Upload folder using huggingface_hub (part 6)
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- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00010/results/episode_53_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00010/results/episode_54_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00010/results/episode_55_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00010/results/episode_56_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00010/results/episode_57_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00010/results/episode_58_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00010/results/episode_59_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00010/results/episode_5_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00010/results/episode_60_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00010/results/episode_65_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00010/results/episode_66_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00010/results/episode_67_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00010/results/episode_68_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00010/results/episode_6_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00010/results/episode_70_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00010/results/episode_71_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00010/results/episode_72_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00010/results/episode_74_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00010/results/episode_75_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00010/results/episode_76_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00010/results/episode_78_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00010/results/episode_7_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00010/results/episode_81_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00010/results/episode_84_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00010/results/episode_86_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00010/results/episode_87_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00010/results/episode_88_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00010/results/episode_89_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00010/results/episode_90_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00010/results/episode_91_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00010/results/episode_92_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00010/results/episode_95_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00010/results/episode_96_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00010/results/episode_98_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00010/results/episode_9_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00010/results/summary.json +9 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00011/dataset/episode_0000.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00011/dataset/episode_0003.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00011/dataset/episode_0005.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00011/dataset/episode_0006.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00011/dataset/episode_0007.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00011/dataset/episode_0008.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00011/dataset/episode_0009.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00011/dataset/episode_0010.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00011/dataset/episode_0011.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00011/dataset/episode_0012.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00011/dataset/episode_0015.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00011/dataset/episode_0016.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00011/dataset/episode_0017.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00011/dataset/episode_0018.h5 +3 -0
ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00010/results/episode_53_success.json
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|
ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00010/results/episode_54_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"episode": 54,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_a",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_a",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_a",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.29148307473254786,
|
| 26 |
+
-0.17351738026379948,
|
| 27 |
+
1.0514475191000856
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0514475191000856,
|
| 30 |
+
"required_z": 0.8611064484101214,
|
| 31 |
+
"initial_z": 0.7611064484101214,
|
| 32 |
+
"lift_margin": 0.1903410706899642,
|
| 33 |
+
"gripper_z": 1.0544012376455592,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.2880120785258685,
|
| 38 |
+
-0.17748684527522118,
|
| 39 |
+
1.0544012376455592
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.0034709962066793443,
|
| 43 |
+
0.003969465011421702,
|
| 44 |
+
-0.0029537185454735493
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.005272994134614933,
|
| 47 |
+
"object_to_gripper_z": -0.0029537185454735493,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.29148307473254786,
|
| 51 |
+
-0.19680604845179245,
|
| 52 |
+
1.0514475191000856
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.2809891628557978,
|
| 56 |
+
-0.17351738026379948,
|
| 57 |
+
1.0514475191000856
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.2862361187941728,
|
| 61 |
+
-0.18516171435779596,
|
| 62 |
+
1.0514475191000856
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005246955938375042,
|
| 66 |
+
0.011644334093996483,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.02554377130432059,
|
| 70 |
+
"fingertip_max_gap": 0.09898796018004882,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.012771885652160295,
|
| 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": 1.0514475191000856,
|
| 78 |
+
"object_top_z": 1.104313205061546,
|
| 79 |
+
"finger_top_clearance": 0.05286568596146046,
|
| 80 |
+
"fingertip_min_top_clearance": 0.015859705788438122,
|
| 81 |
+
"object_projection_between_fingers": 0.8312262923374254,
|
| 82 |
+
"object_to_finger_line_xy": 0.009567468670937197,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.051993980090024414,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 3.9588124400146865,
|
| 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": 204,
|
| 96 |
+
"max_stable_success_frames": 204,
|
| 97 |
+
"required_stable_lift_frames": 5
|
| 98 |
+
},
|
| 99 |
+
"failed_keys": [],
|
| 100 |
+
"failure_code": null,
|
| 101 |
+
"failure_messages": {},
|
| 102 |
+
"safety": {
|
| 103 |
+
"policy": {
|
| 104 |
+
"skill": "pick",
|
| 105 |
+
"target_object": "beaker_a",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_a"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/beaker_2"
|
| 112 |
+
],
|
| 113 |
+
"allowed_prim_substrings": [],
|
| 114 |
+
"robot_prim_substrings": [
|
| 115 |
+
"Robotiq2F85",
|
| 116 |
+
"Robotiq_2F_85",
|
| 117 |
+
"contact_sensor",
|
| 118 |
+
"dummy_base_prismatic_x_joint",
|
| 119 |
+
"dummy_base_prismatic_y_joint",
|
| 120 |
+
"dummy_base_revolute_z_joint",
|
| 121 |
+
"elbow_joint",
|
| 122 |
+
"festo",
|
| 123 |
+
"finger",
|
| 124 |
+
"fr3",
|
| 125 |
+
"fr3_duo_mobile",
|
| 126 |
+
"fr3_joint1",
|
| 127 |
+
"fr3_joint2",
|
| 128 |
+
"fr3_joint3",
|
| 129 |
+
"fr3_joint4",
|
| 130 |
+
"fr3_joint5",
|
| 131 |
+
"fr3_joint6",
|
| 132 |
+
"fr3_joint7",
|
| 133 |
+
"fr3_leftfinger",
|
| 134 |
+
"fr3_rightfinger",
|
| 135 |
+
"franka",
|
| 136 |
+
"geometry",
|
| 137 |
+
"gripper",
|
| 138 |
+
"gripper_center",
|
| 139 |
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"joint1",
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|
| 521 |
+
"failed_keys": [],
|
| 522 |
+
"failure_code": null,
|
| 523 |
+
"failure_messages": {},
|
| 524 |
+
"safety": {
|
| 525 |
+
"policy": {
|
| 526 |
+
"skill": "place",
|
| 527 |
+
"target_object": "inspection_platform",
|
| 528 |
+
"held_object": "beaker_a",
|
| 529 |
+
"allowed_objects": [
|
| 530 |
+
"beaker_a",
|
| 531 |
+
"inspection_platform"
|
| 532 |
+
],
|
| 533 |
+
"allowed_object_paths": [
|
| 534 |
+
"/World/beaker_2",
|
| 535 |
+
"/World/target_plat"
|
| 536 |
+
],
|
| 537 |
+
"allowed_prim_substrings": [],
|
| 538 |
+
"robot_prim_substrings": [
|
| 539 |
+
"Robotiq2F85",
|
| 540 |
+
"Robotiq_2F_85",
|
| 541 |
+
"contact_sensor",
|
| 542 |
+
"dummy_base_prismatic_x_joint",
|
| 543 |
+
"dummy_base_prismatic_y_joint",
|
| 544 |
+
"dummy_base_revolute_z_joint",
|
| 545 |
+
"elbow_joint",
|
| 546 |
+
"festo",
|
| 547 |
+
"finger",
|
| 548 |
+
"fr3",
|
| 549 |
+
"fr3_duo_mobile",
|
| 550 |
+
"fr3_joint1",
|
| 551 |
+
"fr3_joint2",
|
| 552 |
+
"fr3_joint3",
|
| 553 |
+
"fr3_joint4",
|
| 554 |
+
"fr3_joint5",
|
| 555 |
+
"fr3_joint6",
|
| 556 |
+
"fr3_joint7",
|
| 557 |
+
"fr3_leftfinger",
|
| 558 |
+
"fr3_rightfinger",
|
| 559 |
+
"franka",
|
| 560 |
+
"geometry",
|
| 561 |
+
"gripper",
|
| 562 |
+
"gripper_center",
|
| 563 |
+
"joint1",
|
| 564 |
+
"joint2",
|
| 565 |
+
"joint3",
|
| 566 |
+
"joint4",
|
| 567 |
+
"joint5",
|
| 568 |
+
"joint6",
|
| 569 |
+
"joint7",
|
| 570 |
+
"left_inner_finger",
|
| 571 |
+
"lift2",
|
| 572 |
+
"mobile_rotate",
|
| 573 |
+
"mobile_translate_x",
|
| 574 |
+
"mobile_translate_y",
|
| 575 |
+
"panda_joint1",
|
| 576 |
+
"panda_joint2",
|
| 577 |
+
"panda_joint3",
|
| 578 |
+
"panda_joint4",
|
| 579 |
+
"panda_joint5",
|
| 580 |
+
"panda_joint6",
|
| 581 |
+
"panda_joint7",
|
| 582 |
+
"panda_leftfinger",
|
| 583 |
+
"panda_leftfingertip",
|
| 584 |
+
"panda_rightfinger",
|
| 585 |
+
"panda_rightfingertip",
|
| 586 |
+
"ridgebase",
|
| 587 |
+
"ridgebase_festo",
|
| 588 |
+
"ridgebase_fr3",
|
| 589 |
+
"ridgebase_rizon4",
|
| 590 |
+
"ridgebase_ur16e",
|
| 591 |
+
"ridgebase_ur5e",
|
| 592 |
+
"right_inner_finger",
|
| 593 |
+
"rizon4",
|
| 594 |
+
"robot",
|
| 595 |
+
"robotiq_2f85",
|
| 596 |
+
"shoulder_lift_joint",
|
| 597 |
+
"shoulder_pan_joint",
|
| 598 |
+
"split_aloha",
|
| 599 |
+
"tool_center",
|
| 600 |
+
"ur16e",
|
| 601 |
+
"ur5e",
|
| 602 |
+
"visuals",
|
| 603 |
+
"wrist",
|
| 604 |
+
"wrist_1_joint",
|
| 605 |
+
"wrist_2_joint",
|
| 606 |
+
"wrist_3_joint"
|
| 607 |
+
],
|
| 608 |
+
"ignored_prim_substrings": [
|
| 609 |
+
"base_link",
|
| 610 |
+
"caster",
|
| 611 |
+
"defaultgroundplane",
|
| 612 |
+
"desk",
|
| 613 |
+
"floor",
|
| 614 |
+
"ground",
|
| 615 |
+
"groundplane",
|
| 616 |
+
"link0",
|
| 617 |
+
"table",
|
| 618 |
+
"wheel",
|
| 619 |
+
"workbench"
|
| 620 |
+
],
|
| 621 |
+
"enabled": true
|
| 622 |
+
},
|
| 623 |
+
"status": "active",
|
| 624 |
+
"passed": true,
|
| 625 |
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"source_missing": false,
|
| 626 |
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"forbidden": [],
|
| 627 |
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"disturbances": [],
|
| 628 |
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"last_frame": {
|
| 629 |
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"passed": true,
|
| 630 |
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"source_missing": false,
|
| 631 |
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"forbidden": [],
|
| 632 |
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"allowed": [],
|
| 633 |
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"ignored": [],
|
| 634 |
+
"failed_keys": []
|
| 635 |
+
},
|
| 636 |
+
"failed_keys": []
|
| 637 |
+
}
|
| 638 |
+
},
|
| 639 |
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"gripper": null,
|
| 640 |
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"post_done_wait_frames": 0,
|
| 641 |
+
"post_done_wait_exhausted": false
|
| 642 |
+
},
|
| 643 |
+
"physical_semantics": {
|
| 644 |
+
"skill": "place",
|
| 645 |
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"target": "inspection_platform",
|
| 646 |
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"attach_used": false,
|
| 647 |
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"attach_object": null,
|
| 648 |
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"attach_object_path": null,
|
| 649 |
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"attach_allowed": false,
|
| 650 |
+
"ordinary_object_physical_only": true
|
| 651 |
+
}
|
| 652 |
+
}
|
| 653 |
+
],
|
| 654 |
+
"physical_semantics": {
|
| 655 |
+
"attach_records": [],
|
| 656 |
+
"ordinary_attach_violations": [],
|
| 657 |
+
"forbidden_shortcuts_absent": true
|
| 658 |
+
},
|
| 659 |
+
"h5_episode_index": 54,
|
| 660 |
+
"reproducibility": {
|
| 661 |
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"enabled": true,
|
| 662 |
+
"action_seed": 3987082320295684552,
|
| 663 |
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"physical_seed": 1590733738191871905,
|
| 664 |
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"layout_id": "layout_00010",
|
| 665 |
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"step_seeds": [
|
| 666 |
+
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|
| 667 |
+
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|
| 668 |
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|
| 669 |
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],
|
| 670 |
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"workflow_spec_digest": "6520f0f0d16188839ba1d67eee619bd2515589472fde477e2dddeda8a503787d",
|
| 671 |
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"strict_task_state": false,
|
| 672 |
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"allow_physical_randomization": true,
|
| 673 |
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"seed_source": "workflow.reproducibility",
|
| 674 |
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"task_island_state_digest": "83a6a27581f380010c0b41f29e64459ef2ac74ec7614257fe53a6c8813364a32",
|
| 675 |
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"visual_seed": 877614355073758136,
|
| 676 |
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"episode_index": 54,
|
| 677 |
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"physical_randomization_enabled": true,
|
| 678 |
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"motion_controller_type": "ik_servo",
|
| 679 |
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"runtime_step_seeds": [
|
| 680 |
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|
| 681 |
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|
| 682 |
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|
| 683 |
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],
|
| 684 |
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"runtime_workflow_digest": "fd2f96414d5086f996ec463a1c17000b97fa3dfdeee6fdd2b79e682dc47b4981"
|
| 685 |
+
}
|
| 686 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00010/results/episode_55_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00010/results/episode_56_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 56,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_a",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_a",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_a",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.2914111767593578,
|
| 26 |
+
-0.17957809611526207,
|
| 27 |
+
1.0512115181838815
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0512115181838815,
|
| 30 |
+
"required_z": 0.8611063888054764,
|
| 31 |
+
"initial_z": 0.7611063888054764,
|
| 32 |
+
"lift_margin": 0.19010512937840507,
|
| 33 |
+
"gripper_z": 1.0543488853416552,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.28781489335679433,
|
| 38 |
+
-0.18363097171094678,
|
| 39 |
+
1.0543488853416552
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.0035962834025634605,
|
| 43 |
+
0.004052875595684707,
|
| 44 |
+
-0.003137367157773685
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.005418399662783292,
|
| 47 |
+
"object_to_gripper_z": -0.003137367157773685,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.2914111767593578,
|
| 51 |
+
-0.20301571033244575,
|
| 52 |
+
1.0512115181838815
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.2808712007484071,
|
| 56 |
+
-0.17957809611526207,
|
| 57 |
+
1.0512115181838815
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.28614118875388245,
|
| 61 |
+
-0.1912969032238539,
|
| 62 |
+
1.0512115181838815
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005269988005475346,
|
| 66 |
+
0.011718807108591828,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.025698499071053676,
|
| 70 |
+
"fingertip_max_gap": 0.10303565937569734,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.012849249535526826,
|
| 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": 1.0512115181838815,
|
| 78 |
+
"object_top_z": 1.1055545980119064,
|
| 79 |
+
"finger_top_clearance": 0.05434307982802489,
|
| 80 |
+
"fingertip_min_top_clearance": 0.01630292394840745,
|
| 81 |
+
"object_projection_between_fingers": 0.8317853846217285,
|
| 82 |
+
"object_to_finger_line_xy": 0.009612697259867773,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.05401782968784867,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 5.194822369034359,
|
| 89 |
+
"object_max_tilt_deg": 15.0,
|
| 90 |
+
"object_upright_axis_local": [
|
| 91 |
+
0.0,
|
| 92 |
+
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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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|
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|
| 571 |
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|
| 572 |
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|
| 573 |
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|
| 574 |
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|
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|
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| 577 |
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|
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| 581 |
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|
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| 584 |
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|
| 588 |
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| 593 |
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|
| 595 |
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|
| 596 |
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| 597 |
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| 598 |
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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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|
| 607 |
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|
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| 619 |
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|
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|
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| 655 |
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|
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|
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|
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|
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}
|
| 686 |
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}
|
ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00010/results/episode_57_success.json
ADDED
|
@@ -0,0 +1,686 @@
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| 1 |
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{
|
| 2 |
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| 3 |
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| 4 |
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| 5 |
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| 6 |
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| 7 |
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| 8 |
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| 9 |
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| 10 |
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| 11 |
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| 12 |
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| 13 |
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| 14 |
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|
| 15 |
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| 16 |
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|
| 17 |
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| 18 |
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| 19 |
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| 20 |
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| 21 |
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| 22 |
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| 23 |
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| 24 |
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| 25 |
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| 26 |
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| 27 |
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| 29 |
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| 30 |
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| 31 |
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| 32 |
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| 33 |
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| 34 |
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| 35 |
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| 36 |
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| 37 |
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| 38 |
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| 39 |
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| 40 |
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| 41 |
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| 42 |
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| 43 |
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| 44 |
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| 45 |
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| 47 |
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| 48 |
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| 49 |
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| 50 |
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| 51 |
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| 52 |
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| 65 |
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| 66 |
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| 67 |
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| 68 |
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| 91 |
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| 92 |
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| 93 |
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| 94 |
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| 98 |
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| 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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| 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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| 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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"mobile_translate_y",
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| 151 |
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| 152 |
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| 153 |
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| 154 |
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| 155 |
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| 156 |
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| 157 |
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| 158 |
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| 159 |
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| 160 |
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| 161 |
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| 162 |
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| 163 |
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| 164 |
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| 165 |
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| 166 |
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| 167 |
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| 168 |
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| 169 |
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| 170 |
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| 171 |
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| 172 |
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| 173 |
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| 174 |
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| 175 |
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| 176 |
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| 177 |
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| 178 |
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| 179 |
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| 180 |
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| 181 |
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| 182 |
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| 183 |
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| 184 |
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| 185 |
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| 186 |
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| 187 |
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| 188 |
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| 189 |
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| 190 |
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| 191 |
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| 192 |
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| 193 |
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| 194 |
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| 195 |
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| 196 |
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],
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| 197 |
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| 211 |
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},
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"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
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| 216 |
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| 244 |
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| 249 |
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| 250 |
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| 252 |
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| 253 |
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| 254 |
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|
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| 661 |
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"enabled": true,
|
| 662 |
+
"action_seed": 3987082320295684552,
|
| 663 |
+
"physical_seed": 1590733738191871905,
|
| 664 |
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"layout_id": "layout_00010",
|
| 665 |
+
"step_seeds": [
|
| 666 |
+
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|
| 667 |
+
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|
| 668 |
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|
| 669 |
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],
|
| 670 |
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"workflow_spec_digest": "6520f0f0d16188839ba1d67eee619bd2515589472fde477e2dddeda8a503787d",
|
| 671 |
+
"strict_task_state": false,
|
| 672 |
+
"allow_physical_randomization": true,
|
| 673 |
+
"seed_source": "workflow.reproducibility",
|
| 674 |
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"task_island_state_digest": "38a878a04409d758f632c8ce74278126af90d4d272ba731db20f31f98d1b7a56",
|
| 675 |
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"visual_seed": 8191103117043642784,
|
| 676 |
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"episode_index": 57,
|
| 677 |
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"physical_randomization_enabled": true,
|
| 678 |
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"motion_controller_type": "ik_servo",
|
| 679 |
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"runtime_step_seeds": [
|
| 680 |
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|
| 681 |
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|
| 682 |
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|
| 683 |
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],
|
| 684 |
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"runtime_workflow_digest": "fd2f96414d5086f996ec463a1c17000b97fa3dfdeee6fdd2b79e682dc47b4981"
|
| 685 |
+
}
|
| 686 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00010/results/episode_58_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 58,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_a",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_a",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_a",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.29252842714064214,
|
| 26 |
+
-0.17806394858383473,
|
| 27 |
+
1.0517354818321265
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0517354818321265,
|
| 30 |
+
"required_z": 0.8611064484101213,
|
| 31 |
+
"initial_z": 0.7611064484101213,
|
| 32 |
+
"lift_margin": 0.1906290334220052,
|
| 33 |
+
"gripper_z": 1.0547921749752405,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.2888275524386313,
|
| 38 |
+
-0.18208515043711476,
|
| 39 |
+
1.0547921749752405
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.003700874702010859,
|
| 43 |
+
0.004021201853280032,
|
| 44 |
+
-0.0030566931431139643
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.005465028627995166,
|
| 47 |
+
"object_to_gripper_z": -0.0030566931431139643,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.29252842714064214,
|
| 51 |
+
-0.2016897171077887,
|
| 52 |
+
1.0517354818321265
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.2822566850909311,
|
| 56 |
+
-0.17806394858383473,
|
| 57 |
+
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|
ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00010/results/episode_59_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 59,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_a",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_a",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_a",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.28720897594907363,
|
| 26 |
+
-0.18061637019319784,
|
| 27 |
+
1.0503601346929572
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0503601346929572,
|
| 30 |
+
"required_z": 0.861106567619411,
|
| 31 |
+
"initial_z": 0.761106567619411,
|
| 32 |
+
"lift_margin": 0.18925356707354624,
|
| 33 |
+
"gripper_z": 1.0536753193876862,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.2832549061213489,
|
| 38 |
+
-0.18475945591748086,
|
| 39 |
+
1.0536753193876862
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.003954069827724727,
|
| 43 |
+
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|
| 44 |
+
-0.003315184694729023
|
| 45 |
+
],
|
| 46 |
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"object_to_gripper_xy": 0.005727113367245383,
|
| 47 |
+
"object_to_gripper_z": -0.003315184694729023,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.28720897594907363,
|
| 51 |
+
-0.2045020774379706,
|
| 52 |
+
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|
| 53 |
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],
|
| 54 |
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"finger_b": [
|
| 55 |
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0.2768357765355073,
|
| 56 |
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-0.18061637019319784,
|
| 57 |
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1.0503601346929572
|
| 58 |
+
],
|
| 59 |
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"finger_midpoint": [
|
| 60 |
+
0.28202237624229043,
|
| 61 |
+
-0.1925592238155842,
|
| 62 |
+
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|
| 63 |
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],
|
| 64 |
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"object_minus_finger_midpoint": [
|
| 65 |
+
0.0051865997067832015,
|
| 66 |
+
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|
| 67 |
+
0.0
|
| 68 |
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],
|
| 69 |
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"finger_gap": 0.026040934634851402,
|
| 70 |
+
"fingertip_max_gap": 0.09446233404943252,
|
| 71 |
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"finger_z_skew": 0.0,
|
| 72 |
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"fingertip_z_skew_max": 0.035,
|
| 73 |
+
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|
| 74 |
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"object_to_finger_midpoint_z": 0.0,
|
| 75 |
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"finger_midpoint_minus_object_z": 0.0,
|
| 76 |
+
"object_position_origin": "center",
|
| 77 |
+
"object_center_z_for_grasp": 1.0503601346929572,
|
| 78 |
+
"object_top_z": 1.1012166770788776,
|
| 79 |
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"finger_top_clearance": 0.05085654238592041,
|
| 80 |
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"fingertip_min_top_clearance": 0.015256962715776123,
|
| 81 |
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"object_projection_between_fingers": 0.8413236073101893,
|
| 82 |
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"object_to_finger_line_xy": 0.009514681706258509,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
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"fingertip_z_max_dist": 0.1,
|
| 85 |
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"fingertip_line_xy_max_dist": 0.049731167024716263,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 2.4636203594625714,
|
| 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": 204,
|
| 96 |
+
"max_stable_success_frames": 204,
|
| 97 |
+
"required_stable_lift_frames": 5
|
| 98 |
+
},
|
| 99 |
+
"failed_keys": [],
|
| 100 |
+
"failure_code": null,
|
| 101 |
+
"failure_messages": {},
|
| 102 |
+
"safety": {
|
| 103 |
+
"policy": {
|
| 104 |
+
"skill": "pick",
|
| 105 |
+
"target_object": "beaker_a",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_a"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/beaker_2"
|
| 112 |
+
],
|
| 113 |
+
"allowed_prim_substrings": [],
|
| 114 |
+
"robot_prim_substrings": [
|
| 115 |
+
"Robotiq2F85",
|
| 116 |
+
"Robotiq_2F_85",
|
| 117 |
+
"contact_sensor",
|
| 118 |
+
"dummy_base_prismatic_x_joint",
|
| 119 |
+
"dummy_base_prismatic_y_joint",
|
| 120 |
+
"dummy_base_revolute_z_joint",
|
| 121 |
+
"elbow_joint",
|
| 122 |
+
"festo",
|
| 123 |
+
"finger",
|
| 124 |
+
"fr3",
|
| 125 |
+
"fr3_duo_mobile",
|
| 126 |
+
"fr3_joint1",
|
| 127 |
+
"fr3_joint2",
|
| 128 |
+
"fr3_joint3",
|
| 129 |
+
"fr3_joint4",
|
| 130 |
+
"fr3_joint5",
|
| 131 |
+
"fr3_joint6",
|
| 132 |
+
"fr3_joint7",
|
| 133 |
+
"fr3_leftfinger",
|
| 134 |
+
"fr3_rightfinger",
|
| 135 |
+
"franka",
|
| 136 |
+
"geometry",
|
| 137 |
+
"gripper",
|
| 138 |
+
"gripper_center",
|
| 139 |
+
"joint1",
|
| 140 |
+
"joint2",
|
| 141 |
+
"joint3",
|
| 142 |
+
"joint4",
|
| 143 |
+
"joint5",
|
| 144 |
+
"joint6",
|
| 145 |
+
"joint7",
|
| 146 |
+
"left_inner_finger",
|
| 147 |
+
"lift2",
|
| 148 |
+
"mobile_rotate",
|
| 149 |
+
"mobile_translate_x",
|
| 150 |
+
"mobile_translate_y",
|
| 151 |
+
"panda_joint1",
|
| 152 |
+
"panda_joint2",
|
| 153 |
+
"panda_joint3",
|
| 154 |
+
"panda_joint4",
|
| 155 |
+
"panda_joint5",
|
| 156 |
+
"panda_joint6",
|
| 157 |
+
"panda_joint7",
|
| 158 |
+
"panda_leftfinger",
|
| 159 |
+
"panda_leftfingertip",
|
| 160 |
+
"panda_rightfinger",
|
| 161 |
+
"panda_rightfingertip",
|
| 162 |
+
"ridgebase",
|
| 163 |
+
"ridgebase_festo",
|
| 164 |
+
"ridgebase_fr3",
|
| 165 |
+
"ridgebase_rizon4",
|
| 166 |
+
"ridgebase_ur16e",
|
| 167 |
+
"ridgebase_ur5e",
|
| 168 |
+
"right_inner_finger",
|
| 169 |
+
"rizon4",
|
| 170 |
+
"robot",
|
| 171 |
+
"robotiq_2f85",
|
| 172 |
+
"shoulder_lift_joint",
|
| 173 |
+
"shoulder_pan_joint",
|
| 174 |
+
"split_aloha",
|
| 175 |
+
"tool_center",
|
| 176 |
+
"ur16e",
|
| 177 |
+
"ur5e",
|
| 178 |
+
"visuals",
|
| 179 |
+
"wrist",
|
| 180 |
+
"wrist_1_joint",
|
| 181 |
+
"wrist_2_joint",
|
| 182 |
+
"wrist_3_joint"
|
| 183 |
+
],
|
| 184 |
+
"ignored_prim_substrings": [
|
| 185 |
+
"base_link",
|
| 186 |
+
"caster",
|
| 187 |
+
"defaultgroundplane",
|
| 188 |
+
"desk",
|
| 189 |
+
"floor",
|
| 190 |
+
"ground",
|
| 191 |
+
"groundplane",
|
| 192 |
+
"link0",
|
| 193 |
+
"table",
|
| 194 |
+
"wheel",
|
| 195 |
+
"workbench"
|
| 196 |
+
],
|
| 197 |
+
"enabled": true
|
| 198 |
+
},
|
| 199 |
+
"status": "active",
|
| 200 |
+
"passed": true,
|
| 201 |
+
"source_missing": false,
|
| 202 |
+
"forbidden": [],
|
| 203 |
+
"disturbances": [],
|
| 204 |
+
"last_frame": {
|
| 205 |
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"passed": true,
|
| 206 |
+
"source_missing": false,
|
| 207 |
+
"forbidden": [],
|
| 208 |
+
"allowed": [
|
| 209 |
+
{
|
| 210 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 211 |
+
"b": "/World/beaker_2/mesh"
|
| 212 |
+
},
|
| 213 |
+
{
|
| 214 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 215 |
+
"b": "/World/beaker_2/mesh"
|
| 216 |
+
}
|
| 217 |
+
],
|
| 218 |
+
"ignored": [],
|
| 219 |
+
"failed_keys": []
|
| 220 |
+
},
|
| 221 |
+
"failed_keys": []
|
| 222 |
+
}
|
| 223 |
+
},
|
| 224 |
+
"gripper": null,
|
| 225 |
+
"post_done_wait_frames": 0,
|
| 226 |
+
"post_done_wait_exhausted": false
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"defaultgroundplane",
|
| 612 |
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"desk",
|
| 613 |
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"floor",
|
| 614 |
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"ground",
|
| 615 |
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"groundplane",
|
| 616 |
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"link0",
|
| 617 |
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"table",
|
| 618 |
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|
| 619 |
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"workbench"
|
| 620 |
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],
|
| 621 |
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"enabled": true
|
| 622 |
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},
|
| 623 |
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"status": "active",
|
| 624 |
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|
| 625 |
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|
| 626 |
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|
| 627 |
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|
| 628 |
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|
| 629 |
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"passed": true,
|
| 630 |
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"source_missing": false,
|
| 631 |
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"forbidden": [],
|
| 632 |
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|
| 633 |
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|
| 634 |
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|
| 635 |
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|
| 636 |
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|
| 637 |
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|
| 638 |
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|
| 639 |
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|
| 640 |
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|
| 641 |
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|
| 642 |
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},
|
| 643 |
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"physical_semantics": {
|
| 644 |
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"skill": "place",
|
| 645 |
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"target": "inspection_platform",
|
| 646 |
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|
| 647 |
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|
| 648 |
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|
| 649 |
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"attach_allowed": false,
|
| 650 |
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"ordinary_object_physical_only": true
|
| 651 |
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|
| 652 |
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}
|
| 653 |
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],
|
| 654 |
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"physical_semantics": {
|
| 655 |
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"attach_records": [],
|
| 656 |
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"ordinary_attach_violations": [],
|
| 657 |
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"forbidden_shortcuts_absent": true
|
| 658 |
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},
|
| 659 |
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"h5_episode_index": 59,
|
| 660 |
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"reproducibility": {
|
| 661 |
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"enabled": true,
|
| 662 |
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"action_seed": 3987082320295684552,
|
| 663 |
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"physical_seed": 1590733738191871905,
|
| 664 |
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"layout_id": "layout_00010",
|
| 665 |
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"step_seeds": [
|
| 666 |
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|
| 667 |
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| 668 |
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| 669 |
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| 670 |
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|
| 671 |
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|
| 672 |
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|
| 673 |
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|
| 674 |
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|
| 675 |
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|
| 676 |
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|
| 677 |
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|
| 678 |
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|
| 679 |
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|
| 680 |
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|
| 681 |
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|
| 682 |
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| 684 |
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|
| 685 |
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}
|
| 686 |
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}
|
ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00010/results/episode_5_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 5,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_a",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
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|
ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00010/results/episode_60_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 60,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_a",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_a",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_a",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.28688496394500657,
|
| 26 |
+
-0.17417534535215287,
|
| 27 |
+
1.0520542755890387
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0520542755890387,
|
| 30 |
+
"required_z": 0.8611063888054762,
|
| 31 |
+
"initial_z": 0.7611063888054762,
|
| 32 |
+
"lift_margin": 0.19094788678356256,
|
| 33 |
+
"gripper_z": 1.054968258417318,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.283056937480741,
|
| 38 |
+
-0.1783184481996165,
|
| 39 |
+
1.054968258417318
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.003828026464265555,
|
| 43 |
+
0.004143102847463637,
|
| 44 |
+
-0.002913982828279149
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.005640841055709577,
|
| 47 |
+
"object_to_gripper_z": -0.002913982828279149,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.28688496394500657,
|
| 51 |
+
-0.19779594050848207,
|
| 52 |
+
1.0520542755890387
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.27621752442945446,
|
| 56 |
+
-0.17417534535215287,
|
| 57 |
+
1.0520542755890387
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.28155124418723054,
|
| 61 |
+
-0.18598564293031747,
|
| 62 |
+
1.0520542755890387
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005333719757776023,
|
| 66 |
+
0.011810297578164597,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.025917692438895183,
|
| 70 |
+
"fingertip_max_gap": 0.09314570882894088,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.012958846219447581,
|
| 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": 1.0520542755890387,
|
| 78 |
+
"object_top_z": 1.1024666629889635,
|
| 79 |
+
"finger_top_clearance": 0.05041238739992471,
|
| 80 |
+
"fingertip_min_top_clearance": 0.015123716219977412,
|
| 81 |
+
"object_projection_between_fingers": 0.8305944187783444,
|
| 82 |
+
"object_to_finger_line_xy": 0.00972197932919933,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.04907285441447044,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 1.8074524000541081,
|
| 89 |
+
"object_max_tilt_deg": 15.0,
|
| 90 |
+
"object_upright_axis_local": [
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
1.0
|
| 94 |
+
],
|
| 95 |
+
"stable_success_frames": 205,
|
| 96 |
+
"max_stable_success_frames": 205,
|
| 97 |
+
"required_stable_lift_frames": 5
|
| 98 |
+
},
|
| 99 |
+
"failed_keys": [],
|
| 100 |
+
"failure_code": null,
|
| 101 |
+
"failure_messages": {},
|
| 102 |
+
"safety": {
|
| 103 |
+
"policy": {
|
| 104 |
+
"skill": "pick",
|
| 105 |
+
"target_object": "beaker_a",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_a"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/beaker_2"
|
| 112 |
+
],
|
| 113 |
+
"allowed_prim_substrings": [],
|
| 114 |
+
"robot_prim_substrings": [
|
| 115 |
+
"Robotiq2F85",
|
| 116 |
+
"Robotiq_2F_85",
|
| 117 |
+
"contact_sensor",
|
| 118 |
+
"dummy_base_prismatic_x_joint",
|
| 119 |
+
"dummy_base_prismatic_y_joint",
|
| 120 |
+
"dummy_base_revolute_z_joint",
|
| 121 |
+
"elbow_joint",
|
| 122 |
+
"festo",
|
| 123 |
+
"finger",
|
| 124 |
+
"fr3",
|
| 125 |
+
"fr3_duo_mobile",
|
| 126 |
+
"fr3_joint1",
|
| 127 |
+
"fr3_joint2",
|
| 128 |
+
"fr3_joint3",
|
| 129 |
+
"fr3_joint4",
|
| 130 |
+
"fr3_joint5",
|
| 131 |
+
"fr3_joint6",
|
| 132 |
+
"fr3_joint7",
|
| 133 |
+
"fr3_leftfinger",
|
| 134 |
+
"fr3_rightfinger",
|
| 135 |
+
"franka",
|
| 136 |
+
"geometry",
|
| 137 |
+
"gripper",
|
| 138 |
+
"gripper_center",
|
| 139 |
+
"joint1",
|
| 140 |
+
"joint2",
|
| 141 |
+
"joint3",
|
| 142 |
+
"joint4",
|
| 143 |
+
"joint5",
|
| 144 |
+
"joint6",
|
| 145 |
+
"joint7",
|
| 146 |
+
"left_inner_finger",
|
| 147 |
+
"lift2",
|
| 148 |
+
"mobile_rotate",
|
| 149 |
+
"mobile_translate_x",
|
| 150 |
+
"mobile_translate_y",
|
| 151 |
+
"panda_joint1",
|
| 152 |
+
"panda_joint2",
|
| 153 |
+
"panda_joint3",
|
| 154 |
+
"panda_joint4",
|
| 155 |
+
"panda_joint5",
|
| 156 |
+
"panda_joint6",
|
| 157 |
+
"panda_joint7",
|
| 158 |
+
"panda_leftfinger",
|
| 159 |
+
"panda_leftfingertip",
|
| 160 |
+
"panda_rightfinger",
|
| 161 |
+
"panda_rightfingertip",
|
| 162 |
+
"ridgebase",
|
| 163 |
+
"ridgebase_festo",
|
| 164 |
+
"ridgebase_fr3",
|
| 165 |
+
"ridgebase_rizon4",
|
| 166 |
+
"ridgebase_ur16e",
|
| 167 |
+
"ridgebase_ur5e",
|
| 168 |
+
"right_inner_finger",
|
| 169 |
+
"rizon4",
|
| 170 |
+
"robot",
|
| 171 |
+
"robotiq_2f85",
|
| 172 |
+
"shoulder_lift_joint",
|
| 173 |
+
"shoulder_pan_joint",
|
| 174 |
+
"split_aloha",
|
| 175 |
+
"tool_center",
|
| 176 |
+
"ur16e",
|
| 177 |
+
"ur5e",
|
| 178 |
+
"visuals",
|
| 179 |
+
"wrist",
|
| 180 |
+
"wrist_1_joint",
|
| 181 |
+
"wrist_2_joint",
|
| 182 |
+
"wrist_3_joint"
|
| 183 |
+
],
|
| 184 |
+
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|
| 565 |
+
"joint3",
|
| 566 |
+
"joint4",
|
| 567 |
+
"joint5",
|
| 568 |
+
"joint6",
|
| 569 |
+
"joint7",
|
| 570 |
+
"left_inner_finger",
|
| 571 |
+
"lift2",
|
| 572 |
+
"mobile_rotate",
|
| 573 |
+
"mobile_translate_x",
|
| 574 |
+
"mobile_translate_y",
|
| 575 |
+
"panda_joint1",
|
| 576 |
+
"panda_joint2",
|
| 577 |
+
"panda_joint3",
|
| 578 |
+
"panda_joint4",
|
| 579 |
+
"panda_joint5",
|
| 580 |
+
"panda_joint6",
|
| 581 |
+
"panda_joint7",
|
| 582 |
+
"panda_leftfinger",
|
| 583 |
+
"panda_leftfingertip",
|
| 584 |
+
"panda_rightfinger",
|
| 585 |
+
"panda_rightfingertip",
|
| 586 |
+
"ridgebase",
|
| 587 |
+
"ridgebase_festo",
|
| 588 |
+
"ridgebase_fr3",
|
| 589 |
+
"ridgebase_rizon4",
|
| 590 |
+
"ridgebase_ur16e",
|
| 591 |
+
"ridgebase_ur5e",
|
| 592 |
+
"right_inner_finger",
|
| 593 |
+
"rizon4",
|
| 594 |
+
"robot",
|
| 595 |
+
"robotiq_2f85",
|
| 596 |
+
"shoulder_lift_joint",
|
| 597 |
+
"shoulder_pan_joint",
|
| 598 |
+
"split_aloha",
|
| 599 |
+
"tool_center",
|
| 600 |
+
"ur16e",
|
| 601 |
+
"ur5e",
|
| 602 |
+
"visuals",
|
| 603 |
+
"wrist",
|
| 604 |
+
"wrist_1_joint",
|
| 605 |
+
"wrist_2_joint",
|
| 606 |
+
"wrist_3_joint"
|
| 607 |
+
],
|
| 608 |
+
"ignored_prim_substrings": [
|
| 609 |
+
"base_link",
|
| 610 |
+
"caster",
|
| 611 |
+
"defaultgroundplane",
|
| 612 |
+
"desk",
|
| 613 |
+
"floor",
|
| 614 |
+
"ground",
|
| 615 |
+
"groundplane",
|
| 616 |
+
"link0",
|
| 617 |
+
"table",
|
| 618 |
+
"wheel",
|
| 619 |
+
"workbench"
|
| 620 |
+
],
|
| 621 |
+
"enabled": true
|
| 622 |
+
},
|
| 623 |
+
"status": "active",
|
| 624 |
+
"passed": true,
|
| 625 |
+
"source_missing": false,
|
| 626 |
+
"forbidden": [],
|
| 627 |
+
"disturbances": [],
|
| 628 |
+
"last_frame": {
|
| 629 |
+
"passed": true,
|
| 630 |
+
"source_missing": false,
|
| 631 |
+
"forbidden": [],
|
| 632 |
+
"allowed": [],
|
| 633 |
+
"ignored": [],
|
| 634 |
+
"failed_keys": []
|
| 635 |
+
},
|
| 636 |
+
"failed_keys": []
|
| 637 |
+
}
|
| 638 |
+
},
|
| 639 |
+
"gripper": null,
|
| 640 |
+
"post_done_wait_frames": 0,
|
| 641 |
+
"post_done_wait_exhausted": false
|
| 642 |
+
},
|
| 643 |
+
"physical_semantics": {
|
| 644 |
+
"skill": "place",
|
| 645 |
+
"target": "inspection_platform",
|
| 646 |
+
"attach_used": false,
|
| 647 |
+
"attach_object": null,
|
| 648 |
+
"attach_object_path": null,
|
| 649 |
+
"attach_allowed": false,
|
| 650 |
+
"ordinary_object_physical_only": true
|
| 651 |
+
}
|
| 652 |
+
}
|
| 653 |
+
],
|
| 654 |
+
"physical_semantics": {
|
| 655 |
+
"attach_records": [],
|
| 656 |
+
"ordinary_attach_violations": [],
|
| 657 |
+
"forbidden_shortcuts_absent": true
|
| 658 |
+
},
|
| 659 |
+
"h5_episode_index": 60,
|
| 660 |
+
"reproducibility": {
|
| 661 |
+
"enabled": true,
|
| 662 |
+
"action_seed": 3987082320295684552,
|
| 663 |
+
"physical_seed": 1590733738191871905,
|
| 664 |
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"layout_id": "layout_00010",
|
| 665 |
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"step_seeds": [
|
| 666 |
+
3913869556532046801,
|
| 667 |
+
6355663699133699465,
|
| 668 |
+
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|
| 669 |
+
],
|
| 670 |
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"workflow_spec_digest": "6520f0f0d16188839ba1d67eee619bd2515589472fde477e2dddeda8a503787d",
|
| 671 |
+
"strict_task_state": false,
|
| 672 |
+
"allow_physical_randomization": true,
|
| 673 |
+
"seed_source": "workflow.reproducibility",
|
| 674 |
+
"task_island_state_digest": "5181b563cea627143cea4e8763d249d179ba5af73bf70c7f720be65e27119e36",
|
| 675 |
+
"visual_seed": 5323260486401387609,
|
| 676 |
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"episode_index": 60,
|
| 677 |
+
"physical_randomization_enabled": true,
|
| 678 |
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"motion_controller_type": "ik_servo",
|
| 679 |
+
"runtime_step_seeds": [
|
| 680 |
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|
| 681 |
+
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|
| 682 |
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|
| 683 |
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],
|
| 684 |
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"runtime_workflow_digest": "fd2f96414d5086f996ec463a1c17000b97fa3dfdeee6fdd2b79e682dc47b4981"
|
| 685 |
+
}
|
| 686 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00010/results/episode_65_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00010/results/episode_66_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"episode": 66,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_a",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_a",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_a",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.29388208883786676,
|
| 26 |
+
-0.1796076202876149,
|
| 27 |
+
1.051139880539243
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.051139880539243,
|
| 30 |
+
"required_z": 0.8611064484101213,
|
| 31 |
+
"initial_z": 0.7611064484101213,
|
| 32 |
+
"lift_margin": 0.1900334321291216,
|
| 33 |
+
"gripper_z": 1.0540424132798552,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.2903631600216297,
|
| 38 |
+
-0.1835528885147638,
|
| 39 |
+
1.0540424132798552
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.0035189288162370547,
|
| 43 |
+
0.0039452682271489126,
|
| 44 |
+
-0.0029025327406122514
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.005286586932785106,
|
| 47 |
+
"object_to_gripper_z": -0.0029025327406122514,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.29388208883786676,
|
| 51 |
+
-0.20304460105030162,
|
| 52 |
+
1.051139880539243
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.2836178999298239,
|
| 56 |
+
-0.1796076202876149,
|
| 57 |
+
1.051139880539243
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.2887499943838453,
|
| 61 |
+
-0.19132611066895827,
|
| 62 |
+
1.051139880539243
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005132094454021463,
|
| 66 |
+
0.011718490381343372,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.02558604387572525,
|
| 70 |
+
"fingertip_max_gap": 0.10262285910257093,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.012793021937862647,
|
| 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": 1.051139880539243,
|
| 78 |
+
"object_top_z": 1.1058347081411193,
|
| 79 |
+
"finger_top_clearance": 0.054694827601876383,
|
| 80 |
+
"fingertip_min_top_clearance": 0.01640844828056288,
|
| 81 |
+
"object_projection_between_fingers": 0.8390677836864905,
|
| 82 |
+
"object_to_finger_line_xy": 0.009402063060269205,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.05381142955128547,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 4.845134356513542,
|
| 89 |
+
"object_max_tilt_deg": 15.0,
|
| 90 |
+
"object_upright_axis_local": [
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
1.0
|
| 94 |
+
],
|
| 95 |
+
"stable_success_frames": 205,
|
| 96 |
+
"max_stable_success_frames": 205,
|
| 97 |
+
"required_stable_lift_frames": 5
|
| 98 |
+
},
|
| 99 |
+
"failed_keys": [],
|
| 100 |
+
"failure_code": null,
|
| 101 |
+
"failure_messages": {},
|
| 102 |
+
"safety": {
|
| 103 |
+
"policy": {
|
| 104 |
+
"skill": "pick",
|
| 105 |
+
"target_object": "beaker_a",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_a"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/beaker_2"
|
| 112 |
+
],
|
| 113 |
+
"allowed_prim_substrings": [],
|
| 114 |
+
"robot_prim_substrings": [
|
| 115 |
+
"Robotiq2F85",
|
| 116 |
+
"Robotiq_2F_85",
|
| 117 |
+
"contact_sensor",
|
| 118 |
+
"dummy_base_prismatic_x_joint",
|
| 119 |
+
"dummy_base_prismatic_y_joint",
|
| 120 |
+
"dummy_base_revolute_z_joint",
|
| 121 |
+
"elbow_joint",
|
| 122 |
+
"festo",
|
| 123 |
+
"finger",
|
| 124 |
+
"fr3",
|
| 125 |
+
"fr3_duo_mobile",
|
| 126 |
+
"fr3_joint1",
|
| 127 |
+
"fr3_joint2",
|
| 128 |
+
"fr3_joint3",
|
| 129 |
+
"fr3_joint4",
|
| 130 |
+
"fr3_joint5",
|
| 131 |
+
"fr3_joint6",
|
| 132 |
+
"fr3_joint7",
|
| 133 |
+
"fr3_leftfinger",
|
| 134 |
+
"fr3_rightfinger",
|
| 135 |
+
"franka",
|
| 136 |
+
"geometry",
|
| 137 |
+
"gripper",
|
| 138 |
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"max_placed_release_frames": 219
|
| 520 |
+
},
|
| 521 |
+
"failed_keys": [],
|
| 522 |
+
"failure_code": null,
|
| 523 |
+
"failure_messages": {},
|
| 524 |
+
"safety": {
|
| 525 |
+
"policy": {
|
| 526 |
+
"skill": "place",
|
| 527 |
+
"target_object": "inspection_platform",
|
| 528 |
+
"held_object": "beaker_a",
|
| 529 |
+
"allowed_objects": [
|
| 530 |
+
"beaker_a",
|
| 531 |
+
"inspection_platform"
|
| 532 |
+
],
|
| 533 |
+
"allowed_object_paths": [
|
| 534 |
+
"/World/beaker_2",
|
| 535 |
+
"/World/target_plat"
|
| 536 |
+
],
|
| 537 |
+
"allowed_prim_substrings": [],
|
| 538 |
+
"robot_prim_substrings": [
|
| 539 |
+
"Robotiq2F85",
|
| 540 |
+
"Robotiq_2F_85",
|
| 541 |
+
"contact_sensor",
|
| 542 |
+
"dummy_base_prismatic_x_joint",
|
| 543 |
+
"dummy_base_prismatic_y_joint",
|
| 544 |
+
"dummy_base_revolute_z_joint",
|
| 545 |
+
"elbow_joint",
|
| 546 |
+
"festo",
|
| 547 |
+
"finger",
|
| 548 |
+
"fr3",
|
| 549 |
+
"fr3_duo_mobile",
|
| 550 |
+
"fr3_joint1",
|
| 551 |
+
"fr3_joint2",
|
| 552 |
+
"fr3_joint3",
|
| 553 |
+
"fr3_joint4",
|
| 554 |
+
"fr3_joint5",
|
| 555 |
+
"fr3_joint6",
|
| 556 |
+
"fr3_joint7",
|
| 557 |
+
"fr3_leftfinger",
|
| 558 |
+
"fr3_rightfinger",
|
| 559 |
+
"franka",
|
| 560 |
+
"geometry",
|
| 561 |
+
"gripper",
|
| 562 |
+
"gripper_center",
|
| 563 |
+
"joint1",
|
| 564 |
+
"joint2",
|
| 565 |
+
"joint3",
|
| 566 |
+
"joint4",
|
| 567 |
+
"joint5",
|
| 568 |
+
"joint6",
|
| 569 |
+
"joint7",
|
| 570 |
+
"left_inner_finger",
|
| 571 |
+
"lift2",
|
| 572 |
+
"mobile_rotate",
|
| 573 |
+
"mobile_translate_x",
|
| 574 |
+
"mobile_translate_y",
|
| 575 |
+
"panda_joint1",
|
| 576 |
+
"panda_joint2",
|
| 577 |
+
"panda_joint3",
|
| 578 |
+
"panda_joint4",
|
| 579 |
+
"panda_joint5",
|
| 580 |
+
"panda_joint6",
|
| 581 |
+
"panda_joint7",
|
| 582 |
+
"panda_leftfinger",
|
| 583 |
+
"panda_leftfingertip",
|
| 584 |
+
"panda_rightfinger",
|
| 585 |
+
"panda_rightfingertip",
|
| 586 |
+
"ridgebase",
|
| 587 |
+
"ridgebase_festo",
|
| 588 |
+
"ridgebase_fr3",
|
| 589 |
+
"ridgebase_rizon4",
|
| 590 |
+
"ridgebase_ur16e",
|
| 591 |
+
"ridgebase_ur5e",
|
| 592 |
+
"right_inner_finger",
|
| 593 |
+
"rizon4",
|
| 594 |
+
"robot",
|
| 595 |
+
"robotiq_2f85",
|
| 596 |
+
"shoulder_lift_joint",
|
| 597 |
+
"shoulder_pan_joint",
|
| 598 |
+
"split_aloha",
|
| 599 |
+
"tool_center",
|
| 600 |
+
"ur16e",
|
| 601 |
+
"ur5e",
|
| 602 |
+
"visuals",
|
| 603 |
+
"wrist",
|
| 604 |
+
"wrist_1_joint",
|
| 605 |
+
"wrist_2_joint",
|
| 606 |
+
"wrist_3_joint"
|
| 607 |
+
],
|
| 608 |
+
"ignored_prim_substrings": [
|
| 609 |
+
"base_link",
|
| 610 |
+
"caster",
|
| 611 |
+
"defaultgroundplane",
|
| 612 |
+
"desk",
|
| 613 |
+
"floor",
|
| 614 |
+
"ground",
|
| 615 |
+
"groundplane",
|
| 616 |
+
"link0",
|
| 617 |
+
"table",
|
| 618 |
+
"wheel",
|
| 619 |
+
"workbench"
|
| 620 |
+
],
|
| 621 |
+
"enabled": true
|
| 622 |
+
},
|
| 623 |
+
"status": "active",
|
| 624 |
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"passed": true,
|
| 625 |
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"source_missing": false,
|
| 626 |
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"forbidden": [],
|
| 627 |
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"disturbances": [],
|
| 628 |
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"last_frame": {
|
| 629 |
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"passed": true,
|
| 630 |
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"source_missing": false,
|
| 631 |
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"forbidden": [],
|
| 632 |
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"allowed": [],
|
| 633 |
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"ignored": [],
|
| 634 |
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"failed_keys": []
|
| 635 |
+
},
|
| 636 |
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"failed_keys": []
|
| 637 |
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}
|
| 638 |
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},
|
| 639 |
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"gripper": null,
|
| 640 |
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"post_done_wait_frames": 0,
|
| 641 |
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"post_done_wait_exhausted": false
|
| 642 |
+
},
|
| 643 |
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"physical_semantics": {
|
| 644 |
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"skill": "place",
|
| 645 |
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"target": "inspection_platform",
|
| 646 |
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"attach_used": false,
|
| 647 |
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"attach_object": null,
|
| 648 |
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"attach_object_path": null,
|
| 649 |
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"attach_allowed": false,
|
| 650 |
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"ordinary_object_physical_only": true
|
| 651 |
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}
|
| 652 |
+
}
|
| 653 |
+
],
|
| 654 |
+
"physical_semantics": {
|
| 655 |
+
"attach_records": [],
|
| 656 |
+
"ordinary_attach_violations": [],
|
| 657 |
+
"forbidden_shortcuts_absent": true
|
| 658 |
+
},
|
| 659 |
+
"h5_episode_index": 66,
|
| 660 |
+
"reproducibility": {
|
| 661 |
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"enabled": true,
|
| 662 |
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"action_seed": 3987082320295684552,
|
| 663 |
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"physical_seed": 1590733738191871905,
|
| 664 |
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"layout_id": "layout_00010",
|
| 665 |
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"step_seeds": [
|
| 666 |
+
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|
| 667 |
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|
| 668 |
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|
| 669 |
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],
|
| 670 |
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"workflow_spec_digest": "6520f0f0d16188839ba1d67eee619bd2515589472fde477e2dddeda8a503787d",
|
| 671 |
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"strict_task_state": false,
|
| 672 |
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"allow_physical_randomization": true,
|
| 673 |
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"seed_source": "workflow.reproducibility",
|
| 674 |
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"task_island_state_digest": "48026db5cfce5ebfcf028d0c883a29fb915d39adf525a4138e262dac357f5827",
|
| 675 |
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"visual_seed": 6679082575455470932,
|
| 676 |
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"episode_index": 66,
|
| 677 |
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"physical_randomization_enabled": true,
|
| 678 |
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"motion_controller_type": "ik_servo",
|
| 679 |
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"runtime_step_seeds": [
|
| 680 |
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|
| 681 |
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|
| 682 |
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|
| 683 |
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],
|
| 684 |
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"runtime_workflow_digest": "fd2f96414d5086f996ec463a1c17000b97fa3dfdeee6fdd2b79e682dc47b4981"
|
| 685 |
+
}
|
| 686 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00010/results/episode_67_success.json
ADDED
|
@@ -0,0 +1,686 @@
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| 1 |
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| 2 |
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| 3 |
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| 4 |
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| 5 |
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| 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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| 25 |
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| 30 |
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| 34 |
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| 37 |
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|
ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00010/results/episode_68_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 68,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_a",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_a",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_a",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.29134549110434815,
|
| 26 |
+
-0.1718450298663326,
|
| 27 |
+
1.0531564832601161
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0531564832601161,
|
| 30 |
+
"required_z": 0.8611064484101212,
|
| 31 |
+
"initial_z": 0.7611064484101212,
|
| 32 |
+
"lift_margin": 0.19205003484999494,
|
| 33 |
+
"gripper_z": 1.0559488281756726,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.2879081632183095,
|
| 38 |
+
-0.17579861179142453,
|
| 39 |
+
1.0559488281756726
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.003437327886038677,
|
| 43 |
+
0.003953581925091931,
|
| 44 |
+
-0.002792344915556466
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.005238896165658634,
|
| 47 |
+
"object_to_gripper_z": -0.002792344915556466,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.29134549110434815,
|
| 51 |
+
-0.19514162661515203,
|
| 52 |
+
1.0531564832601161
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.2809358410046107,
|
| 56 |
+
-0.1718450298663326,
|
| 57 |
+
1.0531564832601161
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.2861406660544794,
|
| 61 |
+
-0.18349332824074233,
|
| 62 |
+
1.0531564832601161
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005204825049868744,
|
| 66 |
+
0.011648298374409727,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.025516509073070074,
|
| 70 |
+
"fingertip_max_gap": 0.0932637468784138,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.012758254536535061,
|
| 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": 1.0531564832601161,
|
| 78 |
+
"object_top_z": 1.1031700607141515,
|
| 79 |
+
"finger_top_clearance": 0.05001357745403534,
|
| 80 |
+
"fingertip_min_top_clearance": 0.015004073236210601,
|
| 81 |
+
"object_projection_between_fingers": 0.8335707149801627,
|
| 82 |
+
"object_to_finger_line_xy": 0.00950402031780411,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.0491318734392069,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 2.5492491389146554,
|
| 89 |
+
"object_max_tilt_deg": 15.0,
|
| 90 |
+
"object_upright_axis_local": [
|
| 91 |
+
0.0,
|
| 92 |
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|
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|
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|
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|
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],
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|
| 571 |
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|
| 572 |
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|
| 573 |
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|
| 574 |
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|
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|
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|
| 578 |
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|
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| 584 |
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|
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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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|
| 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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|
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|
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| 619 |
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|
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|
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|
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|
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|
| 686 |
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}
|
ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00010/results/episode_6_success.json
ADDED
|
@@ -0,0 +1,686 @@
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| 1 |
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| 2 |
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| 3 |
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| 4 |
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| 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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| 39 |
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| 43 |
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| 49 |
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| 67 |
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| 115 |
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| 116 |
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| 117 |
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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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| 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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| 160 |
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| 161 |
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| 162 |
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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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| 182 |
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| 183 |
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| 188 |
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| 193 |
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| 253 |
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| 661 |
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"enabled": true,
|
| 662 |
+
"action_seed": 3987082320295684552,
|
| 663 |
+
"physical_seed": 1590733738191871905,
|
| 664 |
+
"layout_id": "layout_00010",
|
| 665 |
+
"step_seeds": [
|
| 666 |
+
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|
| 667 |
+
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|
| 668 |
+
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|
| 669 |
+
],
|
| 670 |
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"workflow_spec_digest": "6520f0f0d16188839ba1d67eee619bd2515589472fde477e2dddeda8a503787d",
|
| 671 |
+
"strict_task_state": false,
|
| 672 |
+
"allow_physical_randomization": true,
|
| 673 |
+
"seed_source": "workflow.reproducibility",
|
| 674 |
+
"task_island_state_digest": "2442f7dc517a5dec7d60dc502cb78cc674714b3554fb2c56da1ab8b09bec9340",
|
| 675 |
+
"visual_seed": 2559948989796625028,
|
| 676 |
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"episode_index": 6,
|
| 677 |
+
"physical_randomization_enabled": true,
|
| 678 |
+
"motion_controller_type": "ik_servo",
|
| 679 |
+
"runtime_step_seeds": [
|
| 680 |
+
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|
| 681 |
+
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|
| 682 |
+
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|
| 683 |
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],
|
| 684 |
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"runtime_workflow_digest": "fd2f96414d5086f996ec463a1c17000b97fa3dfdeee6fdd2b79e682dc47b4981"
|
| 685 |
+
}
|
| 686 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00010/results/episode_70_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 70,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_a",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_a",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_a",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.2934153262518353,
|
| 26 |
+
-0.17794758838954242,
|
| 27 |
+
1.0498725554465564
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0498725554465564,
|
| 30 |
+
"required_z": 0.8611064484101213,
|
| 31 |
+
"initial_z": 0.7611064484101213,
|
| 32 |
+
"lift_margin": 0.18876610703643515,
|
| 33 |
+
"gripper_z": 1.0528970971407985,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.2896567652551125,
|
| 38 |
+
-0.18199469580829308,
|
| 39 |
+
1.0528970971407985
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.0037585609967227818,
|
| 43 |
+
0.004047107418750667,
|
| 44 |
+
-0.0030245416942420444
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.005523210952425449,
|
| 47 |
+
"object_to_gripper_z": -0.0030245416942420444,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.2934153262518353,
|
| 51 |
+
-0.20159739719720757,
|
| 52 |
+
1.0498725554465564
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.28309004263553295,
|
| 56 |
+
-0.17794758838954242,
|
| 57 |
+
1.0498725554465564
|
| 58 |
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|
ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00010/results/episode_71_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 71,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_a",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_a",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_a",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.28722604813732594,
|
| 26 |
+
-0.17055336863072496,
|
| 27 |
+
1.0475463123739215
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0475463123739215,
|
| 30 |
+
"required_z": 0.861106508014766,
|
| 31 |
+
"initial_z": 0.761106508014766,
|
| 32 |
+
"lift_margin": 0.18643980435915553,
|
| 33 |
+
"gripper_z": 1.0526509367796155,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.2835020510378874,
|
| 38 |
+
-0.1745685141460041,
|
| 39 |
+
1.0526509367796155
|
| 40 |
+
],
|
| 41 |
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"object_minus_gripper": [
|
| 42 |
+
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|
| 43 |
+
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|
| 44 |
+
-0.005104624405694036
|
| 45 |
+
],
|
| 46 |
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"object_to_gripper_xy": 0.0054762713506082755,
|
| 47 |
+
"object_to_gripper_z": -0.005104624405694036,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.28722604813732594,
|
| 51 |
+
-0.1941600227956302,
|
| 52 |
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|
| 53 |
+
],
|
| 54 |
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"finger_b": [
|
| 55 |
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0.2768970105745239,
|
| 56 |
+
-0.17055336863072496,
|
| 57 |
+
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|
| 58 |
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],
|
| 59 |
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"finger_midpoint": [
|
| 60 |
+
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|
| 61 |
+
-0.18235669571317759,
|
| 62 |
+
1.0475463123739215
|
| 63 |
+
],
|
| 64 |
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"object_minus_finger_midpoint": [
|
| 65 |
+
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|
| 66 |
+
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|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
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"finger_gap": 0.025767482178808476,
|
| 70 |
+
"fingertip_max_gap": 0.10338622018848972,
|
| 71 |
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"finger_z_skew": 0.0,
|
| 72 |
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"fingertip_z_skew_max": 0.035,
|
| 73 |
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"object_to_finger_midpoint_xy": 0.012883741089404252,
|
| 74 |
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"object_to_finger_midpoint_z": 0.0,
|
| 75 |
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"finger_midpoint_minus_object_z": 0.0,
|
| 76 |
+
"object_position_origin": "center",
|
| 77 |
+
"object_center_z_for_grasp": 1.0475463123739215,
|
| 78 |
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"object_top_z": 1.1017800865638803,
|
| 79 |
+
"finger_top_clearance": 0.05423377418995878,
|
| 80 |
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"fingertip_min_top_clearance": 0.01627013225698765,
|
| 81 |
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"object_projection_between_fingers": 0.8393148491321007,
|
| 82 |
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"object_to_finger_line_xy": 0.00946285771769796,
|
| 83 |
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"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.054193110094244865,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 5.492216532131636,
|
| 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": 202,
|
| 96 |
+
"max_stable_success_frames": 202,
|
| 97 |
+
"required_stable_lift_frames": 5
|
| 98 |
+
},
|
| 99 |
+
"failed_keys": [],
|
| 100 |
+
"failure_code": null,
|
| 101 |
+
"failure_messages": {},
|
| 102 |
+
"safety": {
|
| 103 |
+
"policy": {
|
| 104 |
+
"skill": "pick",
|
| 105 |
+
"target_object": "beaker_a",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_a"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/beaker_2"
|
| 112 |
+
],
|
| 113 |
+
"allowed_prim_substrings": [],
|
| 114 |
+
"robot_prim_substrings": [
|
| 115 |
+
"Robotiq2F85",
|
| 116 |
+
"Robotiq_2F_85",
|
| 117 |
+
"contact_sensor",
|
| 118 |
+
"dummy_base_prismatic_x_joint",
|
| 119 |
+
"dummy_base_prismatic_y_joint",
|
| 120 |
+
"dummy_base_revolute_z_joint",
|
| 121 |
+
"elbow_joint",
|
| 122 |
+
"festo",
|
| 123 |
+
"finger",
|
| 124 |
+
"fr3",
|
| 125 |
+
"fr3_duo_mobile",
|
| 126 |
+
"fr3_joint1",
|
| 127 |
+
"fr3_joint2",
|
| 128 |
+
"fr3_joint3",
|
| 129 |
+
"fr3_joint4",
|
| 130 |
+
"fr3_joint5",
|
| 131 |
+
"fr3_joint6",
|
| 132 |
+
"fr3_joint7",
|
| 133 |
+
"fr3_leftfinger",
|
| 134 |
+
"fr3_rightfinger",
|
| 135 |
+
"franka",
|
| 136 |
+
"geometry",
|
| 137 |
+
"gripper",
|
| 138 |
+
"gripper_center",
|
| 139 |
+
"joint1",
|
| 140 |
+
"joint2",
|
| 141 |
+
"joint3",
|
| 142 |
+
"joint4",
|
| 143 |
+
"joint5",
|
| 144 |
+
"joint6",
|
| 145 |
+
"joint7",
|
| 146 |
+
"left_inner_finger",
|
| 147 |
+
"lift2",
|
| 148 |
+
"mobile_rotate",
|
| 149 |
+
"mobile_translate_x",
|
| 150 |
+
"mobile_translate_y",
|
| 151 |
+
"panda_joint1",
|
| 152 |
+
"panda_joint2",
|
| 153 |
+
"panda_joint3",
|
| 154 |
+
"panda_joint4",
|
| 155 |
+
"panda_joint5",
|
| 156 |
+
"panda_joint6",
|
| 157 |
+
"panda_joint7",
|
| 158 |
+
"panda_leftfinger",
|
| 159 |
+
"panda_leftfingertip",
|
| 160 |
+
"panda_rightfinger",
|
| 161 |
+
"panda_rightfingertip",
|
| 162 |
+
"ridgebase",
|
| 163 |
+
"ridgebase_festo",
|
| 164 |
+
"ridgebase_fr3",
|
| 165 |
+
"ridgebase_rizon4",
|
| 166 |
+
"ridgebase_ur16e",
|
| 167 |
+
"ridgebase_ur5e",
|
| 168 |
+
"right_inner_finger",
|
| 169 |
+
"rizon4",
|
| 170 |
+
"robot",
|
| 171 |
+
"robotiq_2f85",
|
| 172 |
+
"shoulder_lift_joint",
|
| 173 |
+
"shoulder_pan_joint",
|
| 174 |
+
"split_aloha",
|
| 175 |
+
"tool_center",
|
| 176 |
+
"ur16e",
|
| 177 |
+
"ur5e",
|
| 178 |
+
"visuals",
|
| 179 |
+
"wrist",
|
| 180 |
+
"wrist_1_joint",
|
| 181 |
+
"wrist_2_joint",
|
| 182 |
+
"wrist_3_joint"
|
| 183 |
+
],
|
| 184 |
+
"ignored_prim_substrings": [
|
| 185 |
+
"base_link",
|
| 186 |
+
"caster",
|
| 187 |
+
"defaultgroundplane",
|
| 188 |
+
"desk",
|
| 189 |
+
"floor",
|
| 190 |
+
"ground",
|
| 191 |
+
"groundplane",
|
| 192 |
+
"link0",
|
| 193 |
+
"table",
|
| 194 |
+
"wheel",
|
| 195 |
+
"workbench"
|
| 196 |
+
],
|
| 197 |
+
"enabled": true
|
| 198 |
+
},
|
| 199 |
+
"status": "active",
|
| 200 |
+
"passed": true,
|
| 201 |
+
"source_missing": false,
|
| 202 |
+
"forbidden": [],
|
| 203 |
+
"disturbances": [],
|
| 204 |
+
"last_frame": {
|
| 205 |
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"passed": true,
|
| 206 |
+
"source_missing": false,
|
| 207 |
+
"forbidden": [],
|
| 208 |
+
"allowed": [
|
| 209 |
+
{
|
| 210 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 211 |
+
"b": "/World/beaker_2/mesh"
|
| 212 |
+
},
|
| 213 |
+
{
|
| 214 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 215 |
+
"b": "/World/beaker_2/mesh"
|
| 216 |
+
}
|
| 217 |
+
],
|
| 218 |
+
"ignored": [],
|
| 219 |
+
"failed_keys": []
|
| 220 |
+
},
|
| 221 |
+
"failed_keys": []
|
| 222 |
+
}
|
| 223 |
+
},
|
| 224 |
+
"gripper": null,
|
| 225 |
+
"post_done_wait_frames": 0,
|
| 226 |
+
"post_done_wait_exhausted": false
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|
| 611 |
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"defaultgroundplane",
|
| 612 |
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"desk",
|
| 613 |
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"floor",
|
| 614 |
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"ground",
|
| 615 |
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"groundplane",
|
| 616 |
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"link0",
|
| 617 |
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"table",
|
| 618 |
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"wheel",
|
| 619 |
+
"workbench"
|
| 620 |
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],
|
| 621 |
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"enabled": true
|
| 622 |
+
},
|
| 623 |
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"status": "active",
|
| 624 |
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"passed": true,
|
| 625 |
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|
| 626 |
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|
| 627 |
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|
| 628 |
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"last_frame": {
|
| 629 |
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"passed": true,
|
| 630 |
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"source_missing": false,
|
| 631 |
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"forbidden": [],
|
| 632 |
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|
| 633 |
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|
| 634 |
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|
| 635 |
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|
| 636 |
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|
| 637 |
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|
| 638 |
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|
| 639 |
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|
| 640 |
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|
| 641 |
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|
| 642 |
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},
|
| 643 |
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"physical_semantics": {
|
| 644 |
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"skill": "place",
|
| 645 |
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"target": "inspection_platform",
|
| 646 |
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"attach_used": false,
|
| 647 |
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"attach_object": null,
|
| 648 |
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|
| 649 |
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"attach_allowed": false,
|
| 650 |
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"ordinary_object_physical_only": true
|
| 651 |
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|
| 652 |
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}
|
| 653 |
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],
|
| 654 |
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"physical_semantics": {
|
| 655 |
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"attach_records": [],
|
| 656 |
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"ordinary_attach_violations": [],
|
| 657 |
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"forbidden_shortcuts_absent": true
|
| 658 |
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},
|
| 659 |
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"h5_episode_index": 71,
|
| 660 |
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"reproducibility": {
|
| 661 |
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"enabled": true,
|
| 662 |
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"action_seed": 3987082320295684552,
|
| 663 |
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"physical_seed": 1590733738191871905,
|
| 664 |
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"layout_id": "layout_00010",
|
| 665 |
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"step_seeds": [
|
| 666 |
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|
| 667 |
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|
| 668 |
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|
| 669 |
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|
| 670 |
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|
| 671 |
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|
| 672 |
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|
| 673 |
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|
| 674 |
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|
| 675 |
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|
| 676 |
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|
| 677 |
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|
| 678 |
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|
| 679 |
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|
| 680 |
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|
| 681 |
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|
| 682 |
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|
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|
| 684 |
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|
| 685 |
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}
|
| 686 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00010/results/episode_72_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 72,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_a",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
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|
ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00010/results/episode_74_success.json
ADDED
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@@ -0,0 +1,686 @@
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|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 74,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_a",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_a",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_a",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.28814570753946733,
|
| 26 |
+
-0.1737036292567924,
|
| 27 |
+
1.0514208067814743
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0514208067814743,
|
| 30 |
+
"required_z": 0.8611065676194108,
|
| 31 |
+
"initial_z": 0.7611065676194109,
|
| 32 |
+
"lift_margin": 0.19031423916206347,
|
| 33 |
+
"gripper_z": 1.0544125562269295,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.28427189782390105,
|
| 38 |
+
-0.17786124952540788,
|
| 39 |
+
1.0544125562269295
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.0038738097155662787,
|
| 43 |
+
0.004157620268615492,
|
| 44 |
+
-0.0029917494454552163
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.005682623338777439,
|
| 47 |
+
"object_to_gripper_z": -0.0029917494454552163,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.28814570753946733,
|
| 51 |
+
-0.19736252248632907,
|
| 52 |
+
1.0514208067814743
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.27750356965095957,
|
| 56 |
+
-0.1737036292567924,
|
| 57 |
+
1.0514208067814743
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.28282463859521345,
|
| 61 |
+
-0.18553307587156073,
|
| 62 |
+
1.0514208067814743
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005321068944253882,
|
| 66 |
+
0.01182944661476834,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.025942211310615543,
|
| 70 |
+
"fingertip_max_gap": 0.09562490326092168,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.012971105655307772,
|
| 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": 1.0514208067814743,
|
| 78 |
+
"object_top_z": 1.1026287356850544,
|
| 79 |
+
"finger_top_clearance": 0.05120792890358006,
|
| 80 |
+
"fingertip_min_top_clearance": 0.015362378671073984,
|
| 81 |
+
"object_projection_between_fingers": 0.8317156311106252,
|
| 82 |
+
"object_to_finger_line_xy": 0.009705464234468858,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.050312451630460844,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 3.037217568550485,
|
| 89 |
+
"object_max_tilt_deg": 15.0,
|
| 90 |
+
"object_upright_axis_local": [
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
1.0
|
| 94 |
+
],
|
| 95 |
+
"stable_success_frames": 205,
|
| 96 |
+
"max_stable_success_frames": 205,
|
| 97 |
+
"required_stable_lift_frames": 5
|
| 98 |
+
},
|
| 99 |
+
"failed_keys": [],
|
| 100 |
+
"failure_code": null,
|
| 101 |
+
"failure_messages": {},
|
| 102 |
+
"safety": {
|
| 103 |
+
"policy": {
|
| 104 |
+
"skill": "pick",
|
| 105 |
+
"target_object": "beaker_a",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_a"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/beaker_2"
|
| 112 |
+
],
|
| 113 |
+
"allowed_prim_substrings": [],
|
| 114 |
+
"robot_prim_substrings": [
|
| 115 |
+
"Robotiq2F85",
|
| 116 |
+
"Robotiq_2F_85",
|
| 117 |
+
"contact_sensor",
|
| 118 |
+
"dummy_base_prismatic_x_joint",
|
| 119 |
+
"dummy_base_prismatic_y_joint",
|
| 120 |
+
"dummy_base_revolute_z_joint",
|
| 121 |
+
"elbow_joint",
|
| 122 |
+
"festo",
|
| 123 |
+
"finger",
|
| 124 |
+
"fr3",
|
| 125 |
+
"fr3_duo_mobile",
|
| 126 |
+
"fr3_joint1",
|
| 127 |
+
"fr3_joint2",
|
| 128 |
+
"fr3_joint3",
|
| 129 |
+
"fr3_joint4",
|
| 130 |
+
"fr3_joint5",
|
| 131 |
+
"fr3_joint6",
|
| 132 |
+
"fr3_joint7",
|
| 133 |
+
"fr3_leftfinger",
|
| 134 |
+
"fr3_rightfinger",
|
| 135 |
+
"franka",
|
| 136 |
+
"geometry",
|
| 137 |
+
"gripper",
|
| 138 |
+
"gripper_center",
|
| 139 |
+
"joint1",
|
| 140 |
+
"joint2",
|
| 141 |
+
"joint3",
|
| 142 |
+
"joint4",
|
| 143 |
+
"joint5",
|
| 144 |
+
"joint6",
|
| 145 |
+
"joint7",
|
| 146 |
+
"left_inner_finger",
|
| 147 |
+
"lift2",
|
| 148 |
+
"mobile_rotate",
|
| 149 |
+
"mobile_translate_x",
|
| 150 |
+
"mobile_translate_y",
|
| 151 |
+
"panda_joint1",
|
| 152 |
+
"panda_joint2",
|
| 153 |
+
"panda_joint3",
|
| 154 |
+
"panda_joint4",
|
| 155 |
+
"panda_joint5",
|
| 156 |
+
"panda_joint6",
|
| 157 |
+
"panda_joint7",
|
| 158 |
+
"panda_leftfinger",
|
| 159 |
+
"panda_leftfingertip",
|
| 160 |
+
"panda_rightfinger",
|
| 161 |
+
"panda_rightfingertip",
|
| 162 |
+
"ridgebase",
|
| 163 |
+
"ridgebase_festo",
|
| 164 |
+
"ridgebase_fr3",
|
| 165 |
+
"ridgebase_rizon4",
|
| 166 |
+
"ridgebase_ur16e",
|
| 167 |
+
"ridgebase_ur5e",
|
| 168 |
+
"right_inner_finger",
|
| 169 |
+
"rizon4",
|
| 170 |
+
"robot",
|
| 171 |
+
"robotiq_2f85",
|
| 172 |
+
"shoulder_lift_joint",
|
| 173 |
+
"shoulder_pan_joint",
|
| 174 |
+
"split_aloha",
|
| 175 |
+
"tool_center",
|
| 176 |
+
"ur16e",
|
| 177 |
+
"ur5e",
|
| 178 |
+
"visuals",
|
| 179 |
+
"wrist",
|
| 180 |
+
"wrist_1_joint",
|
| 181 |
+
"wrist_2_joint",
|
| 182 |
+
"wrist_3_joint"
|
| 183 |
+
],
|
| 184 |
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"joint2",
|
| 565 |
+
"joint3",
|
| 566 |
+
"joint4",
|
| 567 |
+
"joint5",
|
| 568 |
+
"joint6",
|
| 569 |
+
"joint7",
|
| 570 |
+
"left_inner_finger",
|
| 571 |
+
"lift2",
|
| 572 |
+
"mobile_rotate",
|
| 573 |
+
"mobile_translate_x",
|
| 574 |
+
"mobile_translate_y",
|
| 575 |
+
"panda_joint1",
|
| 576 |
+
"panda_joint2",
|
| 577 |
+
"panda_joint3",
|
| 578 |
+
"panda_joint4",
|
| 579 |
+
"panda_joint5",
|
| 580 |
+
"panda_joint6",
|
| 581 |
+
"panda_joint7",
|
| 582 |
+
"panda_leftfinger",
|
| 583 |
+
"panda_leftfingertip",
|
| 584 |
+
"panda_rightfinger",
|
| 585 |
+
"panda_rightfingertip",
|
| 586 |
+
"ridgebase",
|
| 587 |
+
"ridgebase_festo",
|
| 588 |
+
"ridgebase_fr3",
|
| 589 |
+
"ridgebase_rizon4",
|
| 590 |
+
"ridgebase_ur16e",
|
| 591 |
+
"ridgebase_ur5e",
|
| 592 |
+
"right_inner_finger",
|
| 593 |
+
"rizon4",
|
| 594 |
+
"robot",
|
| 595 |
+
"robotiq_2f85",
|
| 596 |
+
"shoulder_lift_joint",
|
| 597 |
+
"shoulder_pan_joint",
|
| 598 |
+
"split_aloha",
|
| 599 |
+
"tool_center",
|
| 600 |
+
"ur16e",
|
| 601 |
+
"ur5e",
|
| 602 |
+
"visuals",
|
| 603 |
+
"wrist",
|
| 604 |
+
"wrist_1_joint",
|
| 605 |
+
"wrist_2_joint",
|
| 606 |
+
"wrist_3_joint"
|
| 607 |
+
],
|
| 608 |
+
"ignored_prim_substrings": [
|
| 609 |
+
"base_link",
|
| 610 |
+
"caster",
|
| 611 |
+
"defaultgroundplane",
|
| 612 |
+
"desk",
|
| 613 |
+
"floor",
|
| 614 |
+
"ground",
|
| 615 |
+
"groundplane",
|
| 616 |
+
"link0",
|
| 617 |
+
"table",
|
| 618 |
+
"wheel",
|
| 619 |
+
"workbench"
|
| 620 |
+
],
|
| 621 |
+
"enabled": true
|
| 622 |
+
},
|
| 623 |
+
"status": "active",
|
| 624 |
+
"passed": true,
|
| 625 |
+
"source_missing": false,
|
| 626 |
+
"forbidden": [],
|
| 627 |
+
"disturbances": [],
|
| 628 |
+
"last_frame": {
|
| 629 |
+
"passed": true,
|
| 630 |
+
"source_missing": false,
|
| 631 |
+
"forbidden": [],
|
| 632 |
+
"allowed": [],
|
| 633 |
+
"ignored": [],
|
| 634 |
+
"failed_keys": []
|
| 635 |
+
},
|
| 636 |
+
"failed_keys": []
|
| 637 |
+
}
|
| 638 |
+
},
|
| 639 |
+
"gripper": null,
|
| 640 |
+
"post_done_wait_frames": 0,
|
| 641 |
+
"post_done_wait_exhausted": false
|
| 642 |
+
},
|
| 643 |
+
"physical_semantics": {
|
| 644 |
+
"skill": "place",
|
| 645 |
+
"target": "inspection_platform",
|
| 646 |
+
"attach_used": false,
|
| 647 |
+
"attach_object": null,
|
| 648 |
+
"attach_object_path": null,
|
| 649 |
+
"attach_allowed": false,
|
| 650 |
+
"ordinary_object_physical_only": true
|
| 651 |
+
}
|
| 652 |
+
}
|
| 653 |
+
],
|
| 654 |
+
"physical_semantics": {
|
| 655 |
+
"attach_records": [],
|
| 656 |
+
"ordinary_attach_violations": [],
|
| 657 |
+
"forbidden_shortcuts_absent": true
|
| 658 |
+
},
|
| 659 |
+
"h5_episode_index": 74,
|
| 660 |
+
"reproducibility": {
|
| 661 |
+
"enabled": true,
|
| 662 |
+
"action_seed": 3987082320295684552,
|
| 663 |
+
"physical_seed": 1590733738191871905,
|
| 664 |
+
"layout_id": "layout_00010",
|
| 665 |
+
"step_seeds": [
|
| 666 |
+
3913869556532046801,
|
| 667 |
+
6355663699133699465,
|
| 668 |
+
4530951244343176879
|
| 669 |
+
],
|
| 670 |
+
"workflow_spec_digest": "6520f0f0d16188839ba1d67eee619bd2515589472fde477e2dddeda8a503787d",
|
| 671 |
+
"strict_task_state": false,
|
| 672 |
+
"allow_physical_randomization": true,
|
| 673 |
+
"seed_source": "workflow.reproducibility",
|
| 674 |
+
"task_island_state_digest": "a22e96438b61205d3e7d8bd28d89fcce178388f3e587a6a9dc045b63e6586798",
|
| 675 |
+
"visual_seed": 8139285948434382856,
|
| 676 |
+
"episode_index": 74,
|
| 677 |
+
"physical_randomization_enabled": true,
|
| 678 |
+
"motion_controller_type": "ik_servo",
|
| 679 |
+
"runtime_step_seeds": [
|
| 680 |
+
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|
| 681 |
+
6355663699133699465,
|
| 682 |
+
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|
| 683 |
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],
|
| 684 |
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"runtime_workflow_digest": "fd2f96414d5086f996ec463a1c17000b97fa3dfdeee6fdd2b79e682dc47b4981"
|
| 685 |
+
}
|
| 686 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00010/results/episode_75_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00010/results/episode_76_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"episode": 76,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_a",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_a",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_a",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.28629925429847897,
|
| 26 |
+
-0.17702066225397273,
|
| 27 |
+
1.0516160965958883
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0516160965958883,
|
| 30 |
+
"required_z": 0.8611065676194107,
|
| 31 |
+
"initial_z": 0.7611065676194108,
|
| 32 |
+
"lift_margin": 0.19050952897647755,
|
| 33 |
+
"gripper_z": 1.0554782554284055,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.2827599130380858,
|
| 38 |
+
-0.18090790494918102,
|
| 39 |
+
1.0554782554284055
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.0035393412603931806,
|
| 43 |
+
0.003887242695208293,
|
| 44 |
+
-0.0038621588325171707
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.005257146785944998,
|
| 47 |
+
"object_to_gripper_z": -0.0038621588325171707,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.28629925429847897,
|
| 51 |
+
-0.20068791239805928,
|
| 52 |
+
1.0516160965958883
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.2764230867441224,
|
| 56 |
+
-0.17702066225397273,
|
| 57 |
+
1.0516160965958883
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.2813611705213007,
|
| 61 |
+
-0.188854287326016,
|
| 62 |
+
1.0516160965958883
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.004938083777178248,
|
| 66 |
+
0.011833625072043275,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.025645222068535298,
|
| 70 |
+
"fingertip_max_gap": 0.09927331792148153,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.012822611034267638,
|
| 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": 1.0516160965958883,
|
| 78 |
+
"object_top_z": 1.1046148653738612,
|
| 79 |
+
"finger_top_clearance": 0.05299876877797294,
|
| 80 |
+
"fingertip_min_top_clearance": 0.015899630633391847,
|
| 81 |
+
"object_projection_between_fingers": 0.8516922075392269,
|
| 82 |
+
"object_to_finger_line_xy": 0.009114435716298636,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.05213665896074077,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 3.739308473894525,
|
| 89 |
+
"object_max_tilt_deg": 15.0,
|
| 90 |
+
"object_upright_axis_local": [
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
1.0
|
| 94 |
+
],
|
| 95 |
+
"stable_success_frames": 206,
|
| 96 |
+
"max_stable_success_frames": 206,
|
| 97 |
+
"required_stable_lift_frames": 5
|
| 98 |
+
},
|
| 99 |
+
"failed_keys": [],
|
| 100 |
+
"failure_code": null,
|
| 101 |
+
"failure_messages": {},
|
| 102 |
+
"safety": {
|
| 103 |
+
"policy": {
|
| 104 |
+
"skill": "pick",
|
| 105 |
+
"target_object": "beaker_a",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_a"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/beaker_2"
|
| 112 |
+
],
|
| 113 |
+
"allowed_prim_substrings": [],
|
| 114 |
+
"robot_prim_substrings": [
|
| 115 |
+
"Robotiq2F85",
|
| 116 |
+
"Robotiq_2F_85",
|
| 117 |
+
"contact_sensor",
|
| 118 |
+
"dummy_base_prismatic_x_joint",
|
| 119 |
+
"dummy_base_prismatic_y_joint",
|
| 120 |
+
"dummy_base_revolute_z_joint",
|
| 121 |
+
"elbow_joint",
|
| 122 |
+
"festo",
|
| 123 |
+
"finger",
|
| 124 |
+
"fr3",
|
| 125 |
+
"fr3_duo_mobile",
|
| 126 |
+
"fr3_joint1",
|
| 127 |
+
"fr3_joint2",
|
| 128 |
+
"fr3_joint3",
|
| 129 |
+
"fr3_joint4",
|
| 130 |
+
"fr3_joint5",
|
| 131 |
+
"fr3_joint6",
|
| 132 |
+
"fr3_joint7",
|
| 133 |
+
"fr3_leftfinger",
|
| 134 |
+
"fr3_rightfinger",
|
| 135 |
+
"franka",
|
| 136 |
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"geometry",
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| 519 |
+
"max_placed_release_frames": 227
|
| 520 |
+
},
|
| 521 |
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"failed_keys": [],
|
| 522 |
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"failure_code": null,
|
| 523 |
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"failure_messages": {},
|
| 524 |
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"safety": {
|
| 525 |
+
"policy": {
|
| 526 |
+
"skill": "place",
|
| 527 |
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"target_object": "inspection_platform",
|
| 528 |
+
"held_object": "beaker_a",
|
| 529 |
+
"allowed_objects": [
|
| 530 |
+
"beaker_a",
|
| 531 |
+
"inspection_platform"
|
| 532 |
+
],
|
| 533 |
+
"allowed_object_paths": [
|
| 534 |
+
"/World/beaker_2",
|
| 535 |
+
"/World/target_plat"
|
| 536 |
+
],
|
| 537 |
+
"allowed_prim_substrings": [],
|
| 538 |
+
"robot_prim_substrings": [
|
| 539 |
+
"Robotiq2F85",
|
| 540 |
+
"Robotiq_2F_85",
|
| 541 |
+
"contact_sensor",
|
| 542 |
+
"dummy_base_prismatic_x_joint",
|
| 543 |
+
"dummy_base_prismatic_y_joint",
|
| 544 |
+
"dummy_base_revolute_z_joint",
|
| 545 |
+
"elbow_joint",
|
| 546 |
+
"festo",
|
| 547 |
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"finger",
|
| 548 |
+
"fr3",
|
| 549 |
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"fr3_duo_mobile",
|
| 550 |
+
"fr3_joint1",
|
| 551 |
+
"fr3_joint2",
|
| 552 |
+
"fr3_joint3",
|
| 553 |
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"fr3_joint4",
|
| 554 |
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"fr3_joint5",
|
| 555 |
+
"fr3_joint6",
|
| 556 |
+
"fr3_joint7",
|
| 557 |
+
"fr3_leftfinger",
|
| 558 |
+
"fr3_rightfinger",
|
| 559 |
+
"franka",
|
| 560 |
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"geometry",
|
| 561 |
+
"gripper",
|
| 562 |
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"gripper_center",
|
| 563 |
+
"joint1",
|
| 564 |
+
"joint2",
|
| 565 |
+
"joint3",
|
| 566 |
+
"joint4",
|
| 567 |
+
"joint5",
|
| 568 |
+
"joint6",
|
| 569 |
+
"joint7",
|
| 570 |
+
"left_inner_finger",
|
| 571 |
+
"lift2",
|
| 572 |
+
"mobile_rotate",
|
| 573 |
+
"mobile_translate_x",
|
| 574 |
+
"mobile_translate_y",
|
| 575 |
+
"panda_joint1",
|
| 576 |
+
"panda_joint2",
|
| 577 |
+
"panda_joint3",
|
| 578 |
+
"panda_joint4",
|
| 579 |
+
"panda_joint5",
|
| 580 |
+
"panda_joint6",
|
| 581 |
+
"panda_joint7",
|
| 582 |
+
"panda_leftfinger",
|
| 583 |
+
"panda_leftfingertip",
|
| 584 |
+
"panda_rightfinger",
|
| 585 |
+
"panda_rightfingertip",
|
| 586 |
+
"ridgebase",
|
| 587 |
+
"ridgebase_festo",
|
| 588 |
+
"ridgebase_fr3",
|
| 589 |
+
"ridgebase_rizon4",
|
| 590 |
+
"ridgebase_ur16e",
|
| 591 |
+
"ridgebase_ur5e",
|
| 592 |
+
"right_inner_finger",
|
| 593 |
+
"rizon4",
|
| 594 |
+
"robot",
|
| 595 |
+
"robotiq_2f85",
|
| 596 |
+
"shoulder_lift_joint",
|
| 597 |
+
"shoulder_pan_joint",
|
| 598 |
+
"split_aloha",
|
| 599 |
+
"tool_center",
|
| 600 |
+
"ur16e",
|
| 601 |
+
"ur5e",
|
| 602 |
+
"visuals",
|
| 603 |
+
"wrist",
|
| 604 |
+
"wrist_1_joint",
|
| 605 |
+
"wrist_2_joint",
|
| 606 |
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"wrist_3_joint"
|
| 607 |
+
],
|
| 608 |
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"ignored_prim_substrings": [
|
| 609 |
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"base_link",
|
| 610 |
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"caster",
|
| 611 |
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"defaultgroundplane",
|
| 612 |
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"desk",
|
| 613 |
+
"floor",
|
| 614 |
+
"ground",
|
| 615 |
+
"groundplane",
|
| 616 |
+
"link0",
|
| 617 |
+
"table",
|
| 618 |
+
"wheel",
|
| 619 |
+
"workbench"
|
| 620 |
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],
|
| 621 |
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"enabled": true
|
| 622 |
+
},
|
| 623 |
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"status": "active",
|
| 624 |
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"passed": true,
|
| 625 |
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"source_missing": false,
|
| 626 |
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"forbidden": [],
|
| 627 |
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"disturbances": [],
|
| 628 |
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"last_frame": {
|
| 629 |
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"passed": true,
|
| 630 |
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"source_missing": false,
|
| 631 |
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"forbidden": [],
|
| 632 |
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"allowed": [],
|
| 633 |
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"ignored": [],
|
| 634 |
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"failed_keys": []
|
| 635 |
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},
|
| 636 |
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"failed_keys": []
|
| 637 |
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}
|
| 638 |
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},
|
| 639 |
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"gripper": null,
|
| 640 |
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"post_done_wait_frames": 0,
|
| 641 |
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"post_done_wait_exhausted": false
|
| 642 |
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},
|
| 643 |
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"physical_semantics": {
|
| 644 |
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"skill": "place",
|
| 645 |
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"target": "inspection_platform",
|
| 646 |
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"attach_used": false,
|
| 647 |
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"attach_object": null,
|
| 648 |
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"attach_object_path": null,
|
| 649 |
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"attach_allowed": false,
|
| 650 |
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"ordinary_object_physical_only": true
|
| 651 |
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}
|
| 652 |
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}
|
| 653 |
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],
|
| 654 |
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"physical_semantics": {
|
| 655 |
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"attach_records": [],
|
| 656 |
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"ordinary_attach_violations": [],
|
| 657 |
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"forbidden_shortcuts_absent": true
|
| 658 |
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},
|
| 659 |
+
"h5_episode_index": 76,
|
| 660 |
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"reproducibility": {
|
| 661 |
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"enabled": true,
|
| 662 |
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"action_seed": 3987082320295684552,
|
| 663 |
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"physical_seed": 1590733738191871905,
|
| 664 |
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"layout_id": "layout_00010",
|
| 665 |
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|
| 666 |
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|
| 667 |
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|
| 668 |
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|
| 669 |
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|
| 670 |
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"workflow_spec_digest": "6520f0f0d16188839ba1d67eee619bd2515589472fde477e2dddeda8a503787d",
|
| 671 |
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"strict_task_state": false,
|
| 672 |
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"allow_physical_randomization": true,
|
| 673 |
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"seed_source": "workflow.reproducibility",
|
| 674 |
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"task_island_state_digest": "579fb277585a67c732f1c4db01adef11d2395bc9251b8655259b03efbecaa14a",
|
| 675 |
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"visual_seed": 7901614655198821626,
|
| 676 |
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"episode_index": 76,
|
| 677 |
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"physical_randomization_enabled": true,
|
| 678 |
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"motion_controller_type": "ik_servo",
|
| 679 |
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"runtime_step_seeds": [
|
| 680 |
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|
| 681 |
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|
| 682 |
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|
| 683 |
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|
| 684 |
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"runtime_workflow_digest": "fd2f96414d5086f996ec463a1c17000b97fa3dfdeee6fdd2b79e682dc47b4981"
|
| 685 |
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}
|
| 686 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00010/results/episode_78_success.json
ADDED
|
@@ -0,0 +1,686 @@
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| 1 |
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| 2 |
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| 3 |
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| 11 |
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| 18 |
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|
ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00010/results/episode_7_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 7,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_a",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_a",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_a",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.28857882348981756,
|
| 26 |
+
-0.17947054540674148,
|
| 27 |
+
1.0492554434257513
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0492554434257513,
|
| 30 |
+
"required_z": 0.8611066272240558,
|
| 31 |
+
"initial_z": 0.7611066272240559,
|
| 32 |
+
"lift_margin": 0.18814881620169543,
|
| 33 |
+
"gripper_z": 1.0523706878717,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.2845869643021787,
|
| 38 |
+
-0.18368742156758416,
|
| 39 |
+
1.0523706878717
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.003991859187638835,
|
| 43 |
+
0.004216876160842681,
|
| 44 |
+
-0.003115244445948795
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.005806632787581791,
|
| 47 |
+
"object_to_gripper_z": -0.003115244445948795,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.28857882348981756,
|
| 51 |
+
-0.20321583871854376,
|
| 52 |
+
1.0492554434257513
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.27780799729964256,
|
| 56 |
+
-0.17947054540674148,
|
| 57 |
+
1.0492554434257513
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.28319341039473006,
|
| 61 |
+
-0.1913431920626426,
|
| 62 |
+
1.0492554434257513
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005385413095087499,
|
| 66 |
+
0.011872646655901126,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.0260739266563838,
|
| 70 |
+
"fingertip_max_gap": 0.10105684961224756,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013036963328191887,
|
| 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": 1.0492554434257513,
|
| 78 |
+
"object_top_z": 1.1035181500033884,
|
| 79 |
+
"finger_top_clearance": 0.0542627065776371,
|
| 80 |
+
"fingertip_min_top_clearance": 0.016278811973291146,
|
| 81 |
+
"object_projection_between_fingers": 0.829358305030951,
|
| 82 |
+
"object_to_finger_line_xy": 0.009808895701312772,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.05302842480612378,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 4.189075348907566,
|
| 89 |
+
"object_max_tilt_deg": 15.0,
|
| 90 |
+
"object_upright_axis_local": [
|
| 91 |
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|
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|
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|
| 571 |
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| 572 |
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| 593 |
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| 595 |
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| 596 |
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| 598 |
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| 600 |
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| 603 |
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|
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| 619 |
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|
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|
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|
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|
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}
|
| 686 |
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}
|
ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00010/results/episode_81_success.json
ADDED
|
@@ -0,0 +1,686 @@
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| 1 |
+
{
|
| 2 |
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| 3 |
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|
| 4 |
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| 5 |
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| 6 |
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| 8 |
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| 9 |
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| 10 |
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| 11 |
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|
| 12 |
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| 13 |
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| 14 |
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|
| 15 |
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| 16 |
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|
| 17 |
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| 18 |
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| 19 |
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| 20 |
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| 21 |
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| 22 |
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| 23 |
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| 24 |
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| 25 |
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| 26 |
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| 27 |
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| 29 |
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| 30 |
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| 31 |
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| 32 |
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| 33 |
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| 34 |
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| 35 |
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| 36 |
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|
| 37 |
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| 38 |
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| 39 |
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| 40 |
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| 41 |
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| 42 |
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| 43 |
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| 44 |
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| 45 |
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| 47 |
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| 48 |
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| 49 |
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| 50 |
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| 51 |
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| 52 |
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|
| 66 |
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| 67 |
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| 68 |
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| 69 |
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| 91 |
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| 92 |
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| 93 |
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| 94 |
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| 98 |
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| 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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"mobile_rotate",
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| 149 |
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"mobile_translate_x",
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| 150 |
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"mobile_translate_y",
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| 151 |
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| 152 |
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| 153 |
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| 154 |
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| 155 |
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| 156 |
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| 157 |
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| 158 |
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"panda_leftfinger",
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| 159 |
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| 160 |
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| 161 |
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| 162 |
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| 163 |
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| 164 |
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| 165 |
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| 166 |
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| 167 |
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| 168 |
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| 169 |
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| 170 |
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| 171 |
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| 172 |
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| 173 |
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| 174 |
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| 175 |
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| 176 |
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| 177 |
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"ur5e",
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| 178 |
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| 179 |
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| 180 |
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| 181 |
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| 182 |
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| 183 |
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| 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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| 211 |
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| 212 |
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"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
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| 215 |
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| 216 |
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},
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| 242 |
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| 243 |
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| 244 |
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|
| 249 |
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| 250 |
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| 253 |
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| 254 |
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|
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"h5_episode_index": 81,
|
| 660 |
+
"reproducibility": {
|
| 661 |
+
"enabled": true,
|
| 662 |
+
"action_seed": 3987082320295684552,
|
| 663 |
+
"physical_seed": 1590733738191871905,
|
| 664 |
+
"layout_id": "layout_00010",
|
| 665 |
+
"step_seeds": [
|
| 666 |
+
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|
| 667 |
+
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|
| 668 |
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|
| 669 |
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],
|
| 670 |
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"workflow_spec_digest": "6520f0f0d16188839ba1d67eee619bd2515589472fde477e2dddeda8a503787d",
|
| 671 |
+
"strict_task_state": false,
|
| 672 |
+
"allow_physical_randomization": true,
|
| 673 |
+
"seed_source": "workflow.reproducibility",
|
| 674 |
+
"task_island_state_digest": "b36ca1608b56b2352e5f725531f6d37e1a27491b12c2b1480d904b0a8d740ca1",
|
| 675 |
+
"visual_seed": 236379020933981575,
|
| 676 |
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"episode_index": 81,
|
| 677 |
+
"physical_randomization_enabled": true,
|
| 678 |
+
"motion_controller_type": "ik_servo",
|
| 679 |
+
"runtime_step_seeds": [
|
| 680 |
+
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|
| 681 |
+
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|
| 682 |
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|
| 683 |
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],
|
| 684 |
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"runtime_workflow_digest": "fd2f96414d5086f996ec463a1c17000b97fa3dfdeee6fdd2b79e682dc47b4981"
|
| 685 |
+
}
|
| 686 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00010/results/episode_84_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 84,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_a",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_a",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_a",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.28936950951075735,
|
| 26 |
+
-0.17999673142151565,
|
| 27 |
+
1.0501921629782192
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0501921629782192,
|
| 30 |
+
"required_z": 0.8611063888054764,
|
| 31 |
+
"initial_z": 0.7611063888054764,
|
| 32 |
+
"lift_margin": 0.18908577417274275,
|
| 33 |
+
"gripper_z": 1.053553525909299,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.2854831660459088,
|
| 38 |
+
-0.1841299908190509,
|
| 39 |
+
1.053553525909299
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.003886343464848563,
|
| 43 |
+
0.004133259397535255,
|
| 44 |
+
-0.0033613629310798032
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.005673402750914536,
|
| 47 |
+
"object_to_gripper_z": -0.0033613629310798032,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.28936950951075735,
|
| 51 |
+
-0.2037660286176516,
|
| 52 |
+
1.0501921629782192
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
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|
ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00010/results/episode_86_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 86,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_a",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_a",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_a",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.28889195377034793,
|
| 26 |
+
-0.1795237764511957,
|
| 27 |
+
1.0528975714530595
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0528975714530595,
|
| 30 |
+
"required_z": 0.8611064484101213,
|
| 31 |
+
"initial_z": 0.7611064484101213,
|
| 32 |
+
"lift_margin": 0.19179112304293822,
|
| 33 |
+
"gripper_z": 1.055913304627131,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.28519518075293937,
|
| 38 |
+
-0.1835805169034211,
|
| 39 |
+
1.055913304627131
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
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|
| 43 |
+
0.004056740452225399,
|
| 44 |
+
-0.0030157331740714444
|
| 45 |
+
],
|
| 46 |
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"object_to_gripper_xy": 0.0054884673488107705,
|
| 47 |
+
"object_to_gripper_z": -0.0030157331740714444,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.28889195377034793,
|
| 51 |
+
-0.20306708080634794,
|
| 52 |
+
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|
| 53 |
+
],
|
| 54 |
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"finger_b": [
|
| 55 |
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|
| 56 |
+
-0.1795237764511957,
|
| 57 |
+
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|
| 58 |
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],
|
| 59 |
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"finger_midpoint": [
|
| 60 |
+
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|
| 61 |
+
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|
| 62 |
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1.0528975714530595
|
| 63 |
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],
|
| 64 |
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"object_minus_finger_midpoint": [
|
| 65 |
+
0.005265657802685786,
|
| 66 |
+
0.011771652177576114,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
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"finger_gap": 0.025791389810153192,
|
| 70 |
+
"fingertip_max_gap": 0.10016567574380639,
|
| 71 |
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"finger_z_skew": 0.0,
|
| 72 |
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|
| 73 |
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"object_to_finger_midpoint_xy": 0.012895694905076584,
|
| 74 |
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"object_to_finger_midpoint_z": 0.0,
|
| 75 |
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"finger_midpoint_minus_object_z": 0.0,
|
| 76 |
+
"object_position_origin": "center",
|
| 77 |
+
"object_center_z_for_grasp": 1.0528975714530595,
|
| 78 |
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"object_top_z": 1.1065505554650306,
|
| 79 |
+
"finger_top_clearance": 0.05365298401197105,
|
| 80 |
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"fingertip_min_top_clearance": 0.016095895203591313,
|
| 81 |
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"object_projection_between_fingers": 0.8332692264080069,
|
| 82 |
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"object_to_finger_line_xy": 0.009613362070927299,
|
| 83 |
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"fingertip_xy_max_dist": 0.055,
|
| 84 |
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"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.052582837871903196,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 4.0320302477949745,
|
| 89 |
+
"object_max_tilt_deg": 15.0,
|
| 90 |
+
"object_upright_axis_local": [
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
1.0
|
| 94 |
+
],
|
| 95 |
+
"stable_success_frames": 206,
|
| 96 |
+
"max_stable_success_frames": 206,
|
| 97 |
+
"required_stable_lift_frames": 5
|
| 98 |
+
},
|
| 99 |
+
"failed_keys": [],
|
| 100 |
+
"failure_code": null,
|
| 101 |
+
"failure_messages": {},
|
| 102 |
+
"safety": {
|
| 103 |
+
"policy": {
|
| 104 |
+
"skill": "pick",
|
| 105 |
+
"target_object": "beaker_a",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_a"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/beaker_2"
|
| 112 |
+
],
|
| 113 |
+
"allowed_prim_substrings": [],
|
| 114 |
+
"robot_prim_substrings": [
|
| 115 |
+
"Robotiq2F85",
|
| 116 |
+
"Robotiq_2F_85",
|
| 117 |
+
"contact_sensor",
|
| 118 |
+
"dummy_base_prismatic_x_joint",
|
| 119 |
+
"dummy_base_prismatic_y_joint",
|
| 120 |
+
"dummy_base_revolute_z_joint",
|
| 121 |
+
"elbow_joint",
|
| 122 |
+
"festo",
|
| 123 |
+
"finger",
|
| 124 |
+
"fr3",
|
| 125 |
+
"fr3_duo_mobile",
|
| 126 |
+
"fr3_joint1",
|
| 127 |
+
"fr3_joint2",
|
| 128 |
+
"fr3_joint3",
|
| 129 |
+
"fr3_joint4",
|
| 130 |
+
"fr3_joint5",
|
| 131 |
+
"fr3_joint6",
|
| 132 |
+
"fr3_joint7",
|
| 133 |
+
"fr3_leftfinger",
|
| 134 |
+
"fr3_rightfinger",
|
| 135 |
+
"franka",
|
| 136 |
+
"geometry",
|
| 137 |
+
"gripper",
|
| 138 |
+
"gripper_center",
|
| 139 |
+
"joint1",
|
| 140 |
+
"joint2",
|
| 141 |
+
"joint3",
|
| 142 |
+
"joint4",
|
| 143 |
+
"joint5",
|
| 144 |
+
"joint6",
|
| 145 |
+
"joint7",
|
| 146 |
+
"left_inner_finger",
|
| 147 |
+
"lift2",
|
| 148 |
+
"mobile_rotate",
|
| 149 |
+
"mobile_translate_x",
|
| 150 |
+
"mobile_translate_y",
|
| 151 |
+
"panda_joint1",
|
| 152 |
+
"panda_joint2",
|
| 153 |
+
"panda_joint3",
|
| 154 |
+
"panda_joint4",
|
| 155 |
+
"panda_joint5",
|
| 156 |
+
"panda_joint6",
|
| 157 |
+
"panda_joint7",
|
| 158 |
+
"panda_leftfinger",
|
| 159 |
+
"panda_leftfingertip",
|
| 160 |
+
"panda_rightfinger",
|
| 161 |
+
"panda_rightfingertip",
|
| 162 |
+
"ridgebase",
|
| 163 |
+
"ridgebase_festo",
|
| 164 |
+
"ridgebase_fr3",
|
| 165 |
+
"ridgebase_rizon4",
|
| 166 |
+
"ridgebase_ur16e",
|
| 167 |
+
"ridgebase_ur5e",
|
| 168 |
+
"right_inner_finger",
|
| 169 |
+
"rizon4",
|
| 170 |
+
"robot",
|
| 171 |
+
"robotiq_2f85",
|
| 172 |
+
"shoulder_lift_joint",
|
| 173 |
+
"shoulder_pan_joint",
|
| 174 |
+
"split_aloha",
|
| 175 |
+
"tool_center",
|
| 176 |
+
"ur16e",
|
| 177 |
+
"ur5e",
|
| 178 |
+
"visuals",
|
| 179 |
+
"wrist",
|
| 180 |
+
"wrist_1_joint",
|
| 181 |
+
"wrist_2_joint",
|
| 182 |
+
"wrist_3_joint"
|
| 183 |
+
],
|
| 184 |
+
"ignored_prim_substrings": [
|
| 185 |
+
"base_link",
|
| 186 |
+
"caster",
|
| 187 |
+
"defaultgroundplane",
|
| 188 |
+
"desk",
|
| 189 |
+
"floor",
|
| 190 |
+
"ground",
|
| 191 |
+
"groundplane",
|
| 192 |
+
"link0",
|
| 193 |
+
"table",
|
| 194 |
+
"wheel",
|
| 195 |
+
"workbench"
|
| 196 |
+
],
|
| 197 |
+
"enabled": true
|
| 198 |
+
},
|
| 199 |
+
"status": "active",
|
| 200 |
+
"passed": true,
|
| 201 |
+
"source_missing": false,
|
| 202 |
+
"forbidden": [],
|
| 203 |
+
"disturbances": [],
|
| 204 |
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"last_frame": {
|
| 205 |
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"passed": true,
|
| 206 |
+
"source_missing": false,
|
| 207 |
+
"forbidden": [],
|
| 208 |
+
"allowed": [
|
| 209 |
+
{
|
| 210 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 211 |
+
"b": "/World/beaker_2/mesh"
|
| 212 |
+
},
|
| 213 |
+
{
|
| 214 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 215 |
+
"b": "/World/beaker_2/mesh"
|
| 216 |
+
}
|
| 217 |
+
],
|
| 218 |
+
"ignored": [],
|
| 219 |
+
"failed_keys": []
|
| 220 |
+
},
|
| 221 |
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"failed_keys": []
|
| 222 |
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}
|
| 223 |
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},
|
| 224 |
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"gripper": null,
|
| 225 |
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"post_done_wait_frames": 0,
|
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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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|
| 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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|
| 638 |
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|
| 639 |
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|
| 640 |
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|
| 641 |
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|
| 642 |
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},
|
| 643 |
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"physical_semantics": {
|
| 644 |
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"skill": "place",
|
| 645 |
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"target": "inspection_platform",
|
| 646 |
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|
| 647 |
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|
| 648 |
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|
| 649 |
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|
| 650 |
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"ordinary_object_physical_only": true
|
| 651 |
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|
| 652 |
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|
| 653 |
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],
|
| 654 |
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"physical_semantics": {
|
| 655 |
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"attach_records": [],
|
| 656 |
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"ordinary_attach_violations": [],
|
| 657 |
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"forbidden_shortcuts_absent": true
|
| 658 |
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},
|
| 659 |
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"h5_episode_index": 86,
|
| 660 |
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"reproducibility": {
|
| 661 |
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"enabled": true,
|
| 662 |
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"action_seed": 3987082320295684552,
|
| 663 |
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|
| 664 |
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|
| 665 |
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"step_seeds": [
|
| 666 |
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|
| 667 |
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| 668 |
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| 669 |
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|
| 671 |
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|
| 672 |
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|
| 673 |
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|
| 674 |
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|
| 675 |
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|
| 676 |
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|
| 677 |
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|
| 678 |
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|
| 679 |
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|
| 680 |
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|
| 681 |
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|
| 682 |
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|
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| 684 |
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|
| 685 |
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}
|
| 686 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00010/results/episode_87_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 87,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_a",
|
| 12 |
+
"success": true,
|
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|
ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00010/results/episode_88_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 88,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_a",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_a",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_a",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.29149766451939574,
|
| 26 |
+
-0.17725405430311927,
|
| 27 |
+
1.0492509791385958
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0492509791385958,
|
| 30 |
+
"required_z": 0.8611063888054764,
|
| 31 |
+
"initial_z": 0.7611063888054764,
|
| 32 |
+
"lift_margin": 0.18814459033311937,
|
| 33 |
+
"gripper_z": 1.0520943255468074,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.28789736607660843,
|
| 38 |
+
-0.18133376603213816,
|
| 39 |
+
1.0520943255468074
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.0036002984427873086,
|
| 43 |
+
0.004079711729018887,
|
| 44 |
+
-0.0028433464082116
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.005441157658902285,
|
| 47 |
+
"object_to_gripper_z": -0.0028433464082116,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.29149766451939574,
|
| 51 |
+
-0.2006282991986177,
|
| 52 |
+
1.0492509791385958
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.28079641441600467,
|
| 56 |
+
-0.17725405430311927,
|
| 57 |
+
1.0492509791385958
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.2861470394677002,
|
| 61 |
+
-0.18894117675086847,
|
| 62 |
+
1.0492509791385958
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.0053506250516955345,
|
| 66 |
+
0.011687122447749193,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.025707432353505495,
|
| 70 |
+
"fingertip_max_gap": 0.09525268390047345,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.012853716176752733,
|
| 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": 1.0492509791385958,
|
| 78 |
+
"object_top_z": 1.1008012309128732,
|
| 79 |
+
"finger_top_clearance": 0.05155025177427741,
|
| 80 |
+
"fingertip_min_top_clearance": 0.015465075532283205,
|
| 81 |
+
"object_projection_between_fingers": 0.8267187288567399,
|
| 82 |
+
"object_to_finger_line_xy": 0.009730012595774924,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.05012634195023673,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 2.278903902020019,
|
| 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": 202,
|
| 96 |
+
"max_stable_success_frames": 202,
|
| 97 |
+
"required_stable_lift_frames": 5
|
| 98 |
+
},
|
| 99 |
+
"failed_keys": [],
|
| 100 |
+
"failure_code": null,
|
| 101 |
+
"failure_messages": {},
|
| 102 |
+
"safety": {
|
| 103 |
+
"policy": {
|
| 104 |
+
"skill": "pick",
|
| 105 |
+
"target_object": "beaker_a",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_a"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/beaker_2"
|
| 112 |
+
],
|
| 113 |
+
"allowed_prim_substrings": [],
|
| 114 |
+
"robot_prim_substrings": [
|
| 115 |
+
"Robotiq2F85",
|
| 116 |
+
"Robotiq_2F_85",
|
| 117 |
+
"contact_sensor",
|
| 118 |
+
"dummy_base_prismatic_x_joint",
|
| 119 |
+
"dummy_base_prismatic_y_joint",
|
| 120 |
+
"dummy_base_revolute_z_joint",
|
| 121 |
+
"elbow_joint",
|
| 122 |
+
"festo",
|
| 123 |
+
"finger",
|
| 124 |
+
"fr3",
|
| 125 |
+
"fr3_duo_mobile",
|
| 126 |
+
"fr3_joint1",
|
| 127 |
+
"fr3_joint2",
|
| 128 |
+
"fr3_joint3",
|
| 129 |
+
"fr3_joint4",
|
| 130 |
+
"fr3_joint5",
|
| 131 |
+
"fr3_joint6",
|
| 132 |
+
"fr3_joint7",
|
| 133 |
+
"fr3_leftfinger",
|
| 134 |
+
"fr3_rightfinger",
|
| 135 |
+
"franka",
|
| 136 |
+
"geometry",
|
| 137 |
+
"gripper",
|
| 138 |
+
"gripper_center",
|
| 139 |
+
"joint1",
|
| 140 |
+
"joint2",
|
| 141 |
+
"joint3",
|
| 142 |
+
"joint4",
|
| 143 |
+
"joint5",
|
| 144 |
+
"joint6",
|
| 145 |
+
"joint7",
|
| 146 |
+
"left_inner_finger",
|
| 147 |
+
"lift2",
|
| 148 |
+
"mobile_rotate",
|
| 149 |
+
"mobile_translate_x",
|
| 150 |
+
"mobile_translate_y",
|
| 151 |
+
"panda_joint1",
|
| 152 |
+
"panda_joint2",
|
| 153 |
+
"panda_joint3",
|
| 154 |
+
"panda_joint4",
|
| 155 |
+
"panda_joint5",
|
| 156 |
+
"panda_joint6",
|
| 157 |
+
"panda_joint7",
|
| 158 |
+
"panda_leftfinger",
|
| 159 |
+
"panda_leftfingertip",
|
| 160 |
+
"panda_rightfinger",
|
| 161 |
+
"panda_rightfingertip",
|
| 162 |
+
"ridgebase",
|
| 163 |
+
"ridgebase_festo",
|
| 164 |
+
"ridgebase_fr3",
|
| 165 |
+
"ridgebase_rizon4",
|
| 166 |
+
"ridgebase_ur16e",
|
| 167 |
+
"ridgebase_ur5e",
|
| 168 |
+
"right_inner_finger",
|
| 169 |
+
"rizon4",
|
| 170 |
+
"robot",
|
| 171 |
+
"robotiq_2f85",
|
| 172 |
+
"shoulder_lift_joint",
|
| 173 |
+
"shoulder_pan_joint",
|
| 174 |
+
"split_aloha",
|
| 175 |
+
"tool_center",
|
| 176 |
+
"ur16e",
|
| 177 |
+
"ur5e",
|
| 178 |
+
"visuals",
|
| 179 |
+
"wrist",
|
| 180 |
+
"wrist_1_joint",
|
| 181 |
+
"wrist_2_joint",
|
| 182 |
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| 562 |
+
"gripper_center",
|
| 563 |
+
"joint1",
|
| 564 |
+
"joint2",
|
| 565 |
+
"joint3",
|
| 566 |
+
"joint4",
|
| 567 |
+
"joint5",
|
| 568 |
+
"joint6",
|
| 569 |
+
"joint7",
|
| 570 |
+
"left_inner_finger",
|
| 571 |
+
"lift2",
|
| 572 |
+
"mobile_rotate",
|
| 573 |
+
"mobile_translate_x",
|
| 574 |
+
"mobile_translate_y",
|
| 575 |
+
"panda_joint1",
|
| 576 |
+
"panda_joint2",
|
| 577 |
+
"panda_joint3",
|
| 578 |
+
"panda_joint4",
|
| 579 |
+
"panda_joint5",
|
| 580 |
+
"panda_joint6",
|
| 581 |
+
"panda_joint7",
|
| 582 |
+
"panda_leftfinger",
|
| 583 |
+
"panda_leftfingertip",
|
| 584 |
+
"panda_rightfinger",
|
| 585 |
+
"panda_rightfingertip",
|
| 586 |
+
"ridgebase",
|
| 587 |
+
"ridgebase_festo",
|
| 588 |
+
"ridgebase_fr3",
|
| 589 |
+
"ridgebase_rizon4",
|
| 590 |
+
"ridgebase_ur16e",
|
| 591 |
+
"ridgebase_ur5e",
|
| 592 |
+
"right_inner_finger",
|
| 593 |
+
"rizon4",
|
| 594 |
+
"robot",
|
| 595 |
+
"robotiq_2f85",
|
| 596 |
+
"shoulder_lift_joint",
|
| 597 |
+
"shoulder_pan_joint",
|
| 598 |
+
"split_aloha",
|
| 599 |
+
"tool_center",
|
| 600 |
+
"ur16e",
|
| 601 |
+
"ur5e",
|
| 602 |
+
"visuals",
|
| 603 |
+
"wrist",
|
| 604 |
+
"wrist_1_joint",
|
| 605 |
+
"wrist_2_joint",
|
| 606 |
+
"wrist_3_joint"
|
| 607 |
+
],
|
| 608 |
+
"ignored_prim_substrings": [
|
| 609 |
+
"base_link",
|
| 610 |
+
"caster",
|
| 611 |
+
"defaultgroundplane",
|
| 612 |
+
"desk",
|
| 613 |
+
"floor",
|
| 614 |
+
"ground",
|
| 615 |
+
"groundplane",
|
| 616 |
+
"link0",
|
| 617 |
+
"table",
|
| 618 |
+
"wheel",
|
| 619 |
+
"workbench"
|
| 620 |
+
],
|
| 621 |
+
"enabled": true
|
| 622 |
+
},
|
| 623 |
+
"status": "active",
|
| 624 |
+
"passed": true,
|
| 625 |
+
"source_missing": false,
|
| 626 |
+
"forbidden": [],
|
| 627 |
+
"disturbances": [],
|
| 628 |
+
"last_frame": {
|
| 629 |
+
"passed": true,
|
| 630 |
+
"source_missing": false,
|
| 631 |
+
"forbidden": [],
|
| 632 |
+
"allowed": [],
|
| 633 |
+
"ignored": [],
|
| 634 |
+
"failed_keys": []
|
| 635 |
+
},
|
| 636 |
+
"failed_keys": []
|
| 637 |
+
}
|
| 638 |
+
},
|
| 639 |
+
"gripper": null,
|
| 640 |
+
"post_done_wait_frames": 0,
|
| 641 |
+
"post_done_wait_exhausted": false
|
| 642 |
+
},
|
| 643 |
+
"physical_semantics": {
|
| 644 |
+
"skill": "place",
|
| 645 |
+
"target": "inspection_platform",
|
| 646 |
+
"attach_used": false,
|
| 647 |
+
"attach_object": null,
|
| 648 |
+
"attach_object_path": null,
|
| 649 |
+
"attach_allowed": false,
|
| 650 |
+
"ordinary_object_physical_only": true
|
| 651 |
+
}
|
| 652 |
+
}
|
| 653 |
+
],
|
| 654 |
+
"physical_semantics": {
|
| 655 |
+
"attach_records": [],
|
| 656 |
+
"ordinary_attach_violations": [],
|
| 657 |
+
"forbidden_shortcuts_absent": true
|
| 658 |
+
},
|
| 659 |
+
"h5_episode_index": 88,
|
| 660 |
+
"reproducibility": {
|
| 661 |
+
"enabled": true,
|
| 662 |
+
"action_seed": 3987082320295684552,
|
| 663 |
+
"physical_seed": 1590733738191871905,
|
| 664 |
+
"layout_id": "layout_00010",
|
| 665 |
+
"step_seeds": [
|
| 666 |
+
3913869556532046801,
|
| 667 |
+
6355663699133699465,
|
| 668 |
+
4530951244343176879
|
| 669 |
+
],
|
| 670 |
+
"workflow_spec_digest": "6520f0f0d16188839ba1d67eee619bd2515589472fde477e2dddeda8a503787d",
|
| 671 |
+
"strict_task_state": false,
|
| 672 |
+
"allow_physical_randomization": true,
|
| 673 |
+
"seed_source": "workflow.reproducibility",
|
| 674 |
+
"task_island_state_digest": "bb1757b1779c6911248db576b148e93b7895923ef93b9129eeeec689043c2aad",
|
| 675 |
+
"visual_seed": 8712448975070143740,
|
| 676 |
+
"episode_index": 88,
|
| 677 |
+
"physical_randomization_enabled": true,
|
| 678 |
+
"motion_controller_type": "ik_servo",
|
| 679 |
+
"runtime_step_seeds": [
|
| 680 |
+
3913869556532046801,
|
| 681 |
+
6355663699133699465,
|
| 682 |
+
4530951244343176879
|
| 683 |
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],
|
| 684 |
+
"runtime_workflow_digest": "fd2f96414d5086f996ec463a1c17000b97fa3dfdeee6fdd2b79e682dc47b4981"
|
| 685 |
+
}
|
| 686 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00010/results/episode_89_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00010/results/episode_90_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"episode": 90,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_a",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_a",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_a",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.2933191905079814,
|
| 26 |
+
-0.18008027182233335,
|
| 27 |
+
1.0505818072308801
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0505818072308801,
|
| 30 |
+
"required_z": 0.8611065080147661,
|
| 31 |
+
"initial_z": 0.7611065080147661,
|
| 32 |
+
"lift_margin": 0.18947529921611406,
|
| 33 |
+
"gripper_z": 1.0537889083924916,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.28921566499447915,
|
| 38 |
+
-0.18434250417787673,
|
| 39 |
+
1.0537889083924916
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.0041035255135022375,
|
| 43 |
+
0.004262232355543377,
|
| 44 |
+
-0.003207101161611492
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.005916548511810298,
|
| 47 |
+
"object_to_gripper_z": -0.003207101161611492,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.2933191905079814,
|
| 51 |
+
-0.2040168876425998,
|
| 52 |
+
1.0505818072308801
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.28274699072284587,
|
| 56 |
+
-0.18008027182233335,
|
| 57 |
+
1.0505818072308801
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.2880330906154136,
|
| 61 |
+
-0.19204857973246658,
|
| 62 |
+
1.0505818072308801
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005286099892567786,
|
| 66 |
+
0.01196830791013323,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.02616740310431757,
|
| 70 |
+
"fingertip_max_gap": 0.09746661751891914,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013083701552158808,
|
| 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": 1.0505818072308801,
|
| 78 |
+
"object_top_z": 1.1026240137164958,
|
| 79 |
+
"finger_top_clearance": 0.05204220648561564,
|
| 80 |
+
"fingertip_min_top_clearance": 0.015612661945684675,
|
| 81 |
+
"object_projection_between_fingers": 0.8367664320125021,
|
| 82 |
+
"object_to_finger_line_xy": 0.00967091322066031,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.05123330875945957,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 3.4296635816567584,
|
| 89 |
+
"object_max_tilt_deg": 15.0,
|
| 90 |
+
"object_upright_axis_local": [
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
1.0
|
| 94 |
+
],
|
| 95 |
+
"stable_success_frames": 205,
|
| 96 |
+
"max_stable_success_frames": 205,
|
| 97 |
+
"required_stable_lift_frames": 5
|
| 98 |
+
},
|
| 99 |
+
"failed_keys": [],
|
| 100 |
+
"failure_code": null,
|
| 101 |
+
"failure_messages": {},
|
| 102 |
+
"safety": {
|
| 103 |
+
"policy": {
|
| 104 |
+
"skill": "pick",
|
| 105 |
+
"target_object": "beaker_a",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_a"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/beaker_2"
|
| 112 |
+
],
|
| 113 |
+
"allowed_prim_substrings": [],
|
| 114 |
+
"robot_prim_substrings": [
|
| 115 |
+
"Robotiq2F85",
|
| 116 |
+
"Robotiq_2F_85",
|
| 117 |
+
"contact_sensor",
|
| 118 |
+
"dummy_base_prismatic_x_joint",
|
| 119 |
+
"dummy_base_prismatic_y_joint",
|
| 120 |
+
"dummy_base_revolute_z_joint",
|
| 121 |
+
"elbow_joint",
|
| 122 |
+
"festo",
|
| 123 |
+
"finger",
|
| 124 |
+
"fr3",
|
| 125 |
+
"fr3_duo_mobile",
|
| 126 |
+
"fr3_joint1",
|
| 127 |
+
"fr3_joint2",
|
| 128 |
+
"fr3_joint3",
|
| 129 |
+
"fr3_joint4",
|
| 130 |
+
"fr3_joint5",
|
| 131 |
+
"fr3_joint6",
|
| 132 |
+
"fr3_joint7",
|
| 133 |
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| 516 |
+
"object_upright_axis_local": null,
|
| 517 |
+
"required_placed_release_frames": 2,
|
| 518 |
+
"placed_release_frames": 216,
|
| 519 |
+
"max_placed_release_frames": 216
|
| 520 |
+
},
|
| 521 |
+
"failed_keys": [],
|
| 522 |
+
"failure_code": null,
|
| 523 |
+
"failure_messages": {},
|
| 524 |
+
"safety": {
|
| 525 |
+
"policy": {
|
| 526 |
+
"skill": "place",
|
| 527 |
+
"target_object": "inspection_platform",
|
| 528 |
+
"held_object": "beaker_a",
|
| 529 |
+
"allowed_objects": [
|
| 530 |
+
"beaker_a",
|
| 531 |
+
"inspection_platform"
|
| 532 |
+
],
|
| 533 |
+
"allowed_object_paths": [
|
| 534 |
+
"/World/beaker_2",
|
| 535 |
+
"/World/target_plat"
|
| 536 |
+
],
|
| 537 |
+
"allowed_prim_substrings": [],
|
| 538 |
+
"robot_prim_substrings": [
|
| 539 |
+
"Robotiq2F85",
|
| 540 |
+
"Robotiq_2F_85",
|
| 541 |
+
"contact_sensor",
|
| 542 |
+
"dummy_base_prismatic_x_joint",
|
| 543 |
+
"dummy_base_prismatic_y_joint",
|
| 544 |
+
"dummy_base_revolute_z_joint",
|
| 545 |
+
"elbow_joint",
|
| 546 |
+
"festo",
|
| 547 |
+
"finger",
|
| 548 |
+
"fr3",
|
| 549 |
+
"fr3_duo_mobile",
|
| 550 |
+
"fr3_joint1",
|
| 551 |
+
"fr3_joint2",
|
| 552 |
+
"fr3_joint3",
|
| 553 |
+
"fr3_joint4",
|
| 554 |
+
"fr3_joint5",
|
| 555 |
+
"fr3_joint6",
|
| 556 |
+
"fr3_joint7",
|
| 557 |
+
"fr3_leftfinger",
|
| 558 |
+
"fr3_rightfinger",
|
| 559 |
+
"franka",
|
| 560 |
+
"geometry",
|
| 561 |
+
"gripper",
|
| 562 |
+
"gripper_center",
|
| 563 |
+
"joint1",
|
| 564 |
+
"joint2",
|
| 565 |
+
"joint3",
|
| 566 |
+
"joint4",
|
| 567 |
+
"joint5",
|
| 568 |
+
"joint6",
|
| 569 |
+
"joint7",
|
| 570 |
+
"left_inner_finger",
|
| 571 |
+
"lift2",
|
| 572 |
+
"mobile_rotate",
|
| 573 |
+
"mobile_translate_x",
|
| 574 |
+
"mobile_translate_y",
|
| 575 |
+
"panda_joint1",
|
| 576 |
+
"panda_joint2",
|
| 577 |
+
"panda_joint3",
|
| 578 |
+
"panda_joint4",
|
| 579 |
+
"panda_joint5",
|
| 580 |
+
"panda_joint6",
|
| 581 |
+
"panda_joint7",
|
| 582 |
+
"panda_leftfinger",
|
| 583 |
+
"panda_leftfingertip",
|
| 584 |
+
"panda_rightfinger",
|
| 585 |
+
"panda_rightfingertip",
|
| 586 |
+
"ridgebase",
|
| 587 |
+
"ridgebase_festo",
|
| 588 |
+
"ridgebase_fr3",
|
| 589 |
+
"ridgebase_rizon4",
|
| 590 |
+
"ridgebase_ur16e",
|
| 591 |
+
"ridgebase_ur5e",
|
| 592 |
+
"right_inner_finger",
|
| 593 |
+
"rizon4",
|
| 594 |
+
"robot",
|
| 595 |
+
"robotiq_2f85",
|
| 596 |
+
"shoulder_lift_joint",
|
| 597 |
+
"shoulder_pan_joint",
|
| 598 |
+
"split_aloha",
|
| 599 |
+
"tool_center",
|
| 600 |
+
"ur16e",
|
| 601 |
+
"ur5e",
|
| 602 |
+
"visuals",
|
| 603 |
+
"wrist",
|
| 604 |
+
"wrist_1_joint",
|
| 605 |
+
"wrist_2_joint",
|
| 606 |
+
"wrist_3_joint"
|
| 607 |
+
],
|
| 608 |
+
"ignored_prim_substrings": [
|
| 609 |
+
"base_link",
|
| 610 |
+
"caster",
|
| 611 |
+
"defaultgroundplane",
|
| 612 |
+
"desk",
|
| 613 |
+
"floor",
|
| 614 |
+
"ground",
|
| 615 |
+
"groundplane",
|
| 616 |
+
"link0",
|
| 617 |
+
"table",
|
| 618 |
+
"wheel",
|
| 619 |
+
"workbench"
|
| 620 |
+
],
|
| 621 |
+
"enabled": true
|
| 622 |
+
},
|
| 623 |
+
"status": "active",
|
| 624 |
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"passed": true,
|
| 625 |
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"source_missing": false,
|
| 626 |
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"forbidden": [],
|
| 627 |
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"disturbances": [],
|
| 628 |
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"last_frame": {
|
| 629 |
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"passed": true,
|
| 630 |
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"source_missing": false,
|
| 631 |
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"forbidden": [],
|
| 632 |
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"allowed": [],
|
| 633 |
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"ignored": [],
|
| 634 |
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"failed_keys": []
|
| 635 |
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},
|
| 636 |
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"failed_keys": []
|
| 637 |
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}
|
| 638 |
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},
|
| 639 |
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"gripper": null,
|
| 640 |
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"post_done_wait_frames": 0,
|
| 641 |
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"post_done_wait_exhausted": false
|
| 642 |
+
},
|
| 643 |
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"physical_semantics": {
|
| 644 |
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"skill": "place",
|
| 645 |
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"target": "inspection_platform",
|
| 646 |
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"attach_used": false,
|
| 647 |
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"attach_object": null,
|
| 648 |
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"attach_object_path": null,
|
| 649 |
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"attach_allowed": false,
|
| 650 |
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"ordinary_object_physical_only": true
|
| 651 |
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}
|
| 652 |
+
}
|
| 653 |
+
],
|
| 654 |
+
"physical_semantics": {
|
| 655 |
+
"attach_records": [],
|
| 656 |
+
"ordinary_attach_violations": [],
|
| 657 |
+
"forbidden_shortcuts_absent": true
|
| 658 |
+
},
|
| 659 |
+
"h5_episode_index": 90,
|
| 660 |
+
"reproducibility": {
|
| 661 |
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"enabled": true,
|
| 662 |
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"action_seed": 3987082320295684552,
|
| 663 |
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"physical_seed": 1590733738191871905,
|
| 664 |
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"layout_id": "layout_00010",
|
| 665 |
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"step_seeds": [
|
| 666 |
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|
| 667 |
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|
| 668 |
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|
| 669 |
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],
|
| 670 |
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"workflow_spec_digest": "6520f0f0d16188839ba1d67eee619bd2515589472fde477e2dddeda8a503787d",
|
| 671 |
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"strict_task_state": false,
|
| 672 |
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"allow_physical_randomization": true,
|
| 673 |
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"seed_source": "workflow.reproducibility",
|
| 674 |
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"task_island_state_digest": "345ff4e6b5494d3e184243874165ca99df301d18eae36d62d237a9a53e035019",
|
| 675 |
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"visual_seed": 6549033838549867587,
|
| 676 |
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"episode_index": 90,
|
| 677 |
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"physical_randomization_enabled": true,
|
| 678 |
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"motion_controller_type": "ik_servo",
|
| 679 |
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"runtime_step_seeds": [
|
| 680 |
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|
| 681 |
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|
| 682 |
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|
| 683 |
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],
|
| 684 |
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"runtime_workflow_digest": "fd2f96414d5086f996ec463a1c17000b97fa3dfdeee6fdd2b79e682dc47b4981"
|
| 685 |
+
}
|
| 686 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00010/results/episode_91_success.json
ADDED
|
@@ -0,0 +1,686 @@
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| 1 |
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| 2 |
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| 3 |
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| 4 |
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| 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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| 25 |
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| 30 |
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| 33 |
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| 34 |
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| 36 |
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| 37 |
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| 148 |
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| 149 |
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|
ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00010/results/episode_92_success.json
ADDED
|
@@ -0,0 +1,686 @@
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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_a",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_a",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_a",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.2851240382637193,
|
| 26 |
+
-0.17066485493131045,
|
| 27 |
+
1.0519593994184602
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0519593994184602,
|
| 30 |
+
"required_z": 0.8611064484101213,
|
| 31 |
+
"initial_z": 0.7611064484101213,
|
| 32 |
+
"lift_margin": 0.19085295100833888,
|
| 33 |
+
"gripper_z": 1.056026748185107,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.2811845113794158,
|
| 38 |
+
-0.1748203930054032,
|
| 39 |
+
1.056026748185107
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.00393952688430349,
|
| 43 |
+
0.004155538074092746,
|
| 44 |
+
-0.004067348766646717
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.00572611288374447,
|
| 47 |
+
"object_to_gripper_z": -0.004067348766646717,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.2851240382637193,
|
| 51 |
+
-0.1944141101870542,
|
| 52 |
+
1.0519593994184602
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.27457863922108233,
|
| 56 |
+
-0.17066485493131045,
|
| 57 |
+
1.0519593994184602
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.2798513387424008,
|
| 61 |
+
-0.18253948255918234,
|
| 62 |
+
1.0519593994184602
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.00527269952131848,
|
| 66 |
+
0.011874627627871892,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.02598523746612528,
|
| 70 |
+
"fingertip_max_gap": 0.10619036351097771,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.012992618733062653,
|
| 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": 1.0519593994184602,
|
| 78 |
+
"object_top_z": 1.1079200084613459,
|
| 79 |
+
"finger_top_clearance": 0.05596060904288569,
|
| 80 |
+
"fingertip_min_top_clearance": 0.01678818271286574,
|
| 81 |
+
"object_projection_between_fingers": 0.8353079419746187,
|
| 82 |
+
"object_to_finger_line_xy": 0.00963798672087355,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.05559518175548886,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
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|
| 686 |
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}
|
ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00010/results/episode_95_success.json
ADDED
|
@@ -0,0 +1,686 @@
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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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| 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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| 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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| 92 |
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| 101 |
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| 102 |
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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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| 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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| 140 |
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| 143 |
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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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| 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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| 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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| 182 |
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| 183 |
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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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| 191 |
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| 192 |
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| 193 |
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| 194 |
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| 250 |
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| 253 |
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"ordinary_attach_violations": [],
|
| 657 |
+
"forbidden_shortcuts_absent": true
|
| 658 |
+
},
|
| 659 |
+
"h5_episode_index": 95,
|
| 660 |
+
"reproducibility": {
|
| 661 |
+
"enabled": true,
|
| 662 |
+
"action_seed": 3987082320295684552,
|
| 663 |
+
"physical_seed": 1590733738191871905,
|
| 664 |
+
"layout_id": "layout_00010",
|
| 665 |
+
"step_seeds": [
|
| 666 |
+
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|
| 667 |
+
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|
| 668 |
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|
| 669 |
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],
|
| 670 |
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"workflow_spec_digest": "6520f0f0d16188839ba1d67eee619bd2515589472fde477e2dddeda8a503787d",
|
| 671 |
+
"strict_task_state": false,
|
| 672 |
+
"allow_physical_randomization": true,
|
| 673 |
+
"seed_source": "workflow.reproducibility",
|
| 674 |
+
"task_island_state_digest": "6569c2bbcfe9ac402a337bdbf3195fee8fc1f1ce74aa7d89f231521a88d4190e",
|
| 675 |
+
"visual_seed": 5851761688735755940,
|
| 676 |
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"episode_index": 95,
|
| 677 |
+
"physical_randomization_enabled": true,
|
| 678 |
+
"motion_controller_type": "ik_servo",
|
| 679 |
+
"runtime_step_seeds": [
|
| 680 |
+
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|
| 681 |
+
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|
| 682 |
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|
| 683 |
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],
|
| 684 |
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"runtime_workflow_digest": "fd2f96414d5086f996ec463a1c17000b97fa3dfdeee6fdd2b79e682dc47b4981"
|
| 685 |
+
}
|
| 686 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00010/results/episode_96_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 96,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_a",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_a",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_a",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.28510651400231224,
|
| 26 |
+
-0.17360626231898435,
|
| 27 |
+
1.0486652047355034
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0486652047355034,
|
| 30 |
+
"required_z": 0.8611063888054763,
|
| 31 |
+
"initial_z": 0.7611063888054763,
|
| 32 |
+
"lift_margin": 0.1875588159300271,
|
| 33 |
+
"gripper_z": 1.0523792052664023,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.2813756396051901,
|
| 38 |
+
-0.1776051212009242,
|
| 39 |
+
1.0523792052664023
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.0037308743971221636,
|
| 43 |
+
0.0039988588819398485,
|
| 44 |
+
-0.0037140005308988755
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.00546903063849261,
|
| 47 |
+
"object_to_gripper_z": -0.0037140005308988755,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.28510651400231224,
|
| 51 |
+
-0.1973402731763207,
|
| 52 |
+
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|
ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00010/results/episode_98_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 98,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_a",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_a",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_a",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.28562504649251935,
|
| 26 |
+
-0.17917896099302713,
|
| 27 |
+
1.0500577100147157
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0500577100147157,
|
| 30 |
+
"required_z": 0.861106567619411,
|
| 31 |
+
"initial_z": 0.761106567619411,
|
| 32 |
+
"lift_margin": 0.18895114239530475,
|
| 33 |
+
"gripper_z": 1.0532783737194658,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.2817394594057989,
|
| 38 |
+
-0.18326121372543205,
|
| 39 |
+
1.0532783737194658
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
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|
| 43 |
+
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|
| 44 |
+
-0.0032206637047500486
|
| 45 |
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],
|
| 46 |
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"object_to_gripper_xy": 0.0056358295201075805,
|
| 47 |
+
"object_to_gripper_z": -0.0032206637047500486,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.28562504649251935,
|
| 51 |
+
-0.20307723433894861,
|
| 52 |
+
1.0500577100147157
|
| 53 |
+
],
|
| 54 |
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"finger_b": [
|
| 55 |
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|
| 56 |
+
-0.17917896099302713,
|
| 57 |
+
1.0500577100147157
|
| 58 |
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],
|
| 59 |
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"finger_midpoint": [
|
| 60 |
+
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|
| 61 |
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|
| 62 |
+
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|
| 63 |
+
],
|
| 64 |
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"object_minus_finger_midpoint": [
|
| 65 |
+
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|
| 66 |
+
0.011949136672960742,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
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"finger_gap": 0.025979496602084217,
|
| 70 |
+
"fingertip_max_gap": 0.0937651563944947,
|
| 71 |
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"finger_z_skew": 0.0,
|
| 72 |
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"fingertip_z_skew_max": 0.035,
|
| 73 |
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"object_to_finger_midpoint_xy": 0.012989748301042109,
|
| 74 |
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"object_to_finger_midpoint_z": 0.0,
|
| 75 |
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"finger_midpoint_minus_object_z": 0.0,
|
| 76 |
+
"object_position_origin": "center",
|
| 77 |
+
"object_center_z_for_grasp": 1.0500577100147157,
|
| 78 |
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"object_top_z": 1.100595991066082,
|
| 79 |
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"finger_top_clearance": 0.050538281051366374,
|
| 80 |
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"fingertip_min_top_clearance": 0.015161484315409928,
|
| 81 |
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"object_projection_between_fingers": 0.8461972025413813,
|
| 82 |
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"object_to_finger_line_xy": 0.009372353088995304,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
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"fingertip_line_xy_max_dist": 0.049382578197247354,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 2.2115131599818265,
|
| 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": 204,
|
| 96 |
+
"max_stable_success_frames": 204,
|
| 97 |
+
"required_stable_lift_frames": 5
|
| 98 |
+
},
|
| 99 |
+
"failed_keys": [],
|
| 100 |
+
"failure_code": null,
|
| 101 |
+
"failure_messages": {},
|
| 102 |
+
"safety": {
|
| 103 |
+
"policy": {
|
| 104 |
+
"skill": "pick",
|
| 105 |
+
"target_object": "beaker_a",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_a"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/beaker_2"
|
| 112 |
+
],
|
| 113 |
+
"allowed_prim_substrings": [],
|
| 114 |
+
"robot_prim_substrings": [
|
| 115 |
+
"Robotiq2F85",
|
| 116 |
+
"Robotiq_2F_85",
|
| 117 |
+
"contact_sensor",
|
| 118 |
+
"dummy_base_prismatic_x_joint",
|
| 119 |
+
"dummy_base_prismatic_y_joint",
|
| 120 |
+
"dummy_base_revolute_z_joint",
|
| 121 |
+
"elbow_joint",
|
| 122 |
+
"festo",
|
| 123 |
+
"finger",
|
| 124 |
+
"fr3",
|
| 125 |
+
"fr3_duo_mobile",
|
| 126 |
+
"fr3_joint1",
|
| 127 |
+
"fr3_joint2",
|
| 128 |
+
"fr3_joint3",
|
| 129 |
+
"fr3_joint4",
|
| 130 |
+
"fr3_joint5",
|
| 131 |
+
"fr3_joint6",
|
| 132 |
+
"fr3_joint7",
|
| 133 |
+
"fr3_leftfinger",
|
| 134 |
+
"fr3_rightfinger",
|
| 135 |
+
"franka",
|
| 136 |
+
"geometry",
|
| 137 |
+
"gripper",
|
| 138 |
+
"gripper_center",
|
| 139 |
+
"joint1",
|
| 140 |
+
"joint2",
|
| 141 |
+
"joint3",
|
| 142 |
+
"joint4",
|
| 143 |
+
"joint5",
|
| 144 |
+
"joint6",
|
| 145 |
+
"joint7",
|
| 146 |
+
"left_inner_finger",
|
| 147 |
+
"lift2",
|
| 148 |
+
"mobile_rotate",
|
| 149 |
+
"mobile_translate_x",
|
| 150 |
+
"mobile_translate_y",
|
| 151 |
+
"panda_joint1",
|
| 152 |
+
"panda_joint2",
|
| 153 |
+
"panda_joint3",
|
| 154 |
+
"panda_joint4",
|
| 155 |
+
"panda_joint5",
|
| 156 |
+
"panda_joint6",
|
| 157 |
+
"panda_joint7",
|
| 158 |
+
"panda_leftfinger",
|
| 159 |
+
"panda_leftfingertip",
|
| 160 |
+
"panda_rightfinger",
|
| 161 |
+
"panda_rightfingertip",
|
| 162 |
+
"ridgebase",
|
| 163 |
+
"ridgebase_festo",
|
| 164 |
+
"ridgebase_fr3",
|
| 165 |
+
"ridgebase_rizon4",
|
| 166 |
+
"ridgebase_ur16e",
|
| 167 |
+
"ridgebase_ur5e",
|
| 168 |
+
"right_inner_finger",
|
| 169 |
+
"rizon4",
|
| 170 |
+
"robot",
|
| 171 |
+
"robotiq_2f85",
|
| 172 |
+
"shoulder_lift_joint",
|
| 173 |
+
"shoulder_pan_joint",
|
| 174 |
+
"split_aloha",
|
| 175 |
+
"tool_center",
|
| 176 |
+
"ur16e",
|
| 177 |
+
"ur5e",
|
| 178 |
+
"visuals",
|
| 179 |
+
"wrist",
|
| 180 |
+
"wrist_1_joint",
|
| 181 |
+
"wrist_2_joint",
|
| 182 |
+
"wrist_3_joint"
|
| 183 |
+
],
|
| 184 |
+
"ignored_prim_substrings": [
|
| 185 |
+
"base_link",
|
| 186 |
+
"caster",
|
| 187 |
+
"defaultgroundplane",
|
| 188 |
+
"desk",
|
| 189 |
+
"floor",
|
| 190 |
+
"ground",
|
| 191 |
+
"groundplane",
|
| 192 |
+
"link0",
|
| 193 |
+
"table",
|
| 194 |
+
"wheel",
|
| 195 |
+
"workbench"
|
| 196 |
+
],
|
| 197 |
+
"enabled": true
|
| 198 |
+
},
|
| 199 |
+
"status": "active",
|
| 200 |
+
"passed": true,
|
| 201 |
+
"source_missing": false,
|
| 202 |
+
"forbidden": [],
|
| 203 |
+
"disturbances": [],
|
| 204 |
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"last_frame": {
|
| 205 |
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"passed": true,
|
| 206 |
+
"source_missing": false,
|
| 207 |
+
"forbidden": [],
|
| 208 |
+
"allowed": [
|
| 209 |
+
{
|
| 210 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 211 |
+
"b": "/World/beaker_2/mesh"
|
| 212 |
+
},
|
| 213 |
+
{
|
| 214 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 215 |
+
"b": "/World/beaker_2/mesh"
|
| 216 |
+
}
|
| 217 |
+
],
|
| 218 |
+
"ignored": [],
|
| 219 |
+
"failed_keys": []
|
| 220 |
+
},
|
| 221 |
+
"failed_keys": []
|
| 222 |
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}
|
| 223 |
+
},
|
| 224 |
+
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|
| 608 |
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|
| 609 |
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|
| 610 |
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|
| 611 |
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|
| 612 |
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|
| 613 |
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|
| 614 |
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|
| 615 |
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|
| 616 |
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|
| 617 |
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|
| 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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|
| 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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|
| 638 |
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|
| 639 |
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|
| 640 |
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|
| 641 |
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|
| 642 |
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},
|
| 643 |
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"physical_semantics": {
|
| 644 |
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"skill": "place",
|
| 645 |
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"target": "inspection_platform",
|
| 646 |
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|
| 647 |
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|
| 648 |
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|
| 649 |
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"attach_allowed": false,
|
| 650 |
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"ordinary_object_physical_only": true
|
| 651 |
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|
| 652 |
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}
|
| 653 |
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],
|
| 654 |
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"physical_semantics": {
|
| 655 |
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"attach_records": [],
|
| 656 |
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"ordinary_attach_violations": [],
|
| 657 |
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"forbidden_shortcuts_absent": true
|
| 658 |
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},
|
| 659 |
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"h5_episode_index": 98,
|
| 660 |
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"reproducibility": {
|
| 661 |
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"enabled": true,
|
| 662 |
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"action_seed": 3987082320295684552,
|
| 663 |
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|
| 664 |
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|
| 665 |
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"step_seeds": [
|
| 666 |
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|
| 667 |
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| 668 |
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| 669 |
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| 670 |
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|
| 671 |
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|
| 672 |
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|
| 673 |
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|
| 674 |
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|
| 675 |
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|
| 676 |
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|
| 677 |
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|
| 678 |
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|
| 679 |
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|
| 680 |
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|
| 681 |
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|
| 682 |
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|
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| 684 |
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|
| 685 |
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}
|
| 686 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00010/results/episode_9_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 9,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_a",
|
| 12 |
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ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00011/dataset/episode_0011.h5
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ADDED
|
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ADDED
|
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ADDED
|
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ADDED
|
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ur5e/fastfix_v3/fast_2beaker_central_longmix_s03_psl_knn_00011/dataset/episode_0018.h5
ADDED
|
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