +700 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00027/results/episode_95_success.json +700 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00027/results/episode_96_success.json +700 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00027/results/episode_97_success.json +700 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00027/results/episode_98_success.json +700 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00027/results/episode_99_success.json +700 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00027/results/episode_9_success.json +700 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00027/results/summary.json +9 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00028/dataset/episode_0000.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00028/dataset/episode_0001.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00028/dataset/episode_0002.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00028/dataset/episode_0003.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00028/dataset/episode_0004.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00028/dataset/episode_0005.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00028/dataset/episode_0006.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00028/dataset/episode_0007.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00028/dataset/episode_0008.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00028/dataset/episode_0009.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00028/dataset/episode_0010.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00028/dataset/episode_0011.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00028/dataset/episode_0012.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00028/dataset/episode_0013.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00028/dataset/episode_0014.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00028/dataset/episode_0015.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00028/dataset/episode_0016.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00028/dataset/episode_0017.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00028/dataset/episode_0018.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00028/dataset/episode_0019.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00028/dataset/episode_0020.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00028/dataset/episode_0021.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00028/dataset/episode_0022.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00028/dataset/episode_0023.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00028/dataset/episode_0024.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00028/dataset/episode_0025.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00028/dataset/episode_0026.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00028/dataset/episode_0027.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00028/dataset/episode_0028.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00028/dataset/episode_0029.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00028/dataset/episode_0030.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00028/dataset/episode_0031.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00028/dataset/episode_0032.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00028/dataset/episode_0033.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00028/dataset/episode_0034.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00028/dataset/episode_0035.h5 +3 -0
ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00027/results/episode_89_success.json
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|
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|
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|
| 674 |
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|
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}
|
| 700 |
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}
|
ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00027/results/episode_8_success.json
ADDED
|
@@ -0,0 +1,700 @@
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|
|
|
|
|
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|
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|
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|
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|
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|
|
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|
|
| 1 |
+
{
|
| 2 |
+
"episode": 8,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_b",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_b",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_b",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.2789194091602981,
|
| 26 |
+
-0.1025610609538919,
|
| 27 |
+
1.1600320061623968
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.1600320061623968,
|
| 30 |
+
"required_z": 0.8565865367196929,
|
| 31 |
+
"initial_z": 0.7565865367196929,
|
| 32 |
+
"lift_margin": 0.3034454694427039,
|
| 33 |
+
"gripper_z": 1.1524393685461836,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.27478794032851883,
|
| 38 |
+
-0.10675489324078834,
|
| 39 |
+
1.1524393685461836
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004131468831779284,
|
| 43 |
+
0.004193832286896432,
|
| 44 |
+
0.007592637616213205
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.005887042038118857,
|
| 47 |
+
"object_to_gripper_z": 0.007592637616213205,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.2789194091602981,
|
| 51 |
+
-0.12616044342661514,
|
| 52 |
+
1.1600320061623968
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.26923516188376906,
|
| 56 |
+
-0.1025610609538919,
|
| 57 |
+
1.1600320061623968
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.2740772855220336,
|
| 61 |
+
-0.11436075219025352,
|
| 62 |
+
1.1600320061623968
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.004842123638264528,
|
| 66 |
+
0.011799691236361612,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.02550912578680103,
|
| 70 |
+
"fingertip_max_gap": 0.0931298784954957,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.012754562893400509,
|
| 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": 1.1600320061623968,
|
| 78 |
+
"object_top_z": 1.2056690553824014,
|
| 79 |
+
"finger_top_clearance": 0.045637049220004666,
|
| 80 |
+
"fingertip_min_top_clearance": 0.0136911147660014,
|
| 81 |
+
"object_projection_between_fingers": 0.8558745787635675,
|
| 82 |
+
"object_to_finger_line_xy": 0.008959235112537265,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.04906493924774785,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 2.212266804084261,
|
| 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": 333,
|
| 96 |
+
"max_stable_success_frames": 333,
|
| 97 |
+
"required_stable_lift_frames": 5
|
| 98 |
+
},
|
| 99 |
+
"failed_keys": [],
|
| 100 |
+
"failure_code": null,
|
| 101 |
+
"failure_messages": {},
|
| 102 |
+
"safety": {
|
| 103 |
+
"policy": {
|
| 104 |
+
"skill": "pick",
|
| 105 |
+
"target_object": "beaker_b",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_b"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/target_beaker"
|
| 112 |
+
],
|
| 113 |
+
"allowed_prim_substrings": [],
|
| 114 |
+
"robot_prim_substrings": [
|
| 115 |
+
"Robotiq2F85",
|
| 116 |
+
"Robotiq_2F_85",
|
| 117 |
+
"contact_sensor",
|
| 118 |
+
"dummy_base_prismatic_x_joint",
|
| 119 |
+
"dummy_base_prismatic_y_joint",
|
| 120 |
+
"dummy_base_revolute_z_joint",
|
| 121 |
+
"elbow_joint",
|
| 122 |
+
"festo",
|
| 123 |
+
"finger",
|
| 124 |
+
"fr3",
|
| 125 |
+
"fr3_duo_mobile",
|
| 126 |
+
"fr3_joint1",
|
| 127 |
+
"fr3_joint2",
|
| 128 |
+
"fr3_joint3",
|
| 129 |
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"fr3_joint4",
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| 130 |
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| 131 |
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| 132 |
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| 133 |
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| 134 |
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"fr3_rightfinger",
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| 135 |
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| 136 |
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| 137 |
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| 138 |
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"gripper_center",
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| 139 |
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"joint1",
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| 140 |
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| 141 |
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| 142 |
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| 143 |
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| 144 |
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| 145 |
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| 146 |
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| 147 |
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| 148 |
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"mobile_rotate",
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| 149 |
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"mobile_translate_x",
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| 150 |
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| 151 |
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| 152 |
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| 153 |
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| 154 |
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| 155 |
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| 156 |
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| 157 |
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| 158 |
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| 159 |
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| 160 |
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| 161 |
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| 162 |
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| 163 |
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| 164 |
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| 165 |
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| 166 |
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| 167 |
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| 168 |
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| 169 |
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| 170 |
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| 171 |
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| 172 |
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| 178 |
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| 179 |
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| 181 |
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| 182 |
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| 521 |
+
0.15938097238540652,
|
| 522 |
+
-0.43309104776562063,
|
| 523 |
+
0.7891564273624212
|
| 524 |
+
],
|
| 525 |
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"closest_contact_pad_button": [
|
| 526 |
+
0.15938097238540652,
|
| 527 |
+
-0.43120890855789185,
|
| 528 |
+
0.7683082818984985
|
| 529 |
+
],
|
| 530 |
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"closest_contact_pad_index": 0,
|
| 531 |
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"closest_contact_pad_minus_button": [
|
| 532 |
+
0.0,
|
| 533 |
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-0.0018821392077287835,
|
| 534 |
+
0.020848145463922663
|
| 535 |
+
]
|
| 536 |
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},
|
| 537 |
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"failed_keys": [],
|
| 538 |
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"failure_code": null,
|
| 539 |
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"failure_messages": {},
|
| 540 |
+
"safety": {
|
| 541 |
+
"policy": {
|
| 542 |
+
"skill": "press",
|
| 543 |
+
"target_object": "heat_button",
|
| 544 |
+
"held_object": null,
|
| 545 |
+
"allowed_objects": [
|
| 546 |
+
"heat_button"
|
| 547 |
+
],
|
| 548 |
+
"allowed_object_paths": [
|
| 549 |
+
"/World/heat_device/button"
|
| 550 |
+
],
|
| 551 |
+
"allowed_prim_substrings": [],
|
| 552 |
+
"robot_prim_substrings": [
|
| 553 |
+
"Robotiq2F85",
|
| 554 |
+
"Robotiq_2F_85",
|
| 555 |
+
"contact_sensor",
|
| 556 |
+
"dummy_base_prismatic_x_joint",
|
| 557 |
+
"dummy_base_prismatic_y_joint",
|
| 558 |
+
"dummy_base_revolute_z_joint",
|
| 559 |
+
"elbow_joint",
|
| 560 |
+
"festo",
|
| 561 |
+
"finger",
|
| 562 |
+
"fr3",
|
| 563 |
+
"fr3_duo_mobile",
|
| 564 |
+
"fr3_joint1",
|
| 565 |
+
"fr3_joint2",
|
| 566 |
+
"fr3_joint3",
|
| 567 |
+
"fr3_joint4",
|
| 568 |
+
"fr3_joint5",
|
| 569 |
+
"fr3_joint6",
|
| 570 |
+
"fr3_joint7",
|
| 571 |
+
"fr3_leftfinger",
|
| 572 |
+
"fr3_rightfinger",
|
| 573 |
+
"franka",
|
| 574 |
+
"geometry",
|
| 575 |
+
"gripper",
|
| 576 |
+
"gripper_center",
|
| 577 |
+
"joint1",
|
| 578 |
+
"joint2",
|
| 579 |
+
"joint3",
|
| 580 |
+
"joint4",
|
| 581 |
+
"joint5",
|
| 582 |
+
"joint6",
|
| 583 |
+
"joint7",
|
| 584 |
+
"left_inner_finger",
|
| 585 |
+
"lift2",
|
| 586 |
+
"mobile_rotate",
|
| 587 |
+
"mobile_translate_x",
|
| 588 |
+
"mobile_translate_y",
|
| 589 |
+
"panda_joint1",
|
| 590 |
+
"panda_joint2",
|
| 591 |
+
"panda_joint3",
|
| 592 |
+
"panda_joint4",
|
| 593 |
+
"panda_joint5",
|
| 594 |
+
"panda_joint6",
|
| 595 |
+
"panda_joint7",
|
| 596 |
+
"panda_leftfinger",
|
| 597 |
+
"panda_leftfingertip",
|
| 598 |
+
"panda_rightfinger",
|
| 599 |
+
"panda_rightfingertip",
|
| 600 |
+
"ridgebase",
|
| 601 |
+
"ridgebase_festo",
|
| 602 |
+
"ridgebase_fr3",
|
| 603 |
+
"ridgebase_rizon4",
|
| 604 |
+
"ridgebase_ur16e",
|
| 605 |
+
"ridgebase_ur5e",
|
| 606 |
+
"right_inner_finger",
|
| 607 |
+
"rizon4",
|
| 608 |
+
"robot",
|
| 609 |
+
"robotiq_2f85",
|
| 610 |
+
"shoulder_lift_joint",
|
| 611 |
+
"shoulder_pan_joint",
|
| 612 |
+
"split_aloha",
|
| 613 |
+
"tool_center",
|
| 614 |
+
"ur16e",
|
| 615 |
+
"ur5e",
|
| 616 |
+
"visuals",
|
| 617 |
+
"wrist",
|
| 618 |
+
"wrist_1_joint",
|
| 619 |
+
"wrist_2_joint",
|
| 620 |
+
"wrist_3_joint"
|
| 621 |
+
],
|
| 622 |
+
"ignored_prim_substrings": [
|
| 623 |
+
"base_link",
|
| 624 |
+
"caster",
|
| 625 |
+
"defaultgroundplane",
|
| 626 |
+
"desk",
|
| 627 |
+
"floor",
|
| 628 |
+
"ground",
|
| 629 |
+
"groundplane",
|
| 630 |
+
"link0",
|
| 631 |
+
"table",
|
| 632 |
+
"wheel",
|
| 633 |
+
"workbench"
|
| 634 |
+
],
|
| 635 |
+
"enabled": true
|
| 636 |
+
},
|
| 637 |
+
"status": "active",
|
| 638 |
+
"passed": true,
|
| 639 |
+
"source_missing": false,
|
| 640 |
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"forbidden": [],
|
| 641 |
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"disturbances": [],
|
| 642 |
+
"last_frame": {
|
| 643 |
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"passed": true,
|
| 644 |
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"source_missing": false,
|
| 645 |
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"forbidden": [],
|
| 646 |
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"allowed": [],
|
| 647 |
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"ignored": [],
|
| 648 |
+
"failed_keys": []
|
| 649 |
+
},
|
| 650 |
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"failed_keys": []
|
| 651 |
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}
|
| 652 |
+
},
|
| 653 |
+
"gripper": null,
|
| 654 |
+
"post_done_wait_frames": 0,
|
| 655 |
+
"post_done_wait_exhausted": false
|
| 656 |
+
},
|
| 657 |
+
"physical_semantics": {
|
| 658 |
+
"skill": "press",
|
| 659 |
+
"target": "heat_button",
|
| 660 |
+
"attach_used": false,
|
| 661 |
+
"attach_object": null,
|
| 662 |
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"attach_object_path": null,
|
| 663 |
+
"attach_allowed": false,
|
| 664 |
+
"ordinary_object_physical_only": true
|
| 665 |
+
}
|
| 666 |
+
}
|
| 667 |
+
],
|
| 668 |
+
"physical_semantics": {
|
| 669 |
+
"attach_records": [],
|
| 670 |
+
"ordinary_attach_violations": [],
|
| 671 |
+
"forbidden_shortcuts_absent": true
|
| 672 |
+
},
|
| 673 |
+
"h5_episode_index": 8,
|
| 674 |
+
"reproducibility": {
|
| 675 |
+
"enabled": true,
|
| 676 |
+
"action_seed": 4586557938971780878,
|
| 677 |
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"physical_seed": 7721071036537636492,
|
| 678 |
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"layout_id": "layout_00027",
|
| 679 |
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"step_seeds": [
|
| 680 |
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3977492345803872476,
|
| 681 |
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6024422583905249305,
|
| 682 |
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3187439485679853542
|
| 683 |
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],
|
| 684 |
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"workflow_spec_digest": "c39454781639a8214242032a37cead07e6f4ac821ba47f6013af38e170b9fdc4",
|
| 685 |
+
"strict_task_state": false,
|
| 686 |
+
"allow_physical_randomization": true,
|
| 687 |
+
"seed_source": "workflow.reproducibility",
|
| 688 |
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"task_island_state_digest": "92ad1d7dda169c2c137e48b8bf773d640862f606e7c44e6311bae529618a1da6",
|
| 689 |
+
"visual_seed": 6240901799579060850,
|
| 690 |
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"episode_index": 8,
|
| 691 |
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"physical_randomization_enabled": true,
|
| 692 |
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"motion_controller_type": "ik_servo",
|
| 693 |
+
"runtime_step_seeds": [
|
| 694 |
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|
| 695 |
+
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|
| 696 |
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|
| 697 |
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],
|
| 698 |
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"runtime_workflow_digest": "af86c4c55b37cec3a9a0c1672273c1255127996be820416c10f8412150477eef"
|
| 699 |
+
}
|
| 700 |
+
}
|
ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00027/results/episode_90_success.json
ADDED
|
@@ -0,0 +1,700 @@
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| 1 |
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| 2 |
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| 3 |
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| 4 |
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| 5 |
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| 9 |
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| 10 |
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| 11 |
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| 12 |
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| 13 |
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| 14 |
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| 15 |
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| 16 |
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| 17 |
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| 18 |
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| 19 |
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| 20 |
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| 21 |
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| 22 |
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| 23 |
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| 24 |
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| 25 |
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| 30 |
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| 31 |
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| 32 |
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| 33 |
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| 34 |
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| 35 |
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| 36 |
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| 37 |
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| 49 |
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| 51 |
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| 111 |
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| 112 |
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| 114 |
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| 115 |
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| 116 |
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| 129 |
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| 130 |
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| 131 |
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| 132 |
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| 133 |
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| 135 |
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| 136 |
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| 147 |
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| 148 |
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| 149 |
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| 150 |
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| 160 |
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| 161 |
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| 169 |
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| 170 |
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| 174 |
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| 175 |
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| 176 |
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| 177 |
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| 182 |
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| 183 |
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| 211 |
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|
| 291 |
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|
| 292 |
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|
| 293 |
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|
| 294 |
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"placed_release_frames": 150,
|
| 295 |
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"max_placed_release_frames": 150
|
| 296 |
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},
|
| 297 |
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|
| 298 |
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"failure_code": null,
|
| 299 |
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"failure_messages": {},
|
| 300 |
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"safety": {
|
| 301 |
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"policy": {
|
| 302 |
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"skill": "place",
|
| 303 |
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"target_object": "heater_platform",
|
| 304 |
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"held_object": "beaker_b",
|
| 305 |
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"allowed_objects": [
|
| 306 |
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"beaker_b",
|
| 307 |
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"heater_platform"
|
| 308 |
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],
|
| 309 |
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"allowed_object_paths": [
|
| 310 |
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"/World/heat_device/heat_device/heat_device/plat",
|
| 311 |
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"/World/target_beaker"
|
| 312 |
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],
|
| 313 |
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|
| 314 |
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|
| 315 |
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"Robotiq2F85",
|
| 316 |
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"Robotiq_2F_85",
|
| 317 |
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"contact_sensor",
|
| 318 |
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"dummy_base_prismatic_x_joint",
|
| 319 |
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"dummy_base_prismatic_y_joint",
|
| 320 |
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"dummy_base_revolute_z_joint",
|
| 321 |
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"elbow_joint",
|
| 322 |
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"festo",
|
| 323 |
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"finger",
|
| 324 |
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"fr3",
|
| 325 |
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"fr3_duo_mobile",
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| 326 |
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"fr3_joint1",
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| 327 |
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"fr3_joint2",
|
| 328 |
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"fr3_joint3",
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| 329 |
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"fr3_joint4",
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| 330 |
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| 331 |
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| 332 |
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| 333 |
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"fr3_leftfinger",
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| 334 |
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"fr3_rightfinger",
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| 335 |
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"franka",
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| 336 |
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"geometry",
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| 337 |
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| 338 |
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"gripper_center",
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| 339 |
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| 340 |
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"joint2",
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| 341 |
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"joint3",
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| 342 |
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| 343 |
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"joint5",
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| 344 |
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"joint6",
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| 345 |
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"joint7",
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| 346 |
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"left_inner_finger",
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| 347 |
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"lift2",
|
| 348 |
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"mobile_rotate",
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| 349 |
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"mobile_translate_x",
|
| 350 |
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"mobile_translate_y",
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| 351 |
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"panda_joint1",
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| 352 |
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"panda_joint2",
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| 353 |
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"panda_joint3",
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| 354 |
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"panda_joint4",
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| 355 |
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"panda_joint5",
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| 356 |
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| 357 |
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"panda_joint7",
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| 358 |
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"panda_leftfinger",
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| 359 |
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| 360 |
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"panda_rightfinger",
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| 361 |
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"panda_rightfingertip",
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| 362 |
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"ridgebase",
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| 363 |
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"ridgebase_festo",
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| 364 |
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"ridgebase_fr3",
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| 365 |
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"ridgebase_rizon4",
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| 366 |
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"ridgebase_ur16e",
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| 367 |
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| 368 |
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| 369 |
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"rizon4",
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| 370 |
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| 371 |
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| 372 |
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| 373 |
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| 374 |
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| 375 |
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| 376 |
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"ur16e",
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| 377 |
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"ur5e",
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| 378 |
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| 379 |
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| 380 |
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| 381 |
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| 382 |
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|
| 383 |
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| 388 |
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| 389 |
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| 390 |
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| 391 |
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| 392 |
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"link0",
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| 393 |
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| 394 |
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| 395 |
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| 396 |
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],
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},
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}
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}
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],
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},
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| 688 |
+
"task_island_state_digest": "eb9cdd2a5c7f691d5d468a99e3f8a164d89449a373823af93436e5e5ffef9a11",
|
| 689 |
+
"visual_seed": 7233935800419294070,
|
| 690 |
+
"episode_index": 90,
|
| 691 |
+
"physical_randomization_enabled": true,
|
| 692 |
+
"motion_controller_type": "ik_servo",
|
| 693 |
+
"runtime_step_seeds": [
|
| 694 |
+
3977492345803872476,
|
| 695 |
+
6024422583905249305,
|
| 696 |
+
3187439485679853542
|
| 697 |
+
],
|
| 698 |
+
"runtime_workflow_digest": "af86c4c55b37cec3a9a0c1672273c1255127996be820416c10f8412150477eef"
|
| 699 |
+
}
|
| 700 |
+
}
|
ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00027/results/episode_91_success.json
ADDED
|
@@ -0,0 +1,700 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"episode": 91,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_b",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_b",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_b",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.2774740128336344,
|
| 26 |
+
-0.09426011891702712,
|
| 27 |
+
1.1588561681781926
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.1588561681781926,
|
| 30 |
+
"required_z": 0.8565866470428588,
|
| 31 |
+
"initial_z": 0.7565866470428588,
|
| 32 |
+
"lift_margin": 0.3022695211353338,
|
| 33 |
+
"gripper_z": 1.151230479195866,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.2730390432476415,
|
| 38 |
+
-0.09869025521856753,
|
| 39 |
+
1.151230479195866
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004434969585992876,
|
| 43 |
+
0.004430136301540405,
|
| 44 |
+
0.007625688982326517
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.00626857742066794,
|
| 47 |
+
"object_to_gripper_z": 0.007625688982326517,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.2774740128336344,
|
| 51 |
+
-0.11806520160654757,
|
| 52 |
+
1.1588561681781926
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.26741654457015396,
|
| 56 |
+
-0.09426011891702712,
|
| 57 |
+
1.1588561681781926
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.27244527870189417,
|
| 61 |
+
-0.10616266026178735,
|
| 62 |
+
1.1588561681781926
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005028734131740209,
|
| 66 |
+
0.011902541344760223,
|
| 67 |
+
0.0
|
| 68 |
+
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|
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|
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|
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}
|
| 700 |
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}
|
ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00027/results/episode_92_success.json
ADDED
|
@@ -0,0 +1,700 @@
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|
| 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_b",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_b",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_b",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.2740279699086855,
|
| 26 |
+
-0.10054066746201372,
|
| 27 |
+
1.1600294077537403
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.1600294077537403,
|
| 30 |
+
"required_z": 0.8565865164289054,
|
| 31 |
+
"initial_z": 0.7565865164289054,
|
| 32 |
+
"lift_margin": 0.30344289132483493,
|
| 33 |
+
"gripper_z": 1.1528340445421719,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.2697007219235825,
|
| 38 |
+
-0.10507416281045698,
|
| 39 |
+
1.1528340445421719
|
| 40 |
+
],
|
| 41 |
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"object_minus_gripper": [
|
| 42 |
+
0.004327247985102978,
|
| 43 |
+
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|
| 44 |
+
0.00719536321156844
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.00626718877958327,
|
| 47 |
+
"object_to_gripper_z": 0.00719536321156844,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.2740279699086855,
|
| 51 |
+
-0.1239748914151994,
|
| 52 |
+
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|
| 53 |
+
],
|
| 54 |
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"finger_b": [
|
| 55 |
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0.2635495697240158,
|
| 56 |
+
-0.10054066746201372,
|
| 57 |
+
1.1600294077537403
|
| 58 |
+
],
|
| 59 |
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"finger_midpoint": [
|
| 60 |
+
0.26878876981635064,
|
| 61 |
+
-0.11225777943860657,
|
| 62 |
+
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|
| 63 |
+
],
|
| 64 |
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"object_minus_finger_midpoint": [
|
| 65 |
+
0.005239200092334861,
|
| 66 |
+
0.01171711197659285,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.025670210803928905,
|
| 70 |
+
"fingertip_max_gap": 0.09291378065160624,
|
| 71 |
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"finger_z_skew": 0.0,
|
| 72 |
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"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.01283510540196446,
|
| 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": 1.1600294077537403,
|
| 78 |
+
"object_top_z": 1.205752780059257,
|
| 79 |
+
"finger_top_clearance": 0.045723372305516596,
|
| 80 |
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"fingertip_min_top_clearance": 0.01371701169165498,
|
| 81 |
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"object_projection_between_fingers": 0.8333784802852828,
|
| 82 |
+
"object_to_finger_line_xy": 0.009565686019262077,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.048956890325803123,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 1.7009022369155469,
|
| 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": 335,
|
| 96 |
+
"max_stable_success_frames": 335,
|
| 97 |
+
"required_stable_lift_frames": 5
|
| 98 |
+
},
|
| 99 |
+
"failed_keys": [],
|
| 100 |
+
"failure_code": null,
|
| 101 |
+
"failure_messages": {},
|
| 102 |
+
"safety": {
|
| 103 |
+
"policy": {
|
| 104 |
+
"skill": "pick",
|
| 105 |
+
"target_object": "beaker_b",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_b"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/target_beaker"
|
| 112 |
+
],
|
| 113 |
+
"allowed_prim_substrings": [],
|
| 114 |
+
"robot_prim_substrings": [
|
| 115 |
+
"Robotiq2F85",
|
| 116 |
+
"Robotiq_2F_85",
|
| 117 |
+
"contact_sensor",
|
| 118 |
+
"dummy_base_prismatic_x_joint",
|
| 119 |
+
"dummy_base_prismatic_y_joint",
|
| 120 |
+
"dummy_base_revolute_z_joint",
|
| 121 |
+
"elbow_joint",
|
| 122 |
+
"festo",
|
| 123 |
+
"finger",
|
| 124 |
+
"fr3",
|
| 125 |
+
"fr3_duo_mobile",
|
| 126 |
+
"fr3_joint1",
|
| 127 |
+
"fr3_joint2",
|
| 128 |
+
"fr3_joint3",
|
| 129 |
+
"fr3_joint4",
|
| 130 |
+
"fr3_joint5",
|
| 131 |
+
"fr3_joint6",
|
| 132 |
+
"fr3_joint7",
|
| 133 |
+
"fr3_leftfinger",
|
| 134 |
+
"fr3_rightfinger",
|
| 135 |
+
"franka",
|
| 136 |
+
"geometry",
|
| 137 |
+
"gripper",
|
| 138 |
+
"gripper_center",
|
| 139 |
+
"joint1",
|
| 140 |
+
"joint2",
|
| 141 |
+
"joint3",
|
| 142 |
+
"joint4",
|
| 143 |
+
"joint5",
|
| 144 |
+
"joint6",
|
| 145 |
+
"joint7",
|
| 146 |
+
"left_inner_finger",
|
| 147 |
+
"lift2",
|
| 148 |
+
"mobile_rotate",
|
| 149 |
+
"mobile_translate_x",
|
| 150 |
+
"mobile_translate_y",
|
| 151 |
+
"panda_joint1",
|
| 152 |
+
"panda_joint2",
|
| 153 |
+
"panda_joint3",
|
| 154 |
+
"panda_joint4",
|
| 155 |
+
"panda_joint5",
|
| 156 |
+
"panda_joint6",
|
| 157 |
+
"panda_joint7",
|
| 158 |
+
"panda_leftfinger",
|
| 159 |
+
"panda_leftfingertip",
|
| 160 |
+
"panda_rightfinger",
|
| 161 |
+
"panda_rightfingertip",
|
| 162 |
+
"ridgebase",
|
| 163 |
+
"ridgebase_festo",
|
| 164 |
+
"ridgebase_fr3",
|
| 165 |
+
"ridgebase_rizon4",
|
| 166 |
+
"ridgebase_ur16e",
|
| 167 |
+
"ridgebase_ur5e",
|
| 168 |
+
"right_inner_finger",
|
| 169 |
+
"rizon4",
|
| 170 |
+
"robot",
|
| 171 |
+
"robotiq_2f85",
|
| 172 |
+
"shoulder_lift_joint",
|
| 173 |
+
"shoulder_pan_joint",
|
| 174 |
+
"split_aloha",
|
| 175 |
+
"tool_center",
|
| 176 |
+
"ur16e",
|
| 177 |
+
"ur5e",
|
| 178 |
+
"visuals",
|
| 179 |
+
"wrist",
|
| 180 |
+
"wrist_1_joint",
|
| 181 |
+
"wrist_2_joint",
|
| 182 |
+
"wrist_3_joint"
|
| 183 |
+
],
|
| 184 |
+
"ignored_prim_substrings": [
|
| 185 |
+
"base_link",
|
| 186 |
+
"caster",
|
| 187 |
+
"defaultgroundplane",
|
| 188 |
+
"desk",
|
| 189 |
+
"floor",
|
| 190 |
+
"ground",
|
| 191 |
+
"groundplane",
|
| 192 |
+
"link0",
|
| 193 |
+
"table",
|
| 194 |
+
"wheel",
|
| 195 |
+
"workbench"
|
| 196 |
+
],
|
| 197 |
+
"enabled": true
|
| 198 |
+
},
|
| 199 |
+
"status": "active",
|
| 200 |
+
"passed": true,
|
| 201 |
+
"source_missing": false,
|
| 202 |
+
"forbidden": [],
|
| 203 |
+
"disturbances": [],
|
| 204 |
+
"last_frame": {
|
| 205 |
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"passed": true,
|
| 206 |
+
"source_missing": false,
|
| 207 |
+
"forbidden": [],
|
| 208 |
+
"allowed": [
|
| 209 |
+
{
|
| 210 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 211 |
+
"b": "/World/target_beaker/mesh"
|
| 212 |
+
},
|
| 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/target_beaker/mesh"
|
| 216 |
+
}
|
| 217 |
+
],
|
| 218 |
+
"ignored": [],
|
| 219 |
+
"failed_keys": []
|
| 220 |
+
},
|
| 221 |
+
"failed_keys": []
|
| 222 |
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}
|
| 223 |
+
},
|
| 224 |
+
"gripper": null,
|
| 225 |
+
"post_done_wait_frames": 0,
|
| 226 |
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"post_done_wait_exhausted": false
|
| 227 |
+
},
|
| 228 |
+
"physical_semantics": {
|
| 229 |
+
"skill": "pick",
|
| 230 |
+
"target": "beaker_b",
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| 231 |
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| 232 |
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| 233 |
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|
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|
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|
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|
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|
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|
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|
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|
| 619 |
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|
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|
| 621 |
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],
|
| 622 |
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|
| 623 |
+
"base_link",
|
| 624 |
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|
| 625 |
+
"defaultgroundplane",
|
| 626 |
+
"desk",
|
| 627 |
+
"floor",
|
| 628 |
+
"ground",
|
| 629 |
+
"groundplane",
|
| 630 |
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"link0",
|
| 631 |
+
"table",
|
| 632 |
+
"wheel",
|
| 633 |
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"workbench"
|
| 634 |
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],
|
| 635 |
+
"enabled": true
|
| 636 |
+
},
|
| 637 |
+
"status": "active",
|
| 638 |
+
"passed": true,
|
| 639 |
+
"source_missing": false,
|
| 640 |
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"forbidden": [],
|
| 641 |
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"disturbances": [],
|
| 642 |
+
"last_frame": {
|
| 643 |
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"passed": true,
|
| 644 |
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"source_missing": false,
|
| 645 |
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"forbidden": [],
|
| 646 |
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"allowed": [],
|
| 647 |
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"ignored": [],
|
| 648 |
+
"failed_keys": []
|
| 649 |
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},
|
| 650 |
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"failed_keys": []
|
| 651 |
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}
|
| 652 |
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},
|
| 653 |
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"gripper": null,
|
| 654 |
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"post_done_wait_frames": 0,
|
| 655 |
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"post_done_wait_exhausted": false
|
| 656 |
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},
|
| 657 |
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"physical_semantics": {
|
| 658 |
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"skill": "press",
|
| 659 |
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"target": "heat_button",
|
| 660 |
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"attach_used": false,
|
| 661 |
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"attach_object": null,
|
| 662 |
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"attach_object_path": null,
|
| 663 |
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"attach_allowed": false,
|
| 664 |
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"ordinary_object_physical_only": true
|
| 665 |
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}
|
| 666 |
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}
|
| 667 |
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],
|
| 668 |
+
"physical_semantics": {
|
| 669 |
+
"attach_records": [],
|
| 670 |
+
"ordinary_attach_violations": [],
|
| 671 |
+
"forbidden_shortcuts_absent": true
|
| 672 |
+
},
|
| 673 |
+
"h5_episode_index": 92,
|
| 674 |
+
"reproducibility": {
|
| 675 |
+
"enabled": true,
|
| 676 |
+
"action_seed": 4586557938971780878,
|
| 677 |
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"physical_seed": 7721071036537636492,
|
| 678 |
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"layout_id": "layout_00027",
|
| 679 |
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"step_seeds": [
|
| 680 |
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|
| 681 |
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|
| 682 |
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|
| 683 |
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],
|
| 684 |
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|
| 685 |
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|
| 686 |
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|
| 687 |
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|
| 688 |
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|
| 689 |
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"visual_seed": 3242369529746013076,
|
| 690 |
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"episode_index": 92,
|
| 691 |
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|
| 692 |
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"motion_controller_type": "ik_servo",
|
| 693 |
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"runtime_step_seeds": [
|
| 694 |
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|
| 695 |
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|
| 696 |
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|
| 697 |
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|
| 698 |
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|
| 699 |
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}
|
| 700 |
+
}
|
ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00027/results/episode_93_success.json
ADDED
|
@@ -0,0 +1,700 @@
|
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|
| 1 |
+
{
|
| 2 |
+
"episode": 93,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
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|
| 700 |
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}
|
ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00027/results/episode_94_success.json
ADDED
|
@@ -0,0 +1,700 @@
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|
|
|
| 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_b",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_b",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_b",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.27761673836221745,
|
| 26 |
+
-0.1024894469862885,
|
| 27 |
+
1.1616913388709615
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.1616913388709615,
|
| 30 |
+
"required_z": 0.8565865368061037,
|
| 31 |
+
"initial_z": 0.7565865368061038,
|
| 32 |
+
"lift_margin": 0.3051048020648578,
|
| 33 |
+
"gripper_z": 1.1543106430445673,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.27336226671115416,
|
| 38 |
+
-0.10685437932232272,
|
| 39 |
+
1.1543106430445673
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004254471651063296,
|
| 43 |
+
0.00436493233603423,
|
| 44 |
+
0.0073806958263942235
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006095339476014317,
|
| 47 |
+
"object_to_gripper_z": 0.0073806958263942235,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.27761673836221745,
|
| 51 |
+
-0.125968326163155,
|
| 52 |
+
1.1616913388709615
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.2674618691530651,
|
| 56 |
+
-0.1024894469862885,
|
| 57 |
+
1.1616913388709615
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.27253930375764124,
|
| 61 |
+
-0.11422888657472174,
|
| 62 |
+
1.1616913388709615
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005077434604576214,
|
| 66 |
+
0.01173943958843325,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.025580835327582385,
|
| 70 |
+
"fingertip_max_gap": 0.0931374181468225,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.012790417663791197,
|
| 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": 1.1616913388709615,
|
| 78 |
+
"object_top_z": 1.2073698470047391,
|
| 79 |
+
"finger_top_clearance": 0.04567850813377761,
|
| 80 |
+
"fingertip_min_top_clearance": 0.013703552440133248,
|
| 81 |
+
"object_projection_between_fingers": 0.8424134221693366,
|
| 82 |
+
"object_to_finger_line_xy": 0.009320451977636965,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.04906870907341125,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 2.106191548925059,
|
| 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": 336,
|
| 96 |
+
"max_stable_success_frames": 336,
|
| 97 |
+
"required_stable_lift_frames": 5
|
| 98 |
+
},
|
| 99 |
+
"failed_keys": [],
|
| 100 |
+
"failure_code": null,
|
| 101 |
+
"failure_messages": {},
|
| 102 |
+
"safety": {
|
| 103 |
+
"policy": {
|
| 104 |
+
"skill": "pick",
|
| 105 |
+
"target_object": "beaker_b",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_b"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/target_beaker"
|
| 112 |
+
],
|
| 113 |
+
"allowed_prim_substrings": [],
|
| 114 |
+
"robot_prim_substrings": [
|
| 115 |
+
"Robotiq2F85",
|
| 116 |
+
"Robotiq_2F_85",
|
| 117 |
+
"contact_sensor",
|
| 118 |
+
"dummy_base_prismatic_x_joint",
|
| 119 |
+
"dummy_base_prismatic_y_joint",
|
| 120 |
+
"dummy_base_revolute_z_joint",
|
| 121 |
+
"elbow_joint",
|
| 122 |
+
"festo",
|
| 123 |
+
"finger",
|
| 124 |
+
"fr3",
|
| 125 |
+
"fr3_duo_mobile",
|
| 126 |
+
"fr3_joint1",
|
| 127 |
+
"fr3_joint2",
|
| 128 |
+
"fr3_joint3",
|
| 129 |
+
"fr3_joint4",
|
| 130 |
+
"fr3_joint5",
|
| 131 |
+
"fr3_joint6",
|
| 132 |
+
"fr3_joint7",
|
| 133 |
+
"fr3_leftfinger",
|
| 134 |
+
"fr3_rightfinger",
|
| 135 |
+
"franka",
|
| 136 |
+
"geometry",
|
| 137 |
+
"gripper",
|
| 138 |
+
"gripper_center",
|
| 139 |
+
"joint1",
|
| 140 |
+
"joint2",
|
| 141 |
+
"joint3",
|
| 142 |
+
"joint4",
|
| 143 |
+
"joint5",
|
| 144 |
+
"joint6",
|
| 145 |
+
"joint7",
|
| 146 |
+
"left_inner_finger",
|
| 147 |
+
"lift2",
|
| 148 |
+
"mobile_rotate",
|
| 149 |
+
"mobile_translate_x",
|
| 150 |
+
"mobile_translate_y",
|
| 151 |
+
"panda_joint1",
|
| 152 |
+
"panda_joint2",
|
| 153 |
+
"panda_joint3",
|
| 154 |
+
"panda_joint4",
|
| 155 |
+
"panda_joint5",
|
| 156 |
+
"panda_joint6",
|
| 157 |
+
"panda_joint7",
|
| 158 |
+
"panda_leftfinger",
|
| 159 |
+
"panda_leftfingertip",
|
| 160 |
+
"panda_rightfinger",
|
| 161 |
+
"panda_rightfingertip",
|
| 162 |
+
"ridgebase",
|
| 163 |
+
"ridgebase_festo",
|
| 164 |
+
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| 555 |
+
"contact_sensor",
|
| 556 |
+
"dummy_base_prismatic_x_joint",
|
| 557 |
+
"dummy_base_prismatic_y_joint",
|
| 558 |
+
"dummy_base_revolute_z_joint",
|
| 559 |
+
"elbow_joint",
|
| 560 |
+
"festo",
|
| 561 |
+
"finger",
|
| 562 |
+
"fr3",
|
| 563 |
+
"fr3_duo_mobile",
|
| 564 |
+
"fr3_joint1",
|
| 565 |
+
"fr3_joint2",
|
| 566 |
+
"fr3_joint3",
|
| 567 |
+
"fr3_joint4",
|
| 568 |
+
"fr3_joint5",
|
| 569 |
+
"fr3_joint6",
|
| 570 |
+
"fr3_joint7",
|
| 571 |
+
"fr3_leftfinger",
|
| 572 |
+
"fr3_rightfinger",
|
| 573 |
+
"franka",
|
| 574 |
+
"geometry",
|
| 575 |
+
"gripper",
|
| 576 |
+
"gripper_center",
|
| 577 |
+
"joint1",
|
| 578 |
+
"joint2",
|
| 579 |
+
"joint3",
|
| 580 |
+
"joint4",
|
| 581 |
+
"joint5",
|
| 582 |
+
"joint6",
|
| 583 |
+
"joint7",
|
| 584 |
+
"left_inner_finger",
|
| 585 |
+
"lift2",
|
| 586 |
+
"mobile_rotate",
|
| 587 |
+
"mobile_translate_x",
|
| 588 |
+
"mobile_translate_y",
|
| 589 |
+
"panda_joint1",
|
| 590 |
+
"panda_joint2",
|
| 591 |
+
"panda_joint3",
|
| 592 |
+
"panda_joint4",
|
| 593 |
+
"panda_joint5",
|
| 594 |
+
"panda_joint6",
|
| 595 |
+
"panda_joint7",
|
| 596 |
+
"panda_leftfinger",
|
| 597 |
+
"panda_leftfingertip",
|
| 598 |
+
"panda_rightfinger",
|
| 599 |
+
"panda_rightfingertip",
|
| 600 |
+
"ridgebase",
|
| 601 |
+
"ridgebase_festo",
|
| 602 |
+
"ridgebase_fr3",
|
| 603 |
+
"ridgebase_rizon4",
|
| 604 |
+
"ridgebase_ur16e",
|
| 605 |
+
"ridgebase_ur5e",
|
| 606 |
+
"right_inner_finger",
|
| 607 |
+
"rizon4",
|
| 608 |
+
"robot",
|
| 609 |
+
"robotiq_2f85",
|
| 610 |
+
"shoulder_lift_joint",
|
| 611 |
+
"shoulder_pan_joint",
|
| 612 |
+
"split_aloha",
|
| 613 |
+
"tool_center",
|
| 614 |
+
"ur16e",
|
| 615 |
+
"ur5e",
|
| 616 |
+
"visuals",
|
| 617 |
+
"wrist",
|
| 618 |
+
"wrist_1_joint",
|
| 619 |
+
"wrist_2_joint",
|
| 620 |
+
"wrist_3_joint"
|
| 621 |
+
],
|
| 622 |
+
"ignored_prim_substrings": [
|
| 623 |
+
"base_link",
|
| 624 |
+
"caster",
|
| 625 |
+
"defaultgroundplane",
|
| 626 |
+
"desk",
|
| 627 |
+
"floor",
|
| 628 |
+
"ground",
|
| 629 |
+
"groundplane",
|
| 630 |
+
"link0",
|
| 631 |
+
"table",
|
| 632 |
+
"wheel",
|
| 633 |
+
"workbench"
|
| 634 |
+
],
|
| 635 |
+
"enabled": true
|
| 636 |
+
},
|
| 637 |
+
"status": "active",
|
| 638 |
+
"passed": true,
|
| 639 |
+
"source_missing": false,
|
| 640 |
+
"forbidden": [],
|
| 641 |
+
"disturbances": [],
|
| 642 |
+
"last_frame": {
|
| 643 |
+
"passed": true,
|
| 644 |
+
"source_missing": false,
|
| 645 |
+
"forbidden": [],
|
| 646 |
+
"allowed": [],
|
| 647 |
+
"ignored": [],
|
| 648 |
+
"failed_keys": []
|
| 649 |
+
},
|
| 650 |
+
"failed_keys": []
|
| 651 |
+
}
|
| 652 |
+
},
|
| 653 |
+
"gripper": null,
|
| 654 |
+
"post_done_wait_frames": 0,
|
| 655 |
+
"post_done_wait_exhausted": false
|
| 656 |
+
},
|
| 657 |
+
"physical_semantics": {
|
| 658 |
+
"skill": "press",
|
| 659 |
+
"target": "heat_button",
|
| 660 |
+
"attach_used": false,
|
| 661 |
+
"attach_object": null,
|
| 662 |
+
"attach_object_path": null,
|
| 663 |
+
"attach_allowed": false,
|
| 664 |
+
"ordinary_object_physical_only": true
|
| 665 |
+
}
|
| 666 |
+
}
|
| 667 |
+
],
|
| 668 |
+
"physical_semantics": {
|
| 669 |
+
"attach_records": [],
|
| 670 |
+
"ordinary_attach_violations": [],
|
| 671 |
+
"forbidden_shortcuts_absent": true
|
| 672 |
+
},
|
| 673 |
+
"h5_episode_index": 94,
|
| 674 |
+
"reproducibility": {
|
| 675 |
+
"enabled": true,
|
| 676 |
+
"action_seed": 4586557938971780878,
|
| 677 |
+
"physical_seed": 7721071036537636492,
|
| 678 |
+
"layout_id": "layout_00027",
|
| 679 |
+
"step_seeds": [
|
| 680 |
+
3977492345803872476,
|
| 681 |
+
6024422583905249305,
|
| 682 |
+
3187439485679853542
|
| 683 |
+
],
|
| 684 |
+
"workflow_spec_digest": "c39454781639a8214242032a37cead07e6f4ac821ba47f6013af38e170b9fdc4",
|
| 685 |
+
"strict_task_state": false,
|
| 686 |
+
"allow_physical_randomization": true,
|
| 687 |
+
"seed_source": "workflow.reproducibility",
|
| 688 |
+
"task_island_state_digest": "5c4686995f89f2a416cdd59cc18093774bb080f29e9b72926961afa4c3a3fcef",
|
| 689 |
+
"visual_seed": 1207800601531756950,
|
| 690 |
+
"episode_index": 94,
|
| 691 |
+
"physical_randomization_enabled": true,
|
| 692 |
+
"motion_controller_type": "ik_servo",
|
| 693 |
+
"runtime_step_seeds": [
|
| 694 |
+
3977492345803872476,
|
| 695 |
+
6024422583905249305,
|
| 696 |
+
3187439485679853542
|
| 697 |
+
],
|
| 698 |
+
"runtime_workflow_digest": "af86c4c55b37cec3a9a0c1672273c1255127996be820416c10f8412150477eef"
|
| 699 |
+
}
|
| 700 |
+
}
|
ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00027/results/episode_95_success.json
ADDED
|
@@ -0,0 +1,700 @@
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| 1 |
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| 11 |
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| 12 |
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| 14 |
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| 18 |
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| 19 |
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| 20 |
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| 324 |
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|
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|
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|
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|
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|
| 700 |
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}
|
ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00027/results/episode_96_success.json
ADDED
|
@@ -0,0 +1,700 @@
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|
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|
|
|
|
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|
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|
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|
|
|
|
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|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
| 1 |
+
{
|
| 2 |
+
"episode": 96,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_b",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_b",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_b",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.2759519812956585,
|
| 26 |
+
-0.09604182518484974,
|
| 27 |
+
1.1592026331619092
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.1592026331619092,
|
| 30 |
+
"required_z": 0.8565866035474451,
|
| 31 |
+
"initial_z": 0.7565866035474451,
|
| 32 |
+
"lift_margin": 0.3026160296144641,
|
| 33 |
+
"gripper_z": 1.1516757350001354,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.2716148457515366,
|
| 38 |
+
-0.10040061351053313,
|
| 39 |
+
1.1516757350001354
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004337135544121906,
|
| 43 |
+
0.004358788325683385,
|
| 44 |
+
0.007526898161773765
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006148965798912805,
|
| 47 |
+
"object_to_gripper_z": 0.007526898161773765,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.2759519812956585,
|
| 51 |
+
-0.1196548116891141,
|
| 52 |
+
1.1592026331619092
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.26586024154875787,
|
| 56 |
+
-0.09604182518484974,
|
| 57 |
+
1.1592026331619092
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.2709061114222082,
|
| 61 |
+
-0.10784831843698192,
|
| 62 |
+
1.1592026331619092
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005045869873450293,
|
| 66 |
+
0.011806493252132177,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.02567910323141649,
|
| 70 |
+
"fingertip_max_gap": 0.09273168661805531,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.012839551615708234,
|
| 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": 1.1592026331619092,
|
| 78 |
+
"object_top_z": 1.2048421786470964,
|
| 79 |
+
"finger_top_clearance": 0.04563954548518723,
|
| 80 |
+
"fingertip_min_top_clearance": 0.013691863645556168,
|
| 81 |
+
"object_projection_between_fingers": 0.8455555246152947,
|
| 82 |
+
"object_to_finger_line_xy": 0.009279767766834436,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.04886584330902766,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 1.8361974731433313,
|
| 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": 333,
|
| 96 |
+
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| 493 |
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|
| 494 |
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|
| 495 |
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| 498 |
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|
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|
| 500 |
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| 521 |
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|
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|
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|
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|
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|
| 540 |
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|
| 541 |
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|
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|
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|
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|
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|
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|
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|
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|
| 549 |
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|
| 550 |
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|
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|
| 552 |
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"robot_prim_substrings": [
|
| 553 |
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|
| 554 |
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|
| 555 |
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|
| 556 |
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|
| 557 |
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|
| 558 |
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|
| 559 |
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|
| 560 |
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|
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|
| 562 |
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|
| 563 |
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|
| 564 |
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|
| 565 |
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|
| 566 |
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|
| 567 |
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|
| 568 |
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|
| 569 |
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|
| 570 |
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|
| 571 |
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|
| 572 |
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|
| 573 |
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|
| 574 |
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|
| 575 |
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|
| 576 |
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| 577 |
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|
| 578 |
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|
| 579 |
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|
| 580 |
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|
| 581 |
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|
| 582 |
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|
| 583 |
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|
| 584 |
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|
| 585 |
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|
| 586 |
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|
| 587 |
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|
| 588 |
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|
| 589 |
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|
| 590 |
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|
| 591 |
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|
| 592 |
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|
| 593 |
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|
| 594 |
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|
| 595 |
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|
| 596 |
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|
| 597 |
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|
| 598 |
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|
| 599 |
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|
| 600 |
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|
| 601 |
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|
| 602 |
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| 603 |
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|
| 604 |
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|
| 609 |
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|
| 610 |
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|
| 611 |
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|
| 612 |
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|
| 613 |
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|
| 614 |
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|
| 615 |
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|
| 616 |
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|
| 617 |
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|
| 618 |
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|
| 619 |
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|
| 620 |
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|
| 621 |
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|
| 622 |
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|
| 623 |
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"base_link",
|
| 624 |
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|
| 625 |
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|
| 626 |
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| 627 |
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|
| 628 |
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|
| 629 |
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| 630 |
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| 631 |
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| 632 |
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|
| 633 |
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| 634 |
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|
| 635 |
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|
| 636 |
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| 637 |
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"status": "active",
|
| 638 |
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|
| 639 |
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| 640 |
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| 642 |
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| 643 |
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| 645 |
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| 653 |
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|
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|
| 655 |
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|
| 656 |
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|
| 657 |
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"physical_semantics": {
|
| 658 |
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"skill": "press",
|
| 659 |
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"target": "heat_button",
|
| 660 |
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|
| 661 |
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|
| 662 |
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| 663 |
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|
| 664 |
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|
| 665 |
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}
|
| 666 |
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}
|
| 667 |
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],
|
| 668 |
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"physical_semantics": {
|
| 669 |
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|
| 670 |
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|
| 671 |
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|
| 672 |
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},
|
| 673 |
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"h5_episode_index": 96,
|
| 674 |
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|
| 675 |
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"enabled": true,
|
| 676 |
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| 685 |
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| 686 |
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|
| 687 |
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|
| 689 |
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|
| 690 |
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|
| 691 |
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|
| 692 |
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|
| 693 |
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| 695 |
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|
| 699 |
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}
|
| 700 |
+
}
|
ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00027/results/episode_97_success.json
ADDED
|
@@ -0,0 +1,700 @@
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| 1 |
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{
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| 2 |
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| 3 |
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| 4 |
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| 5 |
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| 6 |
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| 8 |
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| 9 |
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| 10 |
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| 11 |
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| 12 |
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| 13 |
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| 14 |
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| 15 |
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| 16 |
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| 17 |
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| 18 |
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| 19 |
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|
| 20 |
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| 21 |
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| 22 |
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| 23 |
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| 24 |
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| 25 |
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| 26 |
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| 27 |
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| 29 |
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| 30 |
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| 31 |
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| 32 |
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| 33 |
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| 34 |
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| 35 |
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| 36 |
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| 37 |
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| 39 |
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| 40 |
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| 43 |
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| 47 |
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| 49 |
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| 50 |
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| 51 |
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| 66 |
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| 67 |
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| 91 |
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| 92 |
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| 93 |
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| 98 |
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| 101 |
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| 102 |
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| 103 |
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| 104 |
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| 105 |
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| 106 |
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| 110 |
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| 111 |
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| 112 |
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| 113 |
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| 114 |
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| 115 |
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| 116 |
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| 117 |
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| 118 |
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| 119 |
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| 120 |
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| 121 |
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| 122 |
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| 123 |
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| 124 |
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| 125 |
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| 126 |
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| 127 |
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| 128 |
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| 129 |
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| 130 |
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| 131 |
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| 132 |
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| 133 |
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| 134 |
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| 135 |
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| 136 |
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| 137 |
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| 138 |
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| 139 |
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| 140 |
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| 141 |
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| 142 |
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| 143 |
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| 144 |
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| 145 |
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| 146 |
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| 147 |
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| 148 |
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| 149 |
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| 150 |
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| 151 |
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| 152 |
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| 153 |
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| 154 |
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| 155 |
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| 156 |
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| 157 |
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| 158 |
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| 159 |
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| 160 |
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| 161 |
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| 162 |
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| 163 |
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| 164 |
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| 165 |
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| 166 |
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| 167 |
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| 168 |
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| 169 |
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| 170 |
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| 171 |
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| 172 |
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| 173 |
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| 174 |
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| 175 |
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| 176 |
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| 177 |
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| 178 |
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| 179 |
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| 180 |
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| 181 |
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| 182 |
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| 183 |
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| 184 |
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| 185 |
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| 186 |
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| 187 |
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| 188 |
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| 189 |
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| 190 |
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| 191 |
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| 192 |
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| 193 |
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| 194 |
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| 195 |
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| 196 |
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| 197 |
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| 198 |
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| 211 |
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| 212 |
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},
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| 214 |
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"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
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| 216 |
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},
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| 243 |
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| 244 |
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| 250 |
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| 300 |
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| 301 |
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"policy": {
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| 302 |
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"skill": "place",
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| 303 |
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| 304 |
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| 305 |
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| 306 |
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"beaker_b",
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"heater_platform"
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| 308 |
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],
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"/World/heat_device/heat_device/heat_device/plat",
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| 311 |
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"/World/target_beaker"
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| 312 |
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],
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| 315 |
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| 316 |
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| 317 |
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| 318 |
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| 319 |
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| 320 |
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| 321 |
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| 322 |
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| 323 |
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| 324 |
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| 348 |
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| 349 |
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"mobile_translate_x",
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| 350 |
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"mobile_translate_y",
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| 351 |
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],
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],
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],
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},
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},
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|
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|
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|
| 663 |
+
"attach_allowed": false,
|
| 664 |
+
"ordinary_object_physical_only": true
|
| 665 |
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}
|
| 666 |
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}
|
| 667 |
+
],
|
| 668 |
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"physical_semantics": {
|
| 669 |
+
"attach_records": [],
|
| 670 |
+
"ordinary_attach_violations": [],
|
| 671 |
+
"forbidden_shortcuts_absent": true
|
| 672 |
+
},
|
| 673 |
+
"h5_episode_index": 97,
|
| 674 |
+
"reproducibility": {
|
| 675 |
+
"enabled": true,
|
| 676 |
+
"action_seed": 4586557938971780878,
|
| 677 |
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"physical_seed": 7721071036537636492,
|
| 678 |
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"layout_id": "layout_00027",
|
| 679 |
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"step_seeds": [
|
| 680 |
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|
| 681 |
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|
| 682 |
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|
| 683 |
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|
| 684 |
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"workflow_spec_digest": "c39454781639a8214242032a37cead07e6f4ac821ba47f6013af38e170b9fdc4",
|
| 685 |
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"strict_task_state": false,
|
| 686 |
+
"allow_physical_randomization": true,
|
| 687 |
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"seed_source": "workflow.reproducibility",
|
| 688 |
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"task_island_state_digest": "36699cdc30f50895893af77dd92246bb15aef5868854e9cca0bfd9705855324a",
|
| 689 |
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"visual_seed": 8244294749187149004,
|
| 690 |
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"episode_index": 97,
|
| 691 |
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"physical_randomization_enabled": true,
|
| 692 |
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"motion_controller_type": "ik_servo",
|
| 693 |
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"runtime_step_seeds": [
|
| 694 |
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|
| 695 |
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|
| 696 |
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|
| 697 |
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],
|
| 698 |
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"runtime_workflow_digest": "af86c4c55b37cec3a9a0c1672273c1255127996be820416c10f8412150477eef"
|
| 699 |
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}
|
| 700 |
+
}
|
ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00027/results/episode_98_success.json
ADDED
|
@@ -0,0 +1,700 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"episode": 98,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_b",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_b",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_b",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.27674476424496103,
|
| 26 |
+
-0.09917105658645951,
|
| 27 |
+
1.1595103148105548
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.1595103148105548,
|
| 30 |
+
"required_z": 0.8565865269101883,
|
| 31 |
+
"initial_z": 0.7565865269101884,
|
| 32 |
+
"lift_margin": 0.30292378790036645,
|
| 33 |
+
"gripper_z": 1.1519641563347005,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.2722848150920857,
|
| 38 |
+
-0.10354848667882058,
|
| 39 |
+
1.1519641563347005
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
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| 571 |
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| 579 |
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| 588 |
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| 589 |
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| 591 |
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| 600 |
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| 603 |
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|
| 613 |
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|
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|
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|
| 616 |
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| 617 |
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| 618 |
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|
| 619 |
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|
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| 622 |
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|
| 623 |
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| 624 |
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|
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|
| 626 |
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|
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|
| 628 |
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|
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|
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|
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|
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|
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|
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|
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|
| 673 |
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|
| 674 |
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|
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|
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|
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|
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|
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|
| 699 |
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}
|
| 700 |
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}
|
ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00027/results/episode_99_success.json
ADDED
|
@@ -0,0 +1,700 @@
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|
|
| 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_b",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_b",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_b",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.2835605730226857,
|
| 26 |
+
-0.10213310969807952,
|
| 27 |
+
1.1612073811495198
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.1612073811495198,
|
| 30 |
+
"required_z": 0.8565865483123815,
|
| 31 |
+
"initial_z": 0.7565865483123815,
|
| 32 |
+
"lift_margin": 0.30462083283713837,
|
| 33 |
+
"gripper_z": 1.153848933403646,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.2795377619399465,
|
| 38 |
+
-0.10652968667703787,
|
| 39 |
+
1.153848933403646
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004022811082739219,
|
| 43 |
+
0.004396576978958344,
|
| 44 |
+
0.007358447745873908
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.005959269933416003,
|
| 47 |
+
"object_to_gripper_z": 0.007358447745873908,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.2835605730226857,
|
| 51 |
+
-0.12534870875239532,
|
| 52 |
+
1.1612073811495198
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.2731922688874528,
|
| 56 |
+
-0.10213310969807952,
|
| 57 |
+
1.1612073811495198
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.27837642095506926,
|
| 61 |
+
-0.11374090922523741,
|
| 62 |
+
1.1612073811495198
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005184152067616465,
|
| 66 |
+
0.011607799527157889,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.025425691142846766,
|
| 70 |
+
"fingertip_max_gap": 0.09319664776436973,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.012712845571423376,
|
| 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": 1.1612073811495198,
|
| 78 |
+
"object_top_z": 1.2068394560327043,
|
| 79 |
+
"finger_top_clearance": 0.04563207488318444,
|
| 80 |
+
"fingertip_min_top_clearance": 0.013689622464955331,
|
| 81 |
+
"object_projection_between_fingers": 0.8337085494480503,
|
| 82 |
+
"object_to_finger_line_xy": 0.009467054025176136,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.049098323882184866,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 2.0914269592747443,
|
| 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": 342,
|
| 96 |
+
"max_stable_success_frames": 342,
|
| 97 |
+
"required_stable_lift_frames": 5
|
| 98 |
+
},
|
| 99 |
+
"failed_keys": [],
|
| 100 |
+
"failure_code": null,
|
| 101 |
+
"failure_messages": {},
|
| 102 |
+
"safety": {
|
| 103 |
+
"policy": {
|
| 104 |
+
"skill": "pick",
|
| 105 |
+
"target_object": "beaker_b",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_b"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/target_beaker"
|
| 112 |
+
],
|
| 113 |
+
"allowed_prim_substrings": [],
|
| 114 |
+
"robot_prim_substrings": [
|
| 115 |
+
"Robotiq2F85",
|
| 116 |
+
"Robotiq_2F_85",
|
| 117 |
+
"contact_sensor",
|
| 118 |
+
"dummy_base_prismatic_x_joint",
|
| 119 |
+
"dummy_base_prismatic_y_joint",
|
| 120 |
+
"dummy_base_revolute_z_joint",
|
| 121 |
+
"elbow_joint",
|
| 122 |
+
"festo",
|
| 123 |
+
"finger",
|
| 124 |
+
"fr3",
|
| 125 |
+
"fr3_duo_mobile",
|
| 126 |
+
"fr3_joint1",
|
| 127 |
+
"fr3_joint2",
|
| 128 |
+
"fr3_joint3",
|
| 129 |
+
"fr3_joint4",
|
| 130 |
+
"fr3_joint5",
|
| 131 |
+
"fr3_joint6",
|
| 132 |
+
"fr3_joint7",
|
| 133 |
+
"fr3_leftfinger",
|
| 134 |
+
"fr3_rightfinger",
|
| 135 |
+
"franka",
|
| 136 |
+
"geometry",
|
| 137 |
+
"gripper",
|
| 138 |
+
"gripper_center",
|
| 139 |
+
"joint1",
|
| 140 |
+
"joint2",
|
| 141 |
+
"joint3",
|
| 142 |
+
"joint4",
|
| 143 |
+
"joint5",
|
| 144 |
+
"joint6",
|
| 145 |
+
"joint7",
|
| 146 |
+
"left_inner_finger",
|
| 147 |
+
"lift2",
|
| 148 |
+
"mobile_rotate",
|
| 149 |
+
"mobile_translate_x",
|
| 150 |
+
"mobile_translate_y",
|
| 151 |
+
"panda_joint1",
|
| 152 |
+
"panda_joint2",
|
| 153 |
+
"panda_joint3",
|
| 154 |
+
"panda_joint4",
|
| 155 |
+
"panda_joint5",
|
| 156 |
+
"panda_joint6",
|
| 157 |
+
"panda_joint7",
|
| 158 |
+
"panda_leftfinger",
|
| 159 |
+
"panda_leftfingertip",
|
| 160 |
+
"panda_rightfinger",
|
| 161 |
+
"panda_rightfingertip",
|
| 162 |
+
"ridgebase",
|
| 163 |
+
"ridgebase_festo",
|
| 164 |
+
"ridgebase_fr3",
|
| 165 |
+
"ridgebase_rizon4",
|
| 166 |
+
"ridgebase_ur16e",
|
| 167 |
+
"ridgebase_ur5e",
|
| 168 |
+
"right_inner_finger",
|
| 169 |
+
"rizon4",
|
| 170 |
+
"robot",
|
| 171 |
+
"robotiq_2f85",
|
| 172 |
+
"shoulder_lift_joint",
|
| 173 |
+
"shoulder_pan_joint",
|
| 174 |
+
"split_aloha",
|
| 175 |
+
"tool_center",
|
| 176 |
+
"ur16e",
|
| 177 |
+
"ur5e",
|
| 178 |
+
"visuals",
|
| 179 |
+
"wrist",
|
| 180 |
+
"wrist_1_joint",
|
| 181 |
+
"wrist_2_joint",
|
| 182 |
+
"wrist_3_joint"
|
| 183 |
+
],
|
| 184 |
+
"ignored_prim_substrings": [
|
| 185 |
+
"base_link",
|
| 186 |
+
"caster",
|
| 187 |
+
"defaultgroundplane",
|
| 188 |
+
"desk",
|
| 189 |
+
"floor",
|
| 190 |
+
"ground",
|
| 191 |
+
"groundplane",
|
| 192 |
+
"link0",
|
| 193 |
+
"table",
|
| 194 |
+
"wheel",
|
| 195 |
+
"workbench"
|
| 196 |
+
],
|
| 197 |
+
"enabled": true
|
| 198 |
+
},
|
| 199 |
+
"status": "active",
|
| 200 |
+
"passed": true,
|
| 201 |
+
"source_missing": false,
|
| 202 |
+
"forbidden": [],
|
| 203 |
+
"disturbances": [],
|
| 204 |
+
"last_frame": {
|
| 205 |
+
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| 593 |
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"panda_joint5",
|
| 594 |
+
"panda_joint6",
|
| 595 |
+
"panda_joint7",
|
| 596 |
+
"panda_leftfinger",
|
| 597 |
+
"panda_leftfingertip",
|
| 598 |
+
"panda_rightfinger",
|
| 599 |
+
"panda_rightfingertip",
|
| 600 |
+
"ridgebase",
|
| 601 |
+
"ridgebase_festo",
|
| 602 |
+
"ridgebase_fr3",
|
| 603 |
+
"ridgebase_rizon4",
|
| 604 |
+
"ridgebase_ur16e",
|
| 605 |
+
"ridgebase_ur5e",
|
| 606 |
+
"right_inner_finger",
|
| 607 |
+
"rizon4",
|
| 608 |
+
"robot",
|
| 609 |
+
"robotiq_2f85",
|
| 610 |
+
"shoulder_lift_joint",
|
| 611 |
+
"shoulder_pan_joint",
|
| 612 |
+
"split_aloha",
|
| 613 |
+
"tool_center",
|
| 614 |
+
"ur16e",
|
| 615 |
+
"ur5e",
|
| 616 |
+
"visuals",
|
| 617 |
+
"wrist",
|
| 618 |
+
"wrist_1_joint",
|
| 619 |
+
"wrist_2_joint",
|
| 620 |
+
"wrist_3_joint"
|
| 621 |
+
],
|
| 622 |
+
"ignored_prim_substrings": [
|
| 623 |
+
"base_link",
|
| 624 |
+
"caster",
|
| 625 |
+
"defaultgroundplane",
|
| 626 |
+
"desk",
|
| 627 |
+
"floor",
|
| 628 |
+
"ground",
|
| 629 |
+
"groundplane",
|
| 630 |
+
"link0",
|
| 631 |
+
"table",
|
| 632 |
+
"wheel",
|
| 633 |
+
"workbench"
|
| 634 |
+
],
|
| 635 |
+
"enabled": true
|
| 636 |
+
},
|
| 637 |
+
"status": "active",
|
| 638 |
+
"passed": true,
|
| 639 |
+
"source_missing": false,
|
| 640 |
+
"forbidden": [],
|
| 641 |
+
"disturbances": [],
|
| 642 |
+
"last_frame": {
|
| 643 |
+
"passed": true,
|
| 644 |
+
"source_missing": false,
|
| 645 |
+
"forbidden": [],
|
| 646 |
+
"allowed": [],
|
| 647 |
+
"ignored": [],
|
| 648 |
+
"failed_keys": []
|
| 649 |
+
},
|
| 650 |
+
"failed_keys": []
|
| 651 |
+
}
|
| 652 |
+
},
|
| 653 |
+
"gripper": null,
|
| 654 |
+
"post_done_wait_frames": 0,
|
| 655 |
+
"post_done_wait_exhausted": false
|
| 656 |
+
},
|
| 657 |
+
"physical_semantics": {
|
| 658 |
+
"skill": "press",
|
| 659 |
+
"target": "heat_button",
|
| 660 |
+
"attach_used": false,
|
| 661 |
+
"attach_object": null,
|
| 662 |
+
"attach_object_path": null,
|
| 663 |
+
"attach_allowed": false,
|
| 664 |
+
"ordinary_object_physical_only": true
|
| 665 |
+
}
|
| 666 |
+
}
|
| 667 |
+
],
|
| 668 |
+
"physical_semantics": {
|
| 669 |
+
"attach_records": [],
|
| 670 |
+
"ordinary_attach_violations": [],
|
| 671 |
+
"forbidden_shortcuts_absent": true
|
| 672 |
+
},
|
| 673 |
+
"h5_episode_index": 99,
|
| 674 |
+
"reproducibility": {
|
| 675 |
+
"enabled": true,
|
| 676 |
+
"action_seed": 4586557938971780878,
|
| 677 |
+
"physical_seed": 7721071036537636492,
|
| 678 |
+
"layout_id": "layout_00027",
|
| 679 |
+
"step_seeds": [
|
| 680 |
+
3977492345803872476,
|
| 681 |
+
6024422583905249305,
|
| 682 |
+
3187439485679853542
|
| 683 |
+
],
|
| 684 |
+
"workflow_spec_digest": "c39454781639a8214242032a37cead07e6f4ac821ba47f6013af38e170b9fdc4",
|
| 685 |
+
"strict_task_state": false,
|
| 686 |
+
"allow_physical_randomization": true,
|
| 687 |
+
"seed_source": "workflow.reproducibility",
|
| 688 |
+
"task_island_state_digest": "7d82de7eeac9dfbad75cc7880b880e6c535691ca2b3f1518d62306b73f1c05f8",
|
| 689 |
+
"visual_seed": 1601662825467661889,
|
| 690 |
+
"episode_index": 99,
|
| 691 |
+
"physical_randomization_enabled": true,
|
| 692 |
+
"motion_controller_type": "ik_servo",
|
| 693 |
+
"runtime_step_seeds": [
|
| 694 |
+
3977492345803872476,
|
| 695 |
+
6024422583905249305,
|
| 696 |
+
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|
| 697 |
+
],
|
| 698 |
+
"runtime_workflow_digest": "af86c4c55b37cec3a9a0c1672273c1255127996be820416c10f8412150477eef"
|
| 699 |
+
}
|
| 700 |
+
}
|
ur5e/lab3_v1/lab3_heat_2beaker_s03_plr_htd_00027/results/episode_9_success.json
ADDED
|
@@ -0,0 +1,700 @@
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