Upload folder using huggingface_hub (part 104)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_83_success.json +926 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_84_success.json +926 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_85_success.json +926 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_86_success.json +926 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_87_success.json +926 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_88_success.json +926 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_8_success.json +926 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_90_success.json +926 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_91_success.json +926 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_92_success.json +926 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_93_success.json +926 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_94_success.json +926 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_95_success.json +926 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_96_success.json +926 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_97_success.json +926 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_98_success.json +926 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_99_success.json +926 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_9_success.json +926 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/summary.json +9 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0000.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0001.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0002.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0003.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0004.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0005.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0006.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0007.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0008.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0009.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0011.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0012.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0013.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0015.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0016.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0017.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0018.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0019.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0020.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0021.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0022.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0023.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0024.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0025.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0026.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0027.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0028.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0029.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0030.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0031.h5 +3 -0
- ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0032.h5 +3 -0
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_83_success.json
ADDED
|
@@ -0,0 +1,926 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 83,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 4,
|
| 5 |
+
"total_steps": 4,
|
| 6 |
+
"step_accuracy": "4/4",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_b",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_b",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_b",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.18926603978572465,
|
| 26 |
+
0.2184303168843422,
|
| 27 |
+
1.0449861775376952
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0449861775376952,
|
| 30 |
+
"required_z": 0.8565865670132103,
|
| 31 |
+
"initial_z": 0.7565865670132104,
|
| 32 |
+
"lift_margin": 0.18839961052448484,
|
| 33 |
+
"gripper_z": 1.0504106264593047,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.18434158554311986,
|
| 38 |
+
0.21355768013947443,
|
| 39 |
+
1.0504106264593047
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004924454242604792,
|
| 43 |
+
0.004872636744867764,
|
| 44 |
+
-0.005424448921609537
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006927686369556856,
|
| 47 |
+
"object_to_gripper_z": -0.005424448921609537,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.18926603978572465,
|
| 51 |
+
0.19420254004606616,
|
| 52 |
+
1.0449861775376952
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.17726092804559235,
|
| 56 |
+
0.2184303168843422,
|
| 57 |
+
1.0449861775376952
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.1832634839156585,
|
| 61 |
+
0.20631642846520418,
|
| 62 |
+
1.0449861775376952
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.006002555870066151,
|
| 66 |
+
0.01211388841913802,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.02703900660931106,
|
| 70 |
+
"fingertip_max_gap": 0.09131542137202711,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.01351950330465553,
|
| 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": 1.0449861775376952,
|
| 78 |
+
"object_top_z": 1.090477536065399,
|
| 79 |
+
"finger_top_clearance": 0.04549135852770392,
|
| 80 |
+
"fingertip_min_top_clearance": 0.013647407558311191,
|
| 81 |
+
"object_projection_between_fingers": 0.8028708045044619,
|
| 82 |
+
"object_to_finger_line_xy": 0.010756947263674044,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.04815771068601356,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 0.9233232367474066,
|
| 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": 212,
|
| 96 |
+
"max_stable_success_frames": 212,
|
| 97 |
+
"required_stable_lift_frames": 5
|
| 98 |
+
},
|
| 99 |
+
"failed_keys": [],
|
| 100 |
+
"failure_code": null,
|
| 101 |
+
"failure_messages": {},
|
| 102 |
+
"safety": {
|
| 103 |
+
"policy": {
|
| 104 |
+
"skill": "pick",
|
| 105 |
+
"target_object": "beaker_b",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_b"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/target_beaker"
|
| 112 |
+
],
|
| 113 |
+
"allowed_prim_substrings": [],
|
| 114 |
+
"robot_prim_substrings": [
|
| 115 |
+
"Robotiq2F85",
|
| 116 |
+
"Robotiq_2F_85",
|
| 117 |
+
"contact_sensor",
|
| 118 |
+
"dummy_base_prismatic_x_joint",
|
| 119 |
+
"dummy_base_prismatic_y_joint",
|
| 120 |
+
"dummy_base_revolute_z_joint",
|
| 121 |
+
"elbow_joint",
|
| 122 |
+
"festo",
|
| 123 |
+
"finger",
|
| 124 |
+
"fr3",
|
| 125 |
+
"fr3_duo_mobile",
|
| 126 |
+
"fr3_joint1",
|
| 127 |
+
"fr3_joint2",
|
| 128 |
+
"fr3_joint3",
|
| 129 |
+
"fr3_joint4",
|
| 130 |
+
"fr3_joint5",
|
| 131 |
+
"fr3_joint6",
|
| 132 |
+
"fr3_joint7",
|
| 133 |
+
"fr3_leftfinger",
|
| 134 |
+
"fr3_rightfinger",
|
| 135 |
+
"franka",
|
| 136 |
+
"geometry",
|
| 137 |
+
"gripper",
|
| 138 |
+
"gripper_center",
|
| 139 |
+
"joint1",
|
| 140 |
+
"joint2",
|
| 141 |
+
"joint3",
|
| 142 |
+
"joint4",
|
| 143 |
+
"joint5",
|
| 144 |
+
"joint6",
|
| 145 |
+
"joint7",
|
| 146 |
+
"left_inner_finger",
|
| 147 |
+
"lift2",
|
| 148 |
+
"mobile_rotate",
|
| 149 |
+
"mobile_translate_x",
|
| 150 |
+
"mobile_translate_y",
|
| 151 |
+
"panda_joint1",
|
| 152 |
+
"panda_joint2",
|
| 153 |
+
"panda_joint3",
|
| 154 |
+
"panda_joint4",
|
| 155 |
+
"panda_joint5",
|
| 156 |
+
"panda_joint6",
|
| 157 |
+
"panda_joint7",
|
| 158 |
+
"panda_leftfinger",
|
| 159 |
+
"panda_leftfingertip",
|
| 160 |
+
"panda_rightfinger",
|
| 161 |
+
"panda_rightfingertip",
|
| 162 |
+
"ridgebase",
|
| 163 |
+
"ridgebase_festo",
|
| 164 |
+
"ridgebase_fr3",
|
| 165 |
+
"ridgebase_rizon4",
|
| 166 |
+
"ridgebase_ur16e",
|
| 167 |
+
"ridgebase_ur5e",
|
| 168 |
+
"right_inner_finger",
|
| 169 |
+
"rizon4",
|
| 170 |
+
"robot",
|
| 171 |
+
"robotiq_2f85",
|
| 172 |
+
"shoulder_lift_joint",
|
| 173 |
+
"shoulder_pan_joint",
|
| 174 |
+
"split_aloha",
|
| 175 |
+
"tool_center",
|
| 176 |
+
"ur16e",
|
| 177 |
+
"ur5e",
|
| 178 |
+
"visuals",
|
| 179 |
+
"wrist",
|
| 180 |
+
"wrist_1_joint",
|
| 181 |
+
"wrist_2_joint",
|
| 182 |
+
"wrist_3_joint"
|
| 183 |
+
],
|
| 184 |
+
"ignored_prim_substrings": [
|
| 185 |
+
"base_link",
|
| 186 |
+
"caster",
|
| 187 |
+
"defaultgroundplane",
|
| 188 |
+
"desk",
|
| 189 |
+
"floor",
|
| 190 |
+
"ground",
|
| 191 |
+
"groundplane",
|
| 192 |
+
"link0",
|
| 193 |
+
"table",
|
| 194 |
+
"wheel",
|
| 195 |
+
"workbench"
|
| 196 |
+
],
|
| 197 |
+
"enabled": true
|
| 198 |
+
},
|
| 199 |
+
"status": "active",
|
| 200 |
+
"passed": true,
|
| 201 |
+
"source_missing": false,
|
| 202 |
+
"forbidden": [],
|
| 203 |
+
"disturbances": [],
|
| 204 |
+
"last_frame": {
|
| 205 |
+
"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/target_beaker/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/target_beaker/mesh"
|
| 216 |
+
}
|
| 217 |
+
],
|
| 218 |
+
"ignored": [],
|
| 219 |
+
"failed_keys": []
|
| 220 |
+
},
|
| 221 |
+
"failed_keys": []
|
| 222 |
+
}
|
| 223 |
+
},
|
| 224 |
+
"gripper": null,
|
| 225 |
+
"post_done_wait_frames": 0,
|
| 226 |
+
"post_done_wait_exhausted": false
|
| 227 |
+
},
|
| 228 |
+
"physical_semantics": {
|
| 229 |
+
"skill": "pick",
|
| 230 |
+
"target": "beaker_b",
|
| 231 |
+
"attach_used": false,
|
| 232 |
+
"attach_object": null,
|
| 233 |
+
"attach_object_path": null,
|
| 234 |
+
"attach_allowed": false,
|
| 235 |
+
"ordinary_object_physical_only": true
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
{
|
| 239 |
+
"step_index": 1,
|
| 240 |
+
"skill": "shake",
|
| 241 |
+
"target": "beaker_b",
|
| 242 |
+
"success": true,
|
| 243 |
+
"reason": "executed",
|
| 244 |
+
"debug": {
|
| 245 |
+
"arm": null,
|
| 246 |
+
"checker": {
|
| 247 |
+
"checker": "ShakeSuccessChecker",
|
| 248 |
+
"skill": "shake",
|
| 249 |
+
"target": "beaker_b",
|
| 250 |
+
"passed": true,
|
| 251 |
+
"metrics": {
|
| 252 |
+
"held": "beaker_b",
|
| 253 |
+
"force_virtual_attach": false,
|
| 254 |
+
"virtual_attach_allowed": false,
|
| 255 |
+
"gripper_position": [
|
| 256 |
+
0.18824185960296752,
|
| 257 |
+
0.21908364803428565,
|
| 258 |
+
1.2396079620201907
|
| 259 |
+
],
|
| 260 |
+
"held_position": [
|
| 261 |
+
0.1934307932165686,
|
| 262 |
+
0.22353575969879147,
|
| 263 |
+
1.2340701389839521
|
| 264 |
+
],
|
| 265 |
+
"object_initial_z": 0.7730800627579277,
|
| 266 |
+
"required_gripper_z": 0.8930800627579277,
|
| 267 |
+
"shake_count": 5,
|
| 268 |
+
"held_shake_count": 5,
|
| 269 |
+
"effective_shake_count": 5,
|
| 270 |
+
"min_shake_count": 3,
|
| 271 |
+
"held_gripper_dist": 0.008798512050357317,
|
| 272 |
+
"max_held_gripper_dist": 0.008801840872516935,
|
| 273 |
+
"held_gripper_max_dist": 0.15,
|
| 274 |
+
"held_gripper_z_dist": 0.0055378230362386205,
|
| 275 |
+
"max_held_gripper_z_dist": 0.005563880564077639,
|
| 276 |
+
"held_gripper_z_max_dist": 0.15,
|
| 277 |
+
"held_object_xy_range": 0.08536433661323331,
|
| 278 |
+
"held_object_min_xy_range": 0.04,
|
| 279 |
+
"held_motion_ok": true,
|
| 280 |
+
"held_grasp_geometry_checked": true,
|
| 281 |
+
"held_grasp_geometry_required": true,
|
| 282 |
+
"held_grasp_source": "active_contact_pad_positions",
|
| 283 |
+
"held_grasp_finger_a": [
|
| 284 |
+
0.1934307932165686,
|
| 285 |
+
0.1984934434339006,
|
| 286 |
+
1.2340701389839521
|
| 287 |
+
],
|
| 288 |
+
"held_grasp_finger_b": [
|
| 289 |
+
0.18321511077581776,
|
| 290 |
+
0.22353575969879147,
|
| 291 |
+
1.2340701389839521
|
| 292 |
+
],
|
| 293 |
+
"held_grasp_midpoint": [
|
| 294 |
+
0.18832295199619317,
|
| 295 |
+
0.21101460156634605,
|
| 296 |
+
1.2340701389839521
|
| 297 |
+
],
|
| 298 |
+
"held_grasp_object_position": [
|
| 299 |
+
0.1934307932165686,
|
| 300 |
+
0.22353575969879147,
|
| 301 |
+
1.2340701389839521
|
| 302 |
+
],
|
| 303 |
+
"held_grasp_finger_gap": 0.02704584573721226,
|
| 304 |
+
"held_grasp_max_gap": 0.1249237185716629,
|
| 305 |
+
"held_grasp_geometry_frame": "object_local",
|
| 306 |
+
"held_grasp_size_source": "beaker_b_local_size",
|
| 307 |
+
"held_grasp_z_skew": 0.024467862104921363,
|
| 308 |
+
"held_grasp_world_z_skew": 0.0,
|
| 309 |
+
"held_grasp_z_skew_max": 0.08,
|
| 310 |
+
"held_grasp_z_skew_frame": "object_local_up",
|
| 311 |
+
"held_grasp_local_up_axis": [
|
| 312 |
+
-0.05270995465727166,
|
| 313 |
+
-0.9985629922829904,
|
| 314 |
+
0.009675284123421111
|
| 315 |
+
],
|
| 316 |
+
"held_grasp_object_projection_between_fingers": 0.5,
|
| 317 |
+
"held_grasp_object_to_finger_line_xy": 0.004442438667290067,
|
| 318 |
+
"held_grasp_line_xy_max_dist": 0.04746185928583145,
|
| 319 |
+
"held_grasp_object_top_z": 0.045200224965810776,
|
| 320 |
+
"held_grasp_top_clearance": 0.03242782575510503,
|
| 321 |
+
"held_grasp_min_top_clearance": 0.013560067489743232
|
| 322 |
+
},
|
| 323 |
+
"failed_keys": [],
|
| 324 |
+
"failure_code": null,
|
| 325 |
+
"failure_messages": {},
|
| 326 |
+
"safety": {
|
| 327 |
+
"policy": {
|
| 328 |
+
"skill": "shake",
|
| 329 |
+
"target_object": "beaker_b",
|
| 330 |
+
"held_object": "beaker_b",
|
| 331 |
+
"allowed_objects": [
|
| 332 |
+
"beaker_b"
|
| 333 |
+
],
|
| 334 |
+
"allowed_object_paths": [
|
| 335 |
+
"/World/target_beaker"
|
| 336 |
+
],
|
| 337 |
+
"allowed_prim_substrings": [],
|
| 338 |
+
"robot_prim_substrings": [
|
| 339 |
+
"Robotiq2F85",
|
| 340 |
+
"Robotiq_2F_85",
|
| 341 |
+
"contact_sensor",
|
| 342 |
+
"dummy_base_prismatic_x_joint",
|
| 343 |
+
"dummy_base_prismatic_y_joint",
|
| 344 |
+
"dummy_base_revolute_z_joint",
|
| 345 |
+
"elbow_joint",
|
| 346 |
+
"festo",
|
| 347 |
+
"finger",
|
| 348 |
+
"fr3",
|
| 349 |
+
"fr3_duo_mobile",
|
| 350 |
+
"fr3_joint1",
|
| 351 |
+
"fr3_joint2",
|
| 352 |
+
"fr3_joint3",
|
| 353 |
+
"fr3_joint4",
|
| 354 |
+
"fr3_joint5",
|
| 355 |
+
"fr3_joint6",
|
| 356 |
+
"fr3_joint7",
|
| 357 |
+
"fr3_leftfinger",
|
| 358 |
+
"fr3_rightfinger",
|
| 359 |
+
"franka",
|
| 360 |
+
"geometry",
|
| 361 |
+
"gripper",
|
| 362 |
+
"gripper_center",
|
| 363 |
+
"joint1",
|
| 364 |
+
"joint2",
|
| 365 |
+
"joint3",
|
| 366 |
+
"joint4",
|
| 367 |
+
"joint5",
|
| 368 |
+
"joint6",
|
| 369 |
+
"joint7",
|
| 370 |
+
"left_inner_finger",
|
| 371 |
+
"lift2",
|
| 372 |
+
"mobile_rotate",
|
| 373 |
+
"mobile_translate_x",
|
| 374 |
+
"mobile_translate_y",
|
| 375 |
+
"panda_joint1",
|
| 376 |
+
"panda_joint2",
|
| 377 |
+
"panda_joint3",
|
| 378 |
+
"panda_joint4",
|
| 379 |
+
"panda_joint5",
|
| 380 |
+
"panda_joint6",
|
| 381 |
+
"panda_joint7",
|
| 382 |
+
"panda_leftfinger",
|
| 383 |
+
"panda_leftfingertip",
|
| 384 |
+
"panda_rightfinger",
|
| 385 |
+
"panda_rightfingertip",
|
| 386 |
+
"ridgebase",
|
| 387 |
+
"ridgebase_festo",
|
| 388 |
+
"ridgebase_fr3",
|
| 389 |
+
"ridgebase_rizon4",
|
| 390 |
+
"ridgebase_ur16e",
|
| 391 |
+
"ridgebase_ur5e",
|
| 392 |
+
"right_inner_finger",
|
| 393 |
+
"rizon4",
|
| 394 |
+
"robot",
|
| 395 |
+
"robotiq_2f85",
|
| 396 |
+
"shoulder_lift_joint",
|
| 397 |
+
"shoulder_pan_joint",
|
| 398 |
+
"split_aloha",
|
| 399 |
+
"tool_center",
|
| 400 |
+
"ur16e",
|
| 401 |
+
"ur5e",
|
| 402 |
+
"visuals",
|
| 403 |
+
"wrist",
|
| 404 |
+
"wrist_1_joint",
|
| 405 |
+
"wrist_2_joint",
|
| 406 |
+
"wrist_3_joint"
|
| 407 |
+
],
|
| 408 |
+
"ignored_prim_substrings": [
|
| 409 |
+
"base_link",
|
| 410 |
+
"caster",
|
| 411 |
+
"defaultgroundplane",
|
| 412 |
+
"desk",
|
| 413 |
+
"floor",
|
| 414 |
+
"ground",
|
| 415 |
+
"groundplane",
|
| 416 |
+
"link0",
|
| 417 |
+
"table",
|
| 418 |
+
"wheel",
|
| 419 |
+
"workbench"
|
| 420 |
+
],
|
| 421 |
+
"enabled": true
|
| 422 |
+
},
|
| 423 |
+
"status": "active",
|
| 424 |
+
"passed": true,
|
| 425 |
+
"source_missing": false,
|
| 426 |
+
"forbidden": [],
|
| 427 |
+
"disturbances": [],
|
| 428 |
+
"last_frame": {
|
| 429 |
+
"passed": true,
|
| 430 |
+
"source_missing": false,
|
| 431 |
+
"forbidden": [],
|
| 432 |
+
"allowed": [
|
| 433 |
+
{
|
| 434 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 435 |
+
"b": "/World/target_beaker/mesh"
|
| 436 |
+
},
|
| 437 |
+
{
|
| 438 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 439 |
+
"b": "/World/target_beaker/mesh"
|
| 440 |
+
}
|
| 441 |
+
],
|
| 442 |
+
"ignored": [],
|
| 443 |
+
"failed_keys": []
|
| 444 |
+
},
|
| 445 |
+
"failed_keys": []
|
| 446 |
+
}
|
| 447 |
+
},
|
| 448 |
+
"gripper": null,
|
| 449 |
+
"post_done_wait_frames": 0,
|
| 450 |
+
"post_done_wait_exhausted": false
|
| 451 |
+
},
|
| 452 |
+
"physical_semantics": {
|
| 453 |
+
"skill": "shake",
|
| 454 |
+
"target": "beaker_b",
|
| 455 |
+
"attach_used": false,
|
| 456 |
+
"attach_object": null,
|
| 457 |
+
"attach_object_path": null,
|
| 458 |
+
"attach_allowed": false,
|
| 459 |
+
"ordinary_object_physical_only": true
|
| 460 |
+
}
|
| 461 |
+
},
|
| 462 |
+
{
|
| 463 |
+
"step_index": 2,
|
| 464 |
+
"skill": "place",
|
| 465 |
+
"target": "heater_platform",
|
| 466 |
+
"success": true,
|
| 467 |
+
"reason": "executed",
|
| 468 |
+
"debug": {
|
| 469 |
+
"arm": null,
|
| 470 |
+
"checker": {
|
| 471 |
+
"checker": "PlaceSuccessChecker",
|
| 472 |
+
"skill": "place",
|
| 473 |
+
"target": "heater_platform",
|
| 474 |
+
"passed": true,
|
| 475 |
+
"metrics": {
|
| 476 |
+
"held": "beaker_b",
|
| 477 |
+
"target": "heater_platform",
|
| 478 |
+
"object_position": [
|
| 479 |
+
0.33842401124296084,
|
| 480 |
+
-0.32160366053931466,
|
| 481 |
+
0.8470193071779082
|
| 482 |
+
],
|
| 483 |
+
"target_position": [
|
| 484 |
+
0.3279438390802522,
|
| 485 |
+
-0.3257776952991569,
|
| 486 |
+
0.8084375599031817
|
| 487 |
+
],
|
| 488 |
+
"target_position_source": "target_object:_xform_position",
|
| 489 |
+
"xy_dist": 0.011280805588980968,
|
| 490 |
+
"xy_threshold": 0.08,
|
| 491 |
+
"gripper_dist": 0.19086054320699308,
|
| 492 |
+
"gripper_away_threshold": 0.04,
|
| 493 |
+
"gripper_away_ok": true,
|
| 494 |
+
"object_z": 0.8470193071779082,
|
| 495 |
+
"min_z": 0.5730800627579278,
|
| 496 |
+
"min_z_margin": 0.2,
|
| 497 |
+
"require_object_upright": true,
|
| 498 |
+
"object_upright_reference_source": "scene_initial",
|
| 499 |
+
"release_fingertip_source": "active_contact_pad_positions",
|
| 500 |
+
"release_finger_gap": 0.07580484586106725,
|
| 501 |
+
"release_finger_gap_metric": "3d_contact_pad_distance",
|
| 502 |
+
"release_fingertip_min_gap": 0.08534662473631231,
|
| 503 |
+
"release_gap_margin": 0.02,
|
| 504 |
+
"release_gap_missing_size": false,
|
| 505 |
+
"release_min_pad_clearance": 0.15894545687237557,
|
| 506 |
+
"release_required_pad_clearance": 0.05267331236815616,
|
| 507 |
+
"release_pad_clearance_ok": true,
|
| 508 |
+
"release_gap_ok": false,
|
| 509 |
+
"force_virtual_attach": false,
|
| 510 |
+
"virtual_attach_allowed": false,
|
| 511 |
+
"max_z": 0.9084375599031816,
|
| 512 |
+
"max_z_margin": 0.1,
|
| 513 |
+
"object_tilt_deg": 0.4034823715469878,
|
| 514 |
+
"object_max_tilt_deg": 12.0,
|
| 515 |
+
"object_axis_flip_tolerance_deg": 3.0,
|
| 516 |
+
"object_upright_axis_local": null,
|
| 517 |
+
"required_placed_release_frames": 2,
|
| 518 |
+
"placed_release_frames": 158,
|
| 519 |
+
"max_placed_release_frames": 158
|
| 520 |
+
},
|
| 521 |
+
"failed_keys": [],
|
| 522 |
+
"failure_code": null,
|
| 523 |
+
"failure_messages": {},
|
| 524 |
+
"safety": {
|
| 525 |
+
"policy": {
|
| 526 |
+
"skill": "place",
|
| 527 |
+
"target_object": "heater_platform",
|
| 528 |
+
"held_object": "beaker_b",
|
| 529 |
+
"allowed_objects": [
|
| 530 |
+
"beaker_b",
|
| 531 |
+
"heater_platform"
|
| 532 |
+
],
|
| 533 |
+
"allowed_object_paths": [
|
| 534 |
+
"/World/heat_device/heat_device/heat_device/plat",
|
| 535 |
+
"/World/target_beaker"
|
| 536 |
+
],
|
| 537 |
+
"allowed_prim_substrings": [],
|
| 538 |
+
"robot_prim_substrings": [
|
| 539 |
+
"Robotiq2F85",
|
| 540 |
+
"Robotiq_2F_85",
|
| 541 |
+
"contact_sensor",
|
| 542 |
+
"dummy_base_prismatic_x_joint",
|
| 543 |
+
"dummy_base_prismatic_y_joint",
|
| 544 |
+
"dummy_base_revolute_z_joint",
|
| 545 |
+
"elbow_joint",
|
| 546 |
+
"festo",
|
| 547 |
+
"finger",
|
| 548 |
+
"fr3",
|
| 549 |
+
"fr3_duo_mobile",
|
| 550 |
+
"fr3_joint1",
|
| 551 |
+
"fr3_joint2",
|
| 552 |
+
"fr3_joint3",
|
| 553 |
+
"fr3_joint4",
|
| 554 |
+
"fr3_joint5",
|
| 555 |
+
"fr3_joint6",
|
| 556 |
+
"fr3_joint7",
|
| 557 |
+
"fr3_leftfinger",
|
| 558 |
+
"fr3_rightfinger",
|
| 559 |
+
"franka",
|
| 560 |
+
"geometry",
|
| 561 |
+
"gripper",
|
| 562 |
+
"gripper_center",
|
| 563 |
+
"joint1",
|
| 564 |
+
"joint2",
|
| 565 |
+
"joint3",
|
| 566 |
+
"joint4",
|
| 567 |
+
"joint5",
|
| 568 |
+
"joint6",
|
| 569 |
+
"joint7",
|
| 570 |
+
"left_inner_finger",
|
| 571 |
+
"lift2",
|
| 572 |
+
"mobile_rotate",
|
| 573 |
+
"mobile_translate_x",
|
| 574 |
+
"mobile_translate_y",
|
| 575 |
+
"panda_joint1",
|
| 576 |
+
"panda_joint2",
|
| 577 |
+
"panda_joint3",
|
| 578 |
+
"panda_joint4",
|
| 579 |
+
"panda_joint5",
|
| 580 |
+
"panda_joint6",
|
| 581 |
+
"panda_joint7",
|
| 582 |
+
"panda_leftfinger",
|
| 583 |
+
"panda_leftfingertip",
|
| 584 |
+
"panda_rightfinger",
|
| 585 |
+
"panda_rightfingertip",
|
| 586 |
+
"ridgebase",
|
| 587 |
+
"ridgebase_festo",
|
| 588 |
+
"ridgebase_fr3",
|
| 589 |
+
"ridgebase_rizon4",
|
| 590 |
+
"ridgebase_ur16e",
|
| 591 |
+
"ridgebase_ur5e",
|
| 592 |
+
"right_inner_finger",
|
| 593 |
+
"rizon4",
|
| 594 |
+
"robot",
|
| 595 |
+
"robotiq_2f85",
|
| 596 |
+
"shoulder_lift_joint",
|
| 597 |
+
"shoulder_pan_joint",
|
| 598 |
+
"split_aloha",
|
| 599 |
+
"tool_center",
|
| 600 |
+
"ur16e",
|
| 601 |
+
"ur5e",
|
| 602 |
+
"visuals",
|
| 603 |
+
"wrist",
|
| 604 |
+
"wrist_1_joint",
|
| 605 |
+
"wrist_2_joint",
|
| 606 |
+
"wrist_3_joint"
|
| 607 |
+
],
|
| 608 |
+
"ignored_prim_substrings": [
|
| 609 |
+
"base_link",
|
| 610 |
+
"caster",
|
| 611 |
+
"defaultgroundplane",
|
| 612 |
+
"desk",
|
| 613 |
+
"floor",
|
| 614 |
+
"ground",
|
| 615 |
+
"groundplane",
|
| 616 |
+
"link0",
|
| 617 |
+
"table",
|
| 618 |
+
"wheel",
|
| 619 |
+
"workbench"
|
| 620 |
+
],
|
| 621 |
+
"enabled": true
|
| 622 |
+
},
|
| 623 |
+
"status": "active",
|
| 624 |
+
"passed": true,
|
| 625 |
+
"source_missing": false,
|
| 626 |
+
"forbidden": [],
|
| 627 |
+
"disturbances": [],
|
| 628 |
+
"last_frame": {
|
| 629 |
+
"passed": true,
|
| 630 |
+
"source_missing": false,
|
| 631 |
+
"forbidden": [],
|
| 632 |
+
"allowed": [],
|
| 633 |
+
"ignored": [],
|
| 634 |
+
"failed_keys": []
|
| 635 |
+
},
|
| 636 |
+
"failed_keys": []
|
| 637 |
+
}
|
| 638 |
+
},
|
| 639 |
+
"gripper": null,
|
| 640 |
+
"post_done_wait_frames": 0,
|
| 641 |
+
"post_done_wait_exhausted": false
|
| 642 |
+
},
|
| 643 |
+
"physical_semantics": {
|
| 644 |
+
"skill": "place",
|
| 645 |
+
"target": "heater_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 |
+
"step_index": 3,
|
| 655 |
+
"skill": "press",
|
| 656 |
+
"target": "heat_button",
|
| 657 |
+
"success": true,
|
| 658 |
+
"reason": "executed",
|
| 659 |
+
"debug": {
|
| 660 |
+
"arm": null,
|
| 661 |
+
"checker": {
|
| 662 |
+
"checker": "PressSuccessChecker",
|
| 663 |
+
"skill": "press",
|
| 664 |
+
"target": "heat_button",
|
| 665 |
+
"passed": true,
|
| 666 |
+
"metrics": {
|
| 667 |
+
"target": "heat_button",
|
| 668 |
+
"z_decrease": 0.00786513090133667,
|
| 669 |
+
"max_z_decrease": 0.00786513090133667,
|
| 670 |
+
"final_z_decrease": 0.0,
|
| 671 |
+
"z_decrease_threshold": 0.0003,
|
| 672 |
+
"min_ee_to_button": 0.03512535545311599,
|
| 673 |
+
"contact_distance_threshold": 0.08,
|
| 674 |
+
"ee_contact_ok": true,
|
| 675 |
+
"max_z_decrease_with_ee_contact": 0.00786513090133667,
|
| 676 |
+
"ee_contacted_z_ok": true,
|
| 677 |
+
"physical_press_ok": true,
|
| 678 |
+
"required_contacted_press_frames": 2,
|
| 679 |
+
"contacted_z_stable_frames": 0,
|
| 680 |
+
"max_contacted_z_stable_frames": 78,
|
| 681 |
+
"contact_point_distance": 0.021167670925509974,
|
| 682 |
+
"contact_point_source": "active_contact_pad_positions",
|
| 683 |
+
"contact_point_distance_threshold": 0.04,
|
| 684 |
+
"contact_point_seen_ok": true,
|
| 685 |
+
"contact_point_ok": true,
|
| 686 |
+
"contact_point_stable_frames": 0,
|
| 687 |
+
"max_contact_point_stable_frames": 120,
|
| 688 |
+
"max_z_decrease_with_contact_point": 0.00786513090133667,
|
| 689 |
+
"contact_point_contacted_z_ok": true,
|
| 690 |
+
"contact_point_contacted_z_stable_frames": 0,
|
| 691 |
+
"max_contact_point_contacted_z_stable_frames": 78,
|
| 692 |
+
"contact_ok": true,
|
| 693 |
+
"button_final_displacement": 0.0,
|
| 694 |
+
"button_max_displacement": 0.007865150000501784,
|
| 695 |
+
"max_button_displacement": 0.12,
|
| 696 |
+
"button_start": [
|
| 697 |
+
0.18364375829696655,
|
| 698 |
+
-0.3820391595363617,
|
| 699 |
+
0.7768088579177856
|
| 700 |
+
],
|
| 701 |
+
"button_final": [
|
| 702 |
+
0.18364375829696655,
|
| 703 |
+
-0.3820391595363617,
|
| 704 |
+
0.7768088579177856
|
| 705 |
+
],
|
| 706 |
+
"closest_ee": [
|
| 707 |
+
0.1827090131079847,
|
| 708 |
+
-0.3799091680507951,
|
| 709 |
+
0.8071731909390505
|
| 710 |
+
],
|
| 711 |
+
"closest_button": [
|
| 712 |
+
0.1836320161819458,
|
| 713 |
+
-0.38204243779182434,
|
| 714 |
+
0.7721248269081116
|
| 715 |
+
],
|
| 716 |
+
"closest_ee_minus_button": [
|
| 717 |
+
-0.0009230030739610928,
|
| 718 |
+
0.002133269741029231,
|
| 719 |
+
0.03504836403093892
|
| 720 |
+
],
|
| 721 |
+
"button_min_z_position": [
|
| 722 |
+
0.1836269497871399,
|
| 723 |
+
-0.38204339146614075,
|
| 724 |
+
0.768943727016449
|
| 725 |
+
],
|
| 726 |
+
"min_active_finger_to_button": 0.1460663134113412,
|
| 727 |
+
"closest_active_finger": [
|
| 728 |
+
0.056164517998695374,
|
| 729 |
+
-0.44436022639274597,
|
| 730 |
+
0.8103875517845154
|
| 731 |
+
],
|
| 732 |
+
"closest_active_finger_button": [
|
| 733 |
+
0.18364904820919037,
|
| 734 |
+
-0.38204309344291687,
|
| 735 |
+
0.7757517695426941
|
| 736 |
+
],
|
| 737 |
+
"closest_active_finger_index": 1,
|
| 738 |
+
"closest_active_finger_minus_button": [
|
| 739 |
+
-0.127484530210495,
|
| 740 |
+
-0.0623171329498291,
|
| 741 |
+
0.03463578224182129
|
| 742 |
+
],
|
| 743 |
+
"min_contact_pad_to_button": 0.021167670925509974,
|
| 744 |
+
"closest_contact_pad": [
|
| 745 |
+
0.1836269497871399,
|
| 746 |
+
-0.38204339146614075,
|
| 747 |
+
0.790111397941959
|
| 748 |
+
],
|
| 749 |
+
"closest_contact_pad_button": [
|
| 750 |
+
0.1836269497871399,
|
| 751 |
+
-0.38204339146614075,
|
| 752 |
+
0.768943727016449
|
| 753 |
+
],
|
| 754 |
+
"closest_contact_pad_index": 0,
|
| 755 |
+
"closest_contact_pad_minus_button": [
|
| 756 |
+
0.0,
|
| 757 |
+
0.0,
|
| 758 |
+
0.021167670925509974
|
| 759 |
+
]
|
| 760 |
+
},
|
| 761 |
+
"failed_keys": [],
|
| 762 |
+
"failure_code": null,
|
| 763 |
+
"failure_messages": {},
|
| 764 |
+
"safety": {
|
| 765 |
+
"policy": {
|
| 766 |
+
"skill": "press",
|
| 767 |
+
"target_object": "heat_button",
|
| 768 |
+
"held_object": null,
|
| 769 |
+
"allowed_objects": [
|
| 770 |
+
"heat_button"
|
| 771 |
+
],
|
| 772 |
+
"allowed_object_paths": [
|
| 773 |
+
"/World/heat_device/button"
|
| 774 |
+
],
|
| 775 |
+
"allowed_prim_substrings": [],
|
| 776 |
+
"robot_prim_substrings": [
|
| 777 |
+
"Robotiq2F85",
|
| 778 |
+
"Robotiq_2F_85",
|
| 779 |
+
"contact_sensor",
|
| 780 |
+
"dummy_base_prismatic_x_joint",
|
| 781 |
+
"dummy_base_prismatic_y_joint",
|
| 782 |
+
"dummy_base_revolute_z_joint",
|
| 783 |
+
"elbow_joint",
|
| 784 |
+
"festo",
|
| 785 |
+
"finger",
|
| 786 |
+
"fr3",
|
| 787 |
+
"fr3_duo_mobile",
|
| 788 |
+
"fr3_joint1",
|
| 789 |
+
"fr3_joint2",
|
| 790 |
+
"fr3_joint3",
|
| 791 |
+
"fr3_joint4",
|
| 792 |
+
"fr3_joint5",
|
| 793 |
+
"fr3_joint6",
|
| 794 |
+
"fr3_joint7",
|
| 795 |
+
"fr3_leftfinger",
|
| 796 |
+
"fr3_rightfinger",
|
| 797 |
+
"franka",
|
| 798 |
+
"geometry",
|
| 799 |
+
"gripper",
|
| 800 |
+
"gripper_center",
|
| 801 |
+
"joint1",
|
| 802 |
+
"joint2",
|
| 803 |
+
"joint3",
|
| 804 |
+
"joint4",
|
| 805 |
+
"joint5",
|
| 806 |
+
"joint6",
|
| 807 |
+
"joint7",
|
| 808 |
+
"left_inner_finger",
|
| 809 |
+
"lift2",
|
| 810 |
+
"mobile_rotate",
|
| 811 |
+
"mobile_translate_x",
|
| 812 |
+
"mobile_translate_y",
|
| 813 |
+
"panda_joint1",
|
| 814 |
+
"panda_joint2",
|
| 815 |
+
"panda_joint3",
|
| 816 |
+
"panda_joint4",
|
| 817 |
+
"panda_joint5",
|
| 818 |
+
"panda_joint6",
|
| 819 |
+
"panda_joint7",
|
| 820 |
+
"panda_leftfinger",
|
| 821 |
+
"panda_leftfingertip",
|
| 822 |
+
"panda_rightfinger",
|
| 823 |
+
"panda_rightfingertip",
|
| 824 |
+
"ridgebase",
|
| 825 |
+
"ridgebase_festo",
|
| 826 |
+
"ridgebase_fr3",
|
| 827 |
+
"ridgebase_rizon4",
|
| 828 |
+
"ridgebase_ur16e",
|
| 829 |
+
"ridgebase_ur5e",
|
| 830 |
+
"right_inner_finger",
|
| 831 |
+
"rizon4",
|
| 832 |
+
"robot",
|
| 833 |
+
"robotiq_2f85",
|
| 834 |
+
"shoulder_lift_joint",
|
| 835 |
+
"shoulder_pan_joint",
|
| 836 |
+
"split_aloha",
|
| 837 |
+
"tool_center",
|
| 838 |
+
"ur16e",
|
| 839 |
+
"ur5e",
|
| 840 |
+
"visuals",
|
| 841 |
+
"wrist",
|
| 842 |
+
"wrist_1_joint",
|
| 843 |
+
"wrist_2_joint",
|
| 844 |
+
"wrist_3_joint"
|
| 845 |
+
],
|
| 846 |
+
"ignored_prim_substrings": [
|
| 847 |
+
"base_link",
|
| 848 |
+
"caster",
|
| 849 |
+
"defaultgroundplane",
|
| 850 |
+
"desk",
|
| 851 |
+
"floor",
|
| 852 |
+
"ground",
|
| 853 |
+
"groundplane",
|
| 854 |
+
"link0",
|
| 855 |
+
"table",
|
| 856 |
+
"wheel",
|
| 857 |
+
"workbench"
|
| 858 |
+
],
|
| 859 |
+
"enabled": true
|
| 860 |
+
},
|
| 861 |
+
"status": "active",
|
| 862 |
+
"passed": true,
|
| 863 |
+
"source_missing": false,
|
| 864 |
+
"forbidden": [],
|
| 865 |
+
"disturbances": [],
|
| 866 |
+
"last_frame": {
|
| 867 |
+
"passed": true,
|
| 868 |
+
"source_missing": false,
|
| 869 |
+
"forbidden": [],
|
| 870 |
+
"allowed": [],
|
| 871 |
+
"ignored": [],
|
| 872 |
+
"failed_keys": []
|
| 873 |
+
},
|
| 874 |
+
"failed_keys": []
|
| 875 |
+
}
|
| 876 |
+
},
|
| 877 |
+
"gripper": null,
|
| 878 |
+
"post_done_wait_frames": 0,
|
| 879 |
+
"post_done_wait_exhausted": false
|
| 880 |
+
},
|
| 881 |
+
"physical_semantics": {
|
| 882 |
+
"skill": "press",
|
| 883 |
+
"target": "heat_button",
|
| 884 |
+
"attach_used": false,
|
| 885 |
+
"attach_object": null,
|
| 886 |
+
"attach_object_path": null,
|
| 887 |
+
"attach_allowed": false,
|
| 888 |
+
"ordinary_object_physical_only": true
|
| 889 |
+
}
|
| 890 |
+
}
|
| 891 |
+
],
|
| 892 |
+
"physical_semantics": {
|
| 893 |
+
"attach_records": [],
|
| 894 |
+
"ordinary_attach_violations": [],
|
| 895 |
+
"forbidden_shortcuts_absent": true
|
| 896 |
+
},
|
| 897 |
+
"h5_episode_index": 83,
|
| 898 |
+
"reproducibility": {
|
| 899 |
+
"enabled": true,
|
| 900 |
+
"action_seed": 6098556129387905517,
|
| 901 |
+
"physical_seed": 7490668268172140043,
|
| 902 |
+
"layout_id": "layout_00031",
|
| 903 |
+
"step_seeds": [
|
| 904 |
+
4567401361451441112,
|
| 905 |
+
7000790218311912638,
|
| 906 |
+
7522013946436761511,
|
| 907 |
+
7728913421038834906
|
| 908 |
+
],
|
| 909 |
+
"workflow_spec_digest": "bc4db0291f406fbd9c91f68a4c7f1acd36da9a03dd09cb73d832a7602138bc78",
|
| 910 |
+
"strict_task_state": false,
|
| 911 |
+
"allow_physical_randomization": true,
|
| 912 |
+
"seed_source": "workflow.reproducibility",
|
| 913 |
+
"task_island_state_digest": "19d3434e3d5dcfcc68138d60001e5f455053b511079a2c87c59595c47a4c40aa",
|
| 914 |
+
"visual_seed": 5312497569921623296,
|
| 915 |
+
"episode_index": 83,
|
| 916 |
+
"physical_randomization_enabled": true,
|
| 917 |
+
"motion_controller_type": "ik_servo",
|
| 918 |
+
"runtime_step_seeds": [
|
| 919 |
+
4567401361451441112,
|
| 920 |
+
7000790218311912638,
|
| 921 |
+
7522013946436761511,
|
| 922 |
+
7728913421038834906
|
| 923 |
+
],
|
| 924 |
+
"runtime_workflow_digest": "45388e27c653b4c58871f8eb0be862a6bfbe31c6d7d135b34c259a2497af3374"
|
| 925 |
+
}
|
| 926 |
+
}
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_84_success.json
ADDED
|
@@ -0,0 +1,926 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 84,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 4,
|
| 5 |
+
"total_steps": 4,
|
| 6 |
+
"step_accuracy": "4/4",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_b",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_b",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_b",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.18420630081452383,
|
| 26 |
+
0.21811253136897146,
|
| 27 |
+
1.0429797406829937
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0429797406829937,
|
| 30 |
+
"required_z": 0.8565865670132103,
|
| 31 |
+
"initial_z": 0.7565865670132104,
|
| 32 |
+
"lift_margin": 0.18639317366978336,
|
| 33 |
+
"gripper_z": 1.0490492187706253,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.17912667365133123,
|
| 38 |
+
0.21329688264459543,
|
| 39 |
+
1.0490492187706253
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.0050796271631926015,
|
| 43 |
+
0.004815648724376037,
|
| 44 |
+
-0.006069478087631586
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006999506036402045,
|
| 47 |
+
"object_to_gripper_z": -0.006069478087631586,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.18420630081452383,
|
| 51 |
+
0.193533394035937,
|
| 52 |
+
1.0429797406829937
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.1726068245953457,
|
| 56 |
+
0.21811253136897146,
|
| 57 |
+
1.0429797406829937
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.17840656270493477,
|
| 61 |
+
0.20582296270245423,
|
| 62 |
+
1.0429797406829937
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005799738109589059,
|
| 66 |
+
0.012289568666517231,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.027178701966713698,
|
| 70 |
+
"fingertip_max_gap": 0.09596408386175753,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013589350983356849,
|
| 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": 1.0429797406829937,
|
| 78 |
+
"object_top_z": 1.0900581225275083,
|
| 79 |
+
"finger_top_clearance": 0.04707838184451463,
|
| 80 |
+
"fingertip_min_top_clearance": 0.014123514553354387,
|
| 81 |
+
"object_projection_between_fingers": 0.8178541272236767,
|
| 82 |
+
"object_to_finger_line_xy": 0.010490019697468283,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.05048204193087877,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 2.6513351119807664,
|
| 89 |
+
"object_max_tilt_deg": 15.0,
|
| 90 |
+
"object_upright_axis_local": [
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
1.0
|
| 94 |
+
],
|
| 95 |
+
"stable_success_frames": 208,
|
| 96 |
+
"max_stable_success_frames": 208,
|
| 97 |
+
"required_stable_lift_frames": 5
|
| 98 |
+
},
|
| 99 |
+
"failed_keys": [],
|
| 100 |
+
"failure_code": null,
|
| 101 |
+
"failure_messages": {},
|
| 102 |
+
"safety": {
|
| 103 |
+
"policy": {
|
| 104 |
+
"skill": "pick",
|
| 105 |
+
"target_object": "beaker_b",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_b"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/target_beaker"
|
| 112 |
+
],
|
| 113 |
+
"allowed_prim_substrings": [],
|
| 114 |
+
"robot_prim_substrings": [
|
| 115 |
+
"Robotiq2F85",
|
| 116 |
+
"Robotiq_2F_85",
|
| 117 |
+
"contact_sensor",
|
| 118 |
+
"dummy_base_prismatic_x_joint",
|
| 119 |
+
"dummy_base_prismatic_y_joint",
|
| 120 |
+
"dummy_base_revolute_z_joint",
|
| 121 |
+
"elbow_joint",
|
| 122 |
+
"festo",
|
| 123 |
+
"finger",
|
| 124 |
+
"fr3",
|
| 125 |
+
"fr3_duo_mobile",
|
| 126 |
+
"fr3_joint1",
|
| 127 |
+
"fr3_joint2",
|
| 128 |
+
"fr3_joint3",
|
| 129 |
+
"fr3_joint4",
|
| 130 |
+
"fr3_joint5",
|
| 131 |
+
"fr3_joint6",
|
| 132 |
+
"fr3_joint7",
|
| 133 |
+
"fr3_leftfinger",
|
| 134 |
+
"fr3_rightfinger",
|
| 135 |
+
"franka",
|
| 136 |
+
"geometry",
|
| 137 |
+
"gripper",
|
| 138 |
+
"gripper_center",
|
| 139 |
+
"joint1",
|
| 140 |
+
"joint2",
|
| 141 |
+
"joint3",
|
| 142 |
+
"joint4",
|
| 143 |
+
"joint5",
|
| 144 |
+
"joint6",
|
| 145 |
+
"joint7",
|
| 146 |
+
"left_inner_finger",
|
| 147 |
+
"lift2",
|
| 148 |
+
"mobile_rotate",
|
| 149 |
+
"mobile_translate_x",
|
| 150 |
+
"mobile_translate_y",
|
| 151 |
+
"panda_joint1",
|
| 152 |
+
"panda_joint2",
|
| 153 |
+
"panda_joint3",
|
| 154 |
+
"panda_joint4",
|
| 155 |
+
"panda_joint5",
|
| 156 |
+
"panda_joint6",
|
| 157 |
+
"panda_joint7",
|
| 158 |
+
"panda_leftfinger",
|
| 159 |
+
"panda_leftfingertip",
|
| 160 |
+
"panda_rightfinger",
|
| 161 |
+
"panda_rightfingertip",
|
| 162 |
+
"ridgebase",
|
| 163 |
+
"ridgebase_festo",
|
| 164 |
+
"ridgebase_fr3",
|
| 165 |
+
"ridgebase_rizon4",
|
| 166 |
+
"ridgebase_ur16e",
|
| 167 |
+
"ridgebase_ur5e",
|
| 168 |
+
"right_inner_finger",
|
| 169 |
+
"rizon4",
|
| 170 |
+
"robot",
|
| 171 |
+
"robotiq_2f85",
|
| 172 |
+
"shoulder_lift_joint",
|
| 173 |
+
"shoulder_pan_joint",
|
| 174 |
+
"split_aloha",
|
| 175 |
+
"tool_center",
|
| 176 |
+
"ur16e",
|
| 177 |
+
"ur5e",
|
| 178 |
+
"visuals",
|
| 179 |
+
"wrist",
|
| 180 |
+
"wrist_1_joint",
|
| 181 |
+
"wrist_2_joint",
|
| 182 |
+
"wrist_3_joint"
|
| 183 |
+
],
|
| 184 |
+
"ignored_prim_substrings": [
|
| 185 |
+
"base_link",
|
| 186 |
+
"caster",
|
| 187 |
+
"defaultgroundplane",
|
| 188 |
+
"desk",
|
| 189 |
+
"floor",
|
| 190 |
+
"ground",
|
| 191 |
+
"groundplane",
|
| 192 |
+
"link0",
|
| 193 |
+
"table",
|
| 194 |
+
"wheel",
|
| 195 |
+
"workbench"
|
| 196 |
+
],
|
| 197 |
+
"enabled": true
|
| 198 |
+
},
|
| 199 |
+
"status": "active",
|
| 200 |
+
"passed": true,
|
| 201 |
+
"source_missing": false,
|
| 202 |
+
"forbidden": [],
|
| 203 |
+
"disturbances": [],
|
| 204 |
+
"last_frame": {
|
| 205 |
+
"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/target_beaker/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/target_beaker/mesh"
|
| 216 |
+
}
|
| 217 |
+
],
|
| 218 |
+
"ignored": [],
|
| 219 |
+
"failed_keys": []
|
| 220 |
+
},
|
| 221 |
+
"failed_keys": []
|
| 222 |
+
}
|
| 223 |
+
},
|
| 224 |
+
"gripper": null,
|
| 225 |
+
"post_done_wait_frames": 0,
|
| 226 |
+
"post_done_wait_exhausted": false
|
| 227 |
+
},
|
| 228 |
+
"physical_semantics": {
|
| 229 |
+
"skill": "pick",
|
| 230 |
+
"target": "beaker_b",
|
| 231 |
+
"attach_used": false,
|
| 232 |
+
"attach_object": null,
|
| 233 |
+
"attach_object_path": null,
|
| 234 |
+
"attach_allowed": false,
|
| 235 |
+
"ordinary_object_physical_only": true
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
{
|
| 239 |
+
"step_index": 1,
|
| 240 |
+
"skill": "shake",
|
| 241 |
+
"target": "beaker_b",
|
| 242 |
+
"success": true,
|
| 243 |
+
"reason": "executed",
|
| 244 |
+
"debug": {
|
| 245 |
+
"arm": null,
|
| 246 |
+
"checker": {
|
| 247 |
+
"checker": "ShakeSuccessChecker",
|
| 248 |
+
"skill": "shake",
|
| 249 |
+
"target": "beaker_b",
|
| 250 |
+
"passed": true,
|
| 251 |
+
"metrics": {
|
| 252 |
+
"held": "beaker_b",
|
| 253 |
+
"force_virtual_attach": false,
|
| 254 |
+
"virtual_attach_allowed": false,
|
| 255 |
+
"gripper_position": [
|
| 256 |
+
0.18253777659535922,
|
| 257 |
+
0.21941443519581058,
|
| 258 |
+
1.2387369694137904
|
| 259 |
+
],
|
| 260 |
+
"held_position": [
|
| 261 |
+
0.18776853039587357,
|
| 262 |
+
0.2239434923194542,
|
| 263 |
+
1.2325702169837334
|
| 264 |
+
],
|
| 265 |
+
"object_initial_z": 0.7730800627579277,
|
| 266 |
+
"required_gripper_z": 0.8930800627579277,
|
| 267 |
+
"shake_count": 5,
|
| 268 |
+
"held_shake_count": 5,
|
| 269 |
+
"effective_shake_count": 5,
|
| 270 |
+
"min_shake_count": 3,
|
| 271 |
+
"held_gripper_dist": 0.009268332065934888,
|
| 272 |
+
"max_held_gripper_dist": 0.009270915220388936,
|
| 273 |
+
"held_gripper_max_dist": 0.15,
|
| 274 |
+
"held_gripper_z_dist": 0.006166752430057043,
|
| 275 |
+
"max_held_gripper_z_dist": 0.0061930293912253465,
|
| 276 |
+
"held_gripper_z_max_dist": 0.15,
|
| 277 |
+
"held_object_xy_range": 0.08642904509754551,
|
| 278 |
+
"held_object_min_xy_range": 0.04,
|
| 279 |
+
"held_motion_ok": true,
|
| 280 |
+
"held_grasp_geometry_checked": true,
|
| 281 |
+
"held_grasp_geometry_required": true,
|
| 282 |
+
"held_grasp_source": "active_contact_pad_positions",
|
| 283 |
+
"held_grasp_finger_a": [
|
| 284 |
+
0.18776853039587357,
|
| 285 |
+
0.19896217284328924,
|
| 286 |
+
1.2325702169837334
|
| 287 |
+
],
|
| 288 |
+
"held_grasp_finger_b": [
|
| 289 |
+
0.1772644696006998,
|
| 290 |
+
0.2239434923194542,
|
| 291 |
+
1.2325702169837334
|
| 292 |
+
],
|
| 293 |
+
"held_grasp_midpoint": [
|
| 294 |
+
0.18251649999828667,
|
| 295 |
+
0.2114528325813717,
|
| 296 |
+
1.2325702169837334
|
| 297 |
+
],
|
| 298 |
+
"held_grasp_object_position": [
|
| 299 |
+
0.18776853039587357,
|
| 300 |
+
0.2239434923194542,
|
| 301 |
+
1.2325702169837334
|
| 302 |
+
],
|
| 303 |
+
"held_grasp_finger_gap": 0.02709984531245383,
|
| 304 |
+
"held_grasp_max_gap": 0.1249237185716629,
|
| 305 |
+
"held_grasp_geometry_frame": "object_local",
|
| 306 |
+
"held_grasp_size_source": "beaker_b_local_size",
|
| 307 |
+
"held_grasp_z_skew": 0.024977443032122744,
|
| 308 |
+
"held_grasp_world_z_skew": 0.0,
|
| 309 |
+
"held_grasp_z_skew_max": 0.08,
|
| 310 |
+
"held_grasp_z_skew_frame": "object_local_up",
|
| 311 |
+
"held_grasp_local_up_axis": [
|
| 312 |
+
0.0008326151042376514,
|
| 313 |
+
-0.9994947311038489,
|
| 314 |
+
0.03177403417466861
|
| 315 |
+
],
|
| 316 |
+
"held_grasp_object_projection_between_fingers": 0.5,
|
| 317 |
+
"held_grasp_object_to_finger_line_xy": 0.005277367819899268,
|
| 318 |
+
"held_grasp_line_xy_max_dist": 0.04746185928583145,
|
| 319 |
+
"held_grasp_object_top_z": 0.045200224965810776,
|
| 320 |
+
"held_grasp_top_clearance": 0.0327202492894233,
|
| 321 |
+
"held_grasp_min_top_clearance": 0.013560067489743232
|
| 322 |
+
},
|
| 323 |
+
"failed_keys": [],
|
| 324 |
+
"failure_code": null,
|
| 325 |
+
"failure_messages": {},
|
| 326 |
+
"safety": {
|
| 327 |
+
"policy": {
|
| 328 |
+
"skill": "shake",
|
| 329 |
+
"target_object": "beaker_b",
|
| 330 |
+
"held_object": "beaker_b",
|
| 331 |
+
"allowed_objects": [
|
| 332 |
+
"beaker_b"
|
| 333 |
+
],
|
| 334 |
+
"allowed_object_paths": [
|
| 335 |
+
"/World/target_beaker"
|
| 336 |
+
],
|
| 337 |
+
"allowed_prim_substrings": [],
|
| 338 |
+
"robot_prim_substrings": [
|
| 339 |
+
"Robotiq2F85",
|
| 340 |
+
"Robotiq_2F_85",
|
| 341 |
+
"contact_sensor",
|
| 342 |
+
"dummy_base_prismatic_x_joint",
|
| 343 |
+
"dummy_base_prismatic_y_joint",
|
| 344 |
+
"dummy_base_revolute_z_joint",
|
| 345 |
+
"elbow_joint",
|
| 346 |
+
"festo",
|
| 347 |
+
"finger",
|
| 348 |
+
"fr3",
|
| 349 |
+
"fr3_duo_mobile",
|
| 350 |
+
"fr3_joint1",
|
| 351 |
+
"fr3_joint2",
|
| 352 |
+
"fr3_joint3",
|
| 353 |
+
"fr3_joint4",
|
| 354 |
+
"fr3_joint5",
|
| 355 |
+
"fr3_joint6",
|
| 356 |
+
"fr3_joint7",
|
| 357 |
+
"fr3_leftfinger",
|
| 358 |
+
"fr3_rightfinger",
|
| 359 |
+
"franka",
|
| 360 |
+
"geometry",
|
| 361 |
+
"gripper",
|
| 362 |
+
"gripper_center",
|
| 363 |
+
"joint1",
|
| 364 |
+
"joint2",
|
| 365 |
+
"joint3",
|
| 366 |
+
"joint4",
|
| 367 |
+
"joint5",
|
| 368 |
+
"joint6",
|
| 369 |
+
"joint7",
|
| 370 |
+
"left_inner_finger",
|
| 371 |
+
"lift2",
|
| 372 |
+
"mobile_rotate",
|
| 373 |
+
"mobile_translate_x",
|
| 374 |
+
"mobile_translate_y",
|
| 375 |
+
"panda_joint1",
|
| 376 |
+
"panda_joint2",
|
| 377 |
+
"panda_joint3",
|
| 378 |
+
"panda_joint4",
|
| 379 |
+
"panda_joint5",
|
| 380 |
+
"panda_joint6",
|
| 381 |
+
"panda_joint7",
|
| 382 |
+
"panda_leftfinger",
|
| 383 |
+
"panda_leftfingertip",
|
| 384 |
+
"panda_rightfinger",
|
| 385 |
+
"panda_rightfingertip",
|
| 386 |
+
"ridgebase",
|
| 387 |
+
"ridgebase_festo",
|
| 388 |
+
"ridgebase_fr3",
|
| 389 |
+
"ridgebase_rizon4",
|
| 390 |
+
"ridgebase_ur16e",
|
| 391 |
+
"ridgebase_ur5e",
|
| 392 |
+
"right_inner_finger",
|
| 393 |
+
"rizon4",
|
| 394 |
+
"robot",
|
| 395 |
+
"robotiq_2f85",
|
| 396 |
+
"shoulder_lift_joint",
|
| 397 |
+
"shoulder_pan_joint",
|
| 398 |
+
"split_aloha",
|
| 399 |
+
"tool_center",
|
| 400 |
+
"ur16e",
|
| 401 |
+
"ur5e",
|
| 402 |
+
"visuals",
|
| 403 |
+
"wrist",
|
| 404 |
+
"wrist_1_joint",
|
| 405 |
+
"wrist_2_joint",
|
| 406 |
+
"wrist_3_joint"
|
| 407 |
+
],
|
| 408 |
+
"ignored_prim_substrings": [
|
| 409 |
+
"base_link",
|
| 410 |
+
"caster",
|
| 411 |
+
"defaultgroundplane",
|
| 412 |
+
"desk",
|
| 413 |
+
"floor",
|
| 414 |
+
"ground",
|
| 415 |
+
"groundplane",
|
| 416 |
+
"link0",
|
| 417 |
+
"table",
|
| 418 |
+
"wheel",
|
| 419 |
+
"workbench"
|
| 420 |
+
],
|
| 421 |
+
"enabled": true
|
| 422 |
+
},
|
| 423 |
+
"status": "active",
|
| 424 |
+
"passed": true,
|
| 425 |
+
"source_missing": false,
|
| 426 |
+
"forbidden": [],
|
| 427 |
+
"disturbances": [],
|
| 428 |
+
"last_frame": {
|
| 429 |
+
"passed": true,
|
| 430 |
+
"source_missing": false,
|
| 431 |
+
"forbidden": [],
|
| 432 |
+
"allowed": [
|
| 433 |
+
{
|
| 434 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 435 |
+
"b": "/World/target_beaker/mesh"
|
| 436 |
+
},
|
| 437 |
+
{
|
| 438 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 439 |
+
"b": "/World/target_beaker/mesh"
|
| 440 |
+
}
|
| 441 |
+
],
|
| 442 |
+
"ignored": [],
|
| 443 |
+
"failed_keys": []
|
| 444 |
+
},
|
| 445 |
+
"failed_keys": []
|
| 446 |
+
}
|
| 447 |
+
},
|
| 448 |
+
"gripper": null,
|
| 449 |
+
"post_done_wait_frames": 0,
|
| 450 |
+
"post_done_wait_exhausted": false
|
| 451 |
+
},
|
| 452 |
+
"physical_semantics": {
|
| 453 |
+
"skill": "shake",
|
| 454 |
+
"target": "beaker_b",
|
| 455 |
+
"attach_used": false,
|
| 456 |
+
"attach_object": null,
|
| 457 |
+
"attach_object_path": null,
|
| 458 |
+
"attach_allowed": false,
|
| 459 |
+
"ordinary_object_physical_only": true
|
| 460 |
+
}
|
| 461 |
+
},
|
| 462 |
+
{
|
| 463 |
+
"step_index": 2,
|
| 464 |
+
"skill": "place",
|
| 465 |
+
"target": "heater_platform",
|
| 466 |
+
"success": true,
|
| 467 |
+
"reason": "executed",
|
| 468 |
+
"debug": {
|
| 469 |
+
"arm": null,
|
| 470 |
+
"checker": {
|
| 471 |
+
"checker": "PlaceSuccessChecker",
|
| 472 |
+
"skill": "place",
|
| 473 |
+
"target": "heater_platform",
|
| 474 |
+
"passed": true,
|
| 475 |
+
"metrics": {
|
| 476 |
+
"held": "beaker_b",
|
| 477 |
+
"target": "heater_platform",
|
| 478 |
+
"object_position": [
|
| 479 |
+
0.33476592331021243,
|
| 480 |
+
-0.32563794757238607,
|
| 481 |
+
0.8470198304846746
|
| 482 |
+
],
|
| 483 |
+
"target_position": [
|
| 484 |
+
0.3279030054457123,
|
| 485 |
+
-0.3279324759570924,
|
| 486 |
+
0.8084375599031817
|
| 487 |
+
],
|
| 488 |
+
"target_position_source": "target_object:_xform_position",
|
| 489 |
+
"xy_dist": 0.007236332090437654,
|
| 490 |
+
"xy_threshold": 0.08,
|
| 491 |
+
"gripper_dist": 0.18722203182433184,
|
| 492 |
+
"gripper_away_threshold": 0.04,
|
| 493 |
+
"gripper_away_ok": true,
|
| 494 |
+
"object_z": 0.8470198304846746,
|
| 495 |
+
"min_z": 0.5730800627579278,
|
| 496 |
+
"min_z_margin": 0.2,
|
| 497 |
+
"require_object_upright": true,
|
| 498 |
+
"object_upright_reference_source": "scene_initial",
|
| 499 |
+
"release_fingertip_source": "active_contact_pad_positions",
|
| 500 |
+
"release_finger_gap": 0.07542478642997408,
|
| 501 |
+
"release_finger_gap_metric": "3d_contact_pad_distance",
|
| 502 |
+
"release_fingertip_min_gap": 0.087305427681991,
|
| 503 |
+
"release_gap_margin": 0.02,
|
| 504 |
+
"release_gap_missing_size": false,
|
| 505 |
+
"release_min_pad_clearance": 0.15600214552893768,
|
| 506 |
+
"release_required_pad_clearance": 0.0536527138409955,
|
| 507 |
+
"release_pad_clearance_ok": true,
|
| 508 |
+
"release_gap_ok": false,
|
| 509 |
+
"force_virtual_attach": false,
|
| 510 |
+
"virtual_attach_allowed": false,
|
| 511 |
+
"max_z": 0.9084375599031816,
|
| 512 |
+
"max_z_margin": 0.1,
|
| 513 |
+
"object_tilt_deg": 2.3151649664511473,
|
| 514 |
+
"object_max_tilt_deg": 12.0,
|
| 515 |
+
"object_axis_flip_tolerance_deg": 3.0,
|
| 516 |
+
"object_upright_axis_local": null,
|
| 517 |
+
"required_placed_release_frames": 2,
|
| 518 |
+
"placed_release_frames": 156,
|
| 519 |
+
"max_placed_release_frames": 156
|
| 520 |
+
},
|
| 521 |
+
"failed_keys": [],
|
| 522 |
+
"failure_code": null,
|
| 523 |
+
"failure_messages": {},
|
| 524 |
+
"safety": {
|
| 525 |
+
"policy": {
|
| 526 |
+
"skill": "place",
|
| 527 |
+
"target_object": "heater_platform",
|
| 528 |
+
"held_object": "beaker_b",
|
| 529 |
+
"allowed_objects": [
|
| 530 |
+
"beaker_b",
|
| 531 |
+
"heater_platform"
|
| 532 |
+
],
|
| 533 |
+
"allowed_object_paths": [
|
| 534 |
+
"/World/heat_device/heat_device/heat_device/plat",
|
| 535 |
+
"/World/target_beaker"
|
| 536 |
+
],
|
| 537 |
+
"allowed_prim_substrings": [],
|
| 538 |
+
"robot_prim_substrings": [
|
| 539 |
+
"Robotiq2F85",
|
| 540 |
+
"Robotiq_2F_85",
|
| 541 |
+
"contact_sensor",
|
| 542 |
+
"dummy_base_prismatic_x_joint",
|
| 543 |
+
"dummy_base_prismatic_y_joint",
|
| 544 |
+
"dummy_base_revolute_z_joint",
|
| 545 |
+
"elbow_joint",
|
| 546 |
+
"festo",
|
| 547 |
+
"finger",
|
| 548 |
+
"fr3",
|
| 549 |
+
"fr3_duo_mobile",
|
| 550 |
+
"fr3_joint1",
|
| 551 |
+
"fr3_joint2",
|
| 552 |
+
"fr3_joint3",
|
| 553 |
+
"fr3_joint4",
|
| 554 |
+
"fr3_joint5",
|
| 555 |
+
"fr3_joint6",
|
| 556 |
+
"fr3_joint7",
|
| 557 |
+
"fr3_leftfinger",
|
| 558 |
+
"fr3_rightfinger",
|
| 559 |
+
"franka",
|
| 560 |
+
"geometry",
|
| 561 |
+
"gripper",
|
| 562 |
+
"gripper_center",
|
| 563 |
+
"joint1",
|
| 564 |
+
"joint2",
|
| 565 |
+
"joint3",
|
| 566 |
+
"joint4",
|
| 567 |
+
"joint5",
|
| 568 |
+
"joint6",
|
| 569 |
+
"joint7",
|
| 570 |
+
"left_inner_finger",
|
| 571 |
+
"lift2",
|
| 572 |
+
"mobile_rotate",
|
| 573 |
+
"mobile_translate_x",
|
| 574 |
+
"mobile_translate_y",
|
| 575 |
+
"panda_joint1",
|
| 576 |
+
"panda_joint2",
|
| 577 |
+
"panda_joint3",
|
| 578 |
+
"panda_joint4",
|
| 579 |
+
"panda_joint5",
|
| 580 |
+
"panda_joint6",
|
| 581 |
+
"panda_joint7",
|
| 582 |
+
"panda_leftfinger",
|
| 583 |
+
"panda_leftfingertip",
|
| 584 |
+
"panda_rightfinger",
|
| 585 |
+
"panda_rightfingertip",
|
| 586 |
+
"ridgebase",
|
| 587 |
+
"ridgebase_festo",
|
| 588 |
+
"ridgebase_fr3",
|
| 589 |
+
"ridgebase_rizon4",
|
| 590 |
+
"ridgebase_ur16e",
|
| 591 |
+
"ridgebase_ur5e",
|
| 592 |
+
"right_inner_finger",
|
| 593 |
+
"rizon4",
|
| 594 |
+
"robot",
|
| 595 |
+
"robotiq_2f85",
|
| 596 |
+
"shoulder_lift_joint",
|
| 597 |
+
"shoulder_pan_joint",
|
| 598 |
+
"split_aloha",
|
| 599 |
+
"tool_center",
|
| 600 |
+
"ur16e",
|
| 601 |
+
"ur5e",
|
| 602 |
+
"visuals",
|
| 603 |
+
"wrist",
|
| 604 |
+
"wrist_1_joint",
|
| 605 |
+
"wrist_2_joint",
|
| 606 |
+
"wrist_3_joint"
|
| 607 |
+
],
|
| 608 |
+
"ignored_prim_substrings": [
|
| 609 |
+
"base_link",
|
| 610 |
+
"caster",
|
| 611 |
+
"defaultgroundplane",
|
| 612 |
+
"desk",
|
| 613 |
+
"floor",
|
| 614 |
+
"ground",
|
| 615 |
+
"groundplane",
|
| 616 |
+
"link0",
|
| 617 |
+
"table",
|
| 618 |
+
"wheel",
|
| 619 |
+
"workbench"
|
| 620 |
+
],
|
| 621 |
+
"enabled": true
|
| 622 |
+
},
|
| 623 |
+
"status": "active",
|
| 624 |
+
"passed": true,
|
| 625 |
+
"source_missing": false,
|
| 626 |
+
"forbidden": [],
|
| 627 |
+
"disturbances": [],
|
| 628 |
+
"last_frame": {
|
| 629 |
+
"passed": true,
|
| 630 |
+
"source_missing": false,
|
| 631 |
+
"forbidden": [],
|
| 632 |
+
"allowed": [],
|
| 633 |
+
"ignored": [],
|
| 634 |
+
"failed_keys": []
|
| 635 |
+
},
|
| 636 |
+
"failed_keys": []
|
| 637 |
+
}
|
| 638 |
+
},
|
| 639 |
+
"gripper": null,
|
| 640 |
+
"post_done_wait_frames": 0,
|
| 641 |
+
"post_done_wait_exhausted": false
|
| 642 |
+
},
|
| 643 |
+
"physical_semantics": {
|
| 644 |
+
"skill": "place",
|
| 645 |
+
"target": "heater_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 |
+
"step_index": 3,
|
| 655 |
+
"skill": "press",
|
| 656 |
+
"target": "heat_button",
|
| 657 |
+
"success": true,
|
| 658 |
+
"reason": "executed",
|
| 659 |
+
"debug": {
|
| 660 |
+
"arm": null,
|
| 661 |
+
"checker": {
|
| 662 |
+
"checker": "PressSuccessChecker",
|
| 663 |
+
"skill": "press",
|
| 664 |
+
"target": "heat_button",
|
| 665 |
+
"passed": true,
|
| 666 |
+
"metrics": {
|
| 667 |
+
"target": "heat_button",
|
| 668 |
+
"z_decrease": 0.008020579814910889,
|
| 669 |
+
"max_z_decrease": 0.008020579814910889,
|
| 670 |
+
"final_z_decrease": 0.0,
|
| 671 |
+
"z_decrease_threshold": 0.0003,
|
| 672 |
+
"min_ee_to_button": 0.03503735672013835,
|
| 673 |
+
"contact_distance_threshold": 0.08,
|
| 674 |
+
"ee_contact_ok": true,
|
| 675 |
+
"max_z_decrease_with_ee_contact": 0.008020579814910889,
|
| 676 |
+
"ee_contacted_z_ok": true,
|
| 677 |
+
"physical_press_ok": true,
|
| 678 |
+
"required_contacted_press_frames": 2,
|
| 679 |
+
"contacted_z_stable_frames": 0,
|
| 680 |
+
"max_contacted_z_stable_frames": 78,
|
| 681 |
+
"contact_point_distance": 0.02135619485522218,
|
| 682 |
+
"contact_point_source": "active_contact_pad_positions",
|
| 683 |
+
"contact_point_distance_threshold": 0.04,
|
| 684 |
+
"contact_point_seen_ok": true,
|
| 685 |
+
"contact_point_ok": true,
|
| 686 |
+
"contact_point_stable_frames": 0,
|
| 687 |
+
"max_contact_point_stable_frames": 120,
|
| 688 |
+
"max_z_decrease_with_contact_point": 0.008020579814910889,
|
| 689 |
+
"contact_point_contacted_z_ok": true,
|
| 690 |
+
"contact_point_contacted_z_stable_frames": 0,
|
| 691 |
+
"max_contact_point_contacted_z_stable_frames": 78,
|
| 692 |
+
"contact_ok": true,
|
| 693 |
+
"button_final_displacement": 0.0,
|
| 694 |
+
"button_max_displacement": 0.008020613733493415,
|
| 695 |
+
"max_button_displacement": 0.12,
|
| 696 |
+
"button_start": [
|
| 697 |
+
0.18360292911529535,
|
| 698 |
+
-0.38419392704963673,
|
| 699 |
+
0.7768088579177856
|
| 700 |
+
],
|
| 701 |
+
"button_final": [
|
| 702 |
+
0.18360292911529535,
|
| 703 |
+
-0.38419392704963673,
|
| 704 |
+
0.7768088579177856
|
| 705 |
+
],
|
| 706 |
+
"closest_ee": [
|
| 707 |
+
0.18347405759250554,
|
| 708 |
+
-0.3856899254394796,
|
| 709 |
+
0.80594959236227
|
| 710 |
+
],
|
| 711 |
+
"closest_button": [
|
| 712 |
+
0.18358664214611048,
|
| 713 |
+
-0.38419699668884266,
|
| 714 |
+
0.7709442377090454
|
| 715 |
+
],
|
| 716 |
+
"closest_ee_minus_button": [
|
| 717 |
+
-0.00011258455360493858,
|
| 718 |
+
-0.001492928750636946,
|
| 719 |
+
0.03500535465322463
|
| 720 |
+
],
|
| 721 |
+
"button_min_z_position": [
|
| 722 |
+
0.18358016014099118,
|
| 723 |
+
-0.3841989934444427,
|
| 724 |
+
0.7687882781028748
|
| 725 |
+
],
|
| 726 |
+
"min_active_finger_to_button": 0.14609915969632037,
|
| 727 |
+
"closest_active_finger": [
|
| 728 |
+
0.042416006326675415,
|
| 729 |
+
-0.3702039122581482,
|
| 730 |
+
0.8077661395072937
|
| 731 |
+
],
|
| 732 |
+
"closest_active_finger_button": [
|
| 733 |
+
0.18361243605613703,
|
| 734 |
+
-0.38419884443283076,
|
| 735 |
+
0.7729426622390747
|
| 736 |
+
],
|
| 737 |
+
"closest_active_finger_index": 0,
|
| 738 |
+
"closest_active_finger_minus_button": [
|
| 739 |
+
-0.14119642972946161,
|
| 740 |
+
0.013994932174682562,
|
| 741 |
+
0.034823477268218994
|
| 742 |
+
],
|
| 743 |
+
"min_contact_pad_to_button": 0.02135619485522218,
|
| 744 |
+
"closest_contact_pad": [
|
| 745 |
+
0.18358215689659116,
|
| 746 |
+
-0.38688523726966967,
|
| 747 |
+
0.7900566846539416
|
| 748 |
+
],
|
| 749 |
+
"closest_contact_pad_button": [
|
| 750 |
+
0.18358215689659116,
|
| 751 |
+
-0.38419750332832325,
|
| 752 |
+
0.7688702940940857
|
| 753 |
+
],
|
| 754 |
+
"closest_contact_pad_index": 0,
|
| 755 |
+
"closest_contact_pad_minus_button": [
|
| 756 |
+
0.0,
|
| 757 |
+
-0.002687733941346415,
|
| 758 |
+
0.02118639055985594
|
| 759 |
+
]
|
| 760 |
+
},
|
| 761 |
+
"failed_keys": [],
|
| 762 |
+
"failure_code": null,
|
| 763 |
+
"failure_messages": {},
|
| 764 |
+
"safety": {
|
| 765 |
+
"policy": {
|
| 766 |
+
"skill": "press",
|
| 767 |
+
"target_object": "heat_button",
|
| 768 |
+
"held_object": null,
|
| 769 |
+
"allowed_objects": [
|
| 770 |
+
"heat_button"
|
| 771 |
+
],
|
| 772 |
+
"allowed_object_paths": [
|
| 773 |
+
"/World/heat_device/button"
|
| 774 |
+
],
|
| 775 |
+
"allowed_prim_substrings": [],
|
| 776 |
+
"robot_prim_substrings": [
|
| 777 |
+
"Robotiq2F85",
|
| 778 |
+
"Robotiq_2F_85",
|
| 779 |
+
"contact_sensor",
|
| 780 |
+
"dummy_base_prismatic_x_joint",
|
| 781 |
+
"dummy_base_prismatic_y_joint",
|
| 782 |
+
"dummy_base_revolute_z_joint",
|
| 783 |
+
"elbow_joint",
|
| 784 |
+
"festo",
|
| 785 |
+
"finger",
|
| 786 |
+
"fr3",
|
| 787 |
+
"fr3_duo_mobile",
|
| 788 |
+
"fr3_joint1",
|
| 789 |
+
"fr3_joint2",
|
| 790 |
+
"fr3_joint3",
|
| 791 |
+
"fr3_joint4",
|
| 792 |
+
"fr3_joint5",
|
| 793 |
+
"fr3_joint6",
|
| 794 |
+
"fr3_joint7",
|
| 795 |
+
"fr3_leftfinger",
|
| 796 |
+
"fr3_rightfinger",
|
| 797 |
+
"franka",
|
| 798 |
+
"geometry",
|
| 799 |
+
"gripper",
|
| 800 |
+
"gripper_center",
|
| 801 |
+
"joint1",
|
| 802 |
+
"joint2",
|
| 803 |
+
"joint3",
|
| 804 |
+
"joint4",
|
| 805 |
+
"joint5",
|
| 806 |
+
"joint6",
|
| 807 |
+
"joint7",
|
| 808 |
+
"left_inner_finger",
|
| 809 |
+
"lift2",
|
| 810 |
+
"mobile_rotate",
|
| 811 |
+
"mobile_translate_x",
|
| 812 |
+
"mobile_translate_y",
|
| 813 |
+
"panda_joint1",
|
| 814 |
+
"panda_joint2",
|
| 815 |
+
"panda_joint3",
|
| 816 |
+
"panda_joint4",
|
| 817 |
+
"panda_joint5",
|
| 818 |
+
"panda_joint6",
|
| 819 |
+
"panda_joint7",
|
| 820 |
+
"panda_leftfinger",
|
| 821 |
+
"panda_leftfingertip",
|
| 822 |
+
"panda_rightfinger",
|
| 823 |
+
"panda_rightfingertip",
|
| 824 |
+
"ridgebase",
|
| 825 |
+
"ridgebase_festo",
|
| 826 |
+
"ridgebase_fr3",
|
| 827 |
+
"ridgebase_rizon4",
|
| 828 |
+
"ridgebase_ur16e",
|
| 829 |
+
"ridgebase_ur5e",
|
| 830 |
+
"right_inner_finger",
|
| 831 |
+
"rizon4",
|
| 832 |
+
"robot",
|
| 833 |
+
"robotiq_2f85",
|
| 834 |
+
"shoulder_lift_joint",
|
| 835 |
+
"shoulder_pan_joint",
|
| 836 |
+
"split_aloha",
|
| 837 |
+
"tool_center",
|
| 838 |
+
"ur16e",
|
| 839 |
+
"ur5e",
|
| 840 |
+
"visuals",
|
| 841 |
+
"wrist",
|
| 842 |
+
"wrist_1_joint",
|
| 843 |
+
"wrist_2_joint",
|
| 844 |
+
"wrist_3_joint"
|
| 845 |
+
],
|
| 846 |
+
"ignored_prim_substrings": [
|
| 847 |
+
"base_link",
|
| 848 |
+
"caster",
|
| 849 |
+
"defaultgroundplane",
|
| 850 |
+
"desk",
|
| 851 |
+
"floor",
|
| 852 |
+
"ground",
|
| 853 |
+
"groundplane",
|
| 854 |
+
"link0",
|
| 855 |
+
"table",
|
| 856 |
+
"wheel",
|
| 857 |
+
"workbench"
|
| 858 |
+
],
|
| 859 |
+
"enabled": true
|
| 860 |
+
},
|
| 861 |
+
"status": "active",
|
| 862 |
+
"passed": true,
|
| 863 |
+
"source_missing": false,
|
| 864 |
+
"forbidden": [],
|
| 865 |
+
"disturbances": [],
|
| 866 |
+
"last_frame": {
|
| 867 |
+
"passed": true,
|
| 868 |
+
"source_missing": false,
|
| 869 |
+
"forbidden": [],
|
| 870 |
+
"allowed": [],
|
| 871 |
+
"ignored": [],
|
| 872 |
+
"failed_keys": []
|
| 873 |
+
},
|
| 874 |
+
"failed_keys": []
|
| 875 |
+
}
|
| 876 |
+
},
|
| 877 |
+
"gripper": null,
|
| 878 |
+
"post_done_wait_frames": 0,
|
| 879 |
+
"post_done_wait_exhausted": false
|
| 880 |
+
},
|
| 881 |
+
"physical_semantics": {
|
| 882 |
+
"skill": "press",
|
| 883 |
+
"target": "heat_button",
|
| 884 |
+
"attach_used": false,
|
| 885 |
+
"attach_object": null,
|
| 886 |
+
"attach_object_path": null,
|
| 887 |
+
"attach_allowed": false,
|
| 888 |
+
"ordinary_object_physical_only": true
|
| 889 |
+
}
|
| 890 |
+
}
|
| 891 |
+
],
|
| 892 |
+
"physical_semantics": {
|
| 893 |
+
"attach_records": [],
|
| 894 |
+
"ordinary_attach_violations": [],
|
| 895 |
+
"forbidden_shortcuts_absent": true
|
| 896 |
+
},
|
| 897 |
+
"h5_episode_index": 84,
|
| 898 |
+
"reproducibility": {
|
| 899 |
+
"enabled": true,
|
| 900 |
+
"action_seed": 6098556129387905517,
|
| 901 |
+
"physical_seed": 7490668268172140043,
|
| 902 |
+
"layout_id": "layout_00031",
|
| 903 |
+
"step_seeds": [
|
| 904 |
+
4567401361451441112,
|
| 905 |
+
7000790218311912638,
|
| 906 |
+
7522013946436761511,
|
| 907 |
+
7728913421038834906
|
| 908 |
+
],
|
| 909 |
+
"workflow_spec_digest": "bc4db0291f406fbd9c91f68a4c7f1acd36da9a03dd09cb73d832a7602138bc78",
|
| 910 |
+
"strict_task_state": false,
|
| 911 |
+
"allow_physical_randomization": true,
|
| 912 |
+
"seed_source": "workflow.reproducibility",
|
| 913 |
+
"task_island_state_digest": "1fa9751af3056fe11d5ea49654629181a4e87a7deb09513870f132d76e1593cf",
|
| 914 |
+
"visual_seed": 334252278402900947,
|
| 915 |
+
"episode_index": 84,
|
| 916 |
+
"physical_randomization_enabled": true,
|
| 917 |
+
"motion_controller_type": "ik_servo",
|
| 918 |
+
"runtime_step_seeds": [
|
| 919 |
+
4567401361451441112,
|
| 920 |
+
7000790218311912638,
|
| 921 |
+
7522013946436761511,
|
| 922 |
+
7728913421038834906
|
| 923 |
+
],
|
| 924 |
+
"runtime_workflow_digest": "45388e27c653b4c58871f8eb0be862a6bfbe31c6d7d135b34c259a2497af3374"
|
| 925 |
+
}
|
| 926 |
+
}
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_85_success.json
ADDED
|
@@ -0,0 +1,926 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 85,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 4,
|
| 5 |
+
"total_steps": 4,
|
| 6 |
+
"step_accuracy": "4/4",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_b",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_b",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_b",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.18820405493470918,
|
| 26 |
+
0.2208958925971026,
|
| 27 |
+
1.0436997928818004
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0436997928818004,
|
| 30 |
+
"required_z": 0.8565865670132103,
|
| 31 |
+
"initial_z": 0.7565865670132104,
|
| 32 |
+
"lift_margin": 0.18711322586859003,
|
| 33 |
+
"gripper_z": 1.0487452303489353,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.1837685809990827,
|
| 38 |
+
0.21634025883879787,
|
| 39 |
+
1.0487452303489353
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004435473935626488,
|
| 43 |
+
0.004555633758304728,
|
| 44 |
+
-0.005045437467134928
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006358240949620232,
|
| 47 |
+
"object_to_gripper_z": -0.005045437467134928,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.18820405493470918,
|
| 51 |
+
0.19693618183805287,
|
| 52 |
+
1.0436997928818004
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.17675227249811357,
|
| 56 |
+
0.2208958925971026,
|
| 57 |
+
1.0436997928818004
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.18247816371641137,
|
| 61 |
+
0.20891603721757773,
|
| 62 |
+
1.0436997928818004
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005725891218297807,
|
| 66 |
+
0.011979855379524867,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.0265558102989241,
|
| 70 |
+
"fingertip_max_gap": 0.09304964808988159,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.01327790514946205,
|
| 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": 1.0436997928818004,
|
| 78 |
+
"object_top_z": 1.0898509695930039,
|
| 79 |
+
"finger_top_clearance": 0.0461511767112035,
|
| 80 |
+
"fingertip_min_top_clearance": 0.013845353013361067,
|
| 81 |
+
"object_projection_between_fingers": 0.8140367780710805,
|
| 82 |
+
"object_to_finger_line_xy": 0.01033225466547008,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.049024824044940796,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 1.459568591019224,
|
| 89 |
+
"object_max_tilt_deg": 15.0,
|
| 90 |
+
"object_upright_axis_local": [
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
1.0
|
| 94 |
+
],
|
| 95 |
+
"stable_success_frames": 210,
|
| 96 |
+
"max_stable_success_frames": 210,
|
| 97 |
+
"required_stable_lift_frames": 5
|
| 98 |
+
},
|
| 99 |
+
"failed_keys": [],
|
| 100 |
+
"failure_code": null,
|
| 101 |
+
"failure_messages": {},
|
| 102 |
+
"safety": {
|
| 103 |
+
"policy": {
|
| 104 |
+
"skill": "pick",
|
| 105 |
+
"target_object": "beaker_b",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_b"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/target_beaker"
|
| 112 |
+
],
|
| 113 |
+
"allowed_prim_substrings": [],
|
| 114 |
+
"robot_prim_substrings": [
|
| 115 |
+
"Robotiq2F85",
|
| 116 |
+
"Robotiq_2F_85",
|
| 117 |
+
"contact_sensor",
|
| 118 |
+
"dummy_base_prismatic_x_joint",
|
| 119 |
+
"dummy_base_prismatic_y_joint",
|
| 120 |
+
"dummy_base_revolute_z_joint",
|
| 121 |
+
"elbow_joint",
|
| 122 |
+
"festo",
|
| 123 |
+
"finger",
|
| 124 |
+
"fr3",
|
| 125 |
+
"fr3_duo_mobile",
|
| 126 |
+
"fr3_joint1",
|
| 127 |
+
"fr3_joint2",
|
| 128 |
+
"fr3_joint3",
|
| 129 |
+
"fr3_joint4",
|
| 130 |
+
"fr3_joint5",
|
| 131 |
+
"fr3_joint6",
|
| 132 |
+
"fr3_joint7",
|
| 133 |
+
"fr3_leftfinger",
|
| 134 |
+
"fr3_rightfinger",
|
| 135 |
+
"franka",
|
| 136 |
+
"geometry",
|
| 137 |
+
"gripper",
|
| 138 |
+
"gripper_center",
|
| 139 |
+
"joint1",
|
| 140 |
+
"joint2",
|
| 141 |
+
"joint3",
|
| 142 |
+
"joint4",
|
| 143 |
+
"joint5",
|
| 144 |
+
"joint6",
|
| 145 |
+
"joint7",
|
| 146 |
+
"left_inner_finger",
|
| 147 |
+
"lift2",
|
| 148 |
+
"mobile_rotate",
|
| 149 |
+
"mobile_translate_x",
|
| 150 |
+
"mobile_translate_y",
|
| 151 |
+
"panda_joint1",
|
| 152 |
+
"panda_joint2",
|
| 153 |
+
"panda_joint3",
|
| 154 |
+
"panda_joint4",
|
| 155 |
+
"panda_joint5",
|
| 156 |
+
"panda_joint6",
|
| 157 |
+
"panda_joint7",
|
| 158 |
+
"panda_leftfinger",
|
| 159 |
+
"panda_leftfingertip",
|
| 160 |
+
"panda_rightfinger",
|
| 161 |
+
"panda_rightfingertip",
|
| 162 |
+
"ridgebase",
|
| 163 |
+
"ridgebase_festo",
|
| 164 |
+
"ridgebase_fr3",
|
| 165 |
+
"ridgebase_rizon4",
|
| 166 |
+
"ridgebase_ur16e",
|
| 167 |
+
"ridgebase_ur5e",
|
| 168 |
+
"right_inner_finger",
|
| 169 |
+
"rizon4",
|
| 170 |
+
"robot",
|
| 171 |
+
"robotiq_2f85",
|
| 172 |
+
"shoulder_lift_joint",
|
| 173 |
+
"shoulder_pan_joint",
|
| 174 |
+
"split_aloha",
|
| 175 |
+
"tool_center",
|
| 176 |
+
"ur16e",
|
| 177 |
+
"ur5e",
|
| 178 |
+
"visuals",
|
| 179 |
+
"wrist",
|
| 180 |
+
"wrist_1_joint",
|
| 181 |
+
"wrist_2_joint",
|
| 182 |
+
"wrist_3_joint"
|
| 183 |
+
],
|
| 184 |
+
"ignored_prim_substrings": [
|
| 185 |
+
"base_link",
|
| 186 |
+
"caster",
|
| 187 |
+
"defaultgroundplane",
|
| 188 |
+
"desk",
|
| 189 |
+
"floor",
|
| 190 |
+
"ground",
|
| 191 |
+
"groundplane",
|
| 192 |
+
"link0",
|
| 193 |
+
"table",
|
| 194 |
+
"wheel",
|
| 195 |
+
"workbench"
|
| 196 |
+
],
|
| 197 |
+
"enabled": true
|
| 198 |
+
},
|
| 199 |
+
"status": "active",
|
| 200 |
+
"passed": true,
|
| 201 |
+
"source_missing": false,
|
| 202 |
+
"forbidden": [],
|
| 203 |
+
"disturbances": [],
|
| 204 |
+
"last_frame": {
|
| 205 |
+
"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/target_beaker/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/target_beaker/mesh"
|
| 216 |
+
}
|
| 217 |
+
],
|
| 218 |
+
"ignored": [],
|
| 219 |
+
"failed_keys": []
|
| 220 |
+
},
|
| 221 |
+
"failed_keys": []
|
| 222 |
+
}
|
| 223 |
+
},
|
| 224 |
+
"gripper": null,
|
| 225 |
+
"post_done_wait_frames": 0,
|
| 226 |
+
"post_done_wait_exhausted": false
|
| 227 |
+
},
|
| 228 |
+
"physical_semantics": {
|
| 229 |
+
"skill": "pick",
|
| 230 |
+
"target": "beaker_b",
|
| 231 |
+
"attach_used": false,
|
| 232 |
+
"attach_object": null,
|
| 233 |
+
"attach_object_path": null,
|
| 234 |
+
"attach_allowed": false,
|
| 235 |
+
"ordinary_object_physical_only": true
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
{
|
| 239 |
+
"step_index": 1,
|
| 240 |
+
"skill": "shake",
|
| 241 |
+
"target": "beaker_b",
|
| 242 |
+
"success": true,
|
| 243 |
+
"reason": "executed",
|
| 244 |
+
"debug": {
|
| 245 |
+
"arm": null,
|
| 246 |
+
"checker": {
|
| 247 |
+
"checker": "ShakeSuccessChecker",
|
| 248 |
+
"skill": "shake",
|
| 249 |
+
"target": "beaker_b",
|
| 250 |
+
"passed": true,
|
| 251 |
+
"metrics": {
|
| 252 |
+
"held": "beaker_b",
|
| 253 |
+
"force_virtual_attach": false,
|
| 254 |
+
"virtual_attach_allowed": false,
|
| 255 |
+
"gripper_position": [
|
| 256 |
+
0.18763485232769572,
|
| 257 |
+
0.22191952198584822,
|
| 258 |
+
1.239416883853056
|
| 259 |
+
],
|
| 260 |
+
"held_position": [
|
| 261 |
+
0.19231459590323238,
|
| 262 |
+
0.22610666703326715,
|
| 263 |
+
1.2342716300876428
|
| 264 |
+
],
|
| 265 |
+
"object_initial_z": 0.7730800627579277,
|
| 266 |
+
"required_gripper_z": 0.8930800627579277,
|
| 267 |
+
"shake_count": 5,
|
| 268 |
+
"held_shake_count": 5,
|
| 269 |
+
"effective_shake_count": 5,
|
| 270 |
+
"min_shake_count": 3,
|
| 271 |
+
"held_gripper_dist": 0.008118239950346322,
|
| 272 |
+
"max_held_gripper_dist": 0.008125264052681675,
|
| 273 |
+
"held_gripper_max_dist": 0.15,
|
| 274 |
+
"held_gripper_z_dist": 0.0051452537654130825,
|
| 275 |
+
"max_held_gripper_z_dist": 0.005167487893323441,
|
| 276 |
+
"held_gripper_z_max_dist": 0.15,
|
| 277 |
+
"held_object_xy_range": 0.0852468853274995,
|
| 278 |
+
"held_object_min_xy_range": 0.04,
|
| 279 |
+
"held_motion_ok": true,
|
| 280 |
+
"held_grasp_geometry_checked": true,
|
| 281 |
+
"held_grasp_geometry_required": true,
|
| 282 |
+
"held_grasp_source": "active_contact_pad_positions",
|
| 283 |
+
"held_grasp_finger_a": [
|
| 284 |
+
0.19231459590323238,
|
| 285 |
+
0.20133253559453868,
|
| 286 |
+
1.2342716300876428
|
| 287 |
+
],
|
| 288 |
+
"held_grasp_finger_b": [
|
| 289 |
+
0.18258803850848548,
|
| 290 |
+
0.22610666703326715,
|
| 291 |
+
1.2342716300876428
|
| 292 |
+
],
|
| 293 |
+
"held_grasp_midpoint": [
|
| 294 |
+
0.18745131720585895,
|
| 295 |
+
0.2137196013139029,
|
| 296 |
+
1.2342716300876428
|
| 297 |
+
],
|
| 298 |
+
"held_grasp_object_position": [
|
| 299 |
+
0.19231459590323238,
|
| 300 |
+
0.22610666703326715,
|
| 301 |
+
1.2342716300876428
|
| 302 |
+
],
|
| 303 |
+
"held_grasp_finger_gap": 0.026615099235146582,
|
| 304 |
+
"held_grasp_max_gap": 0.1249237185716629,
|
| 305 |
+
"held_grasp_geometry_frame": "object_local",
|
| 306 |
+
"held_grasp_size_source": "beaker_b_local_size",
|
| 307 |
+
"held_grasp_z_skew": 0.02433064656678381,
|
| 308 |
+
"held_grasp_world_z_skew": 0.0,
|
| 309 |
+
"held_grasp_z_skew_max": 0.08,
|
| 310 |
+
"held_grasp_z_skew_frame": "object_local_up",
|
| 311 |
+
"held_grasp_local_up_axis": [
|
| 312 |
+
-0.042534079763272815,
|
| 313 |
+
-0.9987981534703613,
|
| 314 |
+
0.02435365851136584
|
| 315 |
+
],
|
| 316 |
+
"held_grasp_object_projection_between_fingers": 0.5,
|
| 317 |
+
"held_grasp_object_to_finger_line_xy": 0.004342671326692268,
|
| 318 |
+
"held_grasp_line_xy_max_dist": 0.04746185928583145,
|
| 319 |
+
"held_grasp_object_top_z": 0.045200224965810776,
|
| 320 |
+
"held_grasp_top_clearance": 0.03262119151436865,
|
| 321 |
+
"held_grasp_min_top_clearance": 0.013560067489743232
|
| 322 |
+
},
|
| 323 |
+
"failed_keys": [],
|
| 324 |
+
"failure_code": null,
|
| 325 |
+
"failure_messages": {},
|
| 326 |
+
"safety": {
|
| 327 |
+
"policy": {
|
| 328 |
+
"skill": "shake",
|
| 329 |
+
"target_object": "beaker_b",
|
| 330 |
+
"held_object": "beaker_b",
|
| 331 |
+
"allowed_objects": [
|
| 332 |
+
"beaker_b"
|
| 333 |
+
],
|
| 334 |
+
"allowed_object_paths": [
|
| 335 |
+
"/World/target_beaker"
|
| 336 |
+
],
|
| 337 |
+
"allowed_prim_substrings": [],
|
| 338 |
+
"robot_prim_substrings": [
|
| 339 |
+
"Robotiq2F85",
|
| 340 |
+
"Robotiq_2F_85",
|
| 341 |
+
"contact_sensor",
|
| 342 |
+
"dummy_base_prismatic_x_joint",
|
| 343 |
+
"dummy_base_prismatic_y_joint",
|
| 344 |
+
"dummy_base_revolute_z_joint",
|
| 345 |
+
"elbow_joint",
|
| 346 |
+
"festo",
|
| 347 |
+
"finger",
|
| 348 |
+
"fr3",
|
| 349 |
+
"fr3_duo_mobile",
|
| 350 |
+
"fr3_joint1",
|
| 351 |
+
"fr3_joint2",
|
| 352 |
+
"fr3_joint3",
|
| 353 |
+
"fr3_joint4",
|
| 354 |
+
"fr3_joint5",
|
| 355 |
+
"fr3_joint6",
|
| 356 |
+
"fr3_joint7",
|
| 357 |
+
"fr3_leftfinger",
|
| 358 |
+
"fr3_rightfinger",
|
| 359 |
+
"franka",
|
| 360 |
+
"geometry",
|
| 361 |
+
"gripper",
|
| 362 |
+
"gripper_center",
|
| 363 |
+
"joint1",
|
| 364 |
+
"joint2",
|
| 365 |
+
"joint3",
|
| 366 |
+
"joint4",
|
| 367 |
+
"joint5",
|
| 368 |
+
"joint6",
|
| 369 |
+
"joint7",
|
| 370 |
+
"left_inner_finger",
|
| 371 |
+
"lift2",
|
| 372 |
+
"mobile_rotate",
|
| 373 |
+
"mobile_translate_x",
|
| 374 |
+
"mobile_translate_y",
|
| 375 |
+
"panda_joint1",
|
| 376 |
+
"panda_joint2",
|
| 377 |
+
"panda_joint3",
|
| 378 |
+
"panda_joint4",
|
| 379 |
+
"panda_joint5",
|
| 380 |
+
"panda_joint6",
|
| 381 |
+
"panda_joint7",
|
| 382 |
+
"panda_leftfinger",
|
| 383 |
+
"panda_leftfingertip",
|
| 384 |
+
"panda_rightfinger",
|
| 385 |
+
"panda_rightfingertip",
|
| 386 |
+
"ridgebase",
|
| 387 |
+
"ridgebase_festo",
|
| 388 |
+
"ridgebase_fr3",
|
| 389 |
+
"ridgebase_rizon4",
|
| 390 |
+
"ridgebase_ur16e",
|
| 391 |
+
"ridgebase_ur5e",
|
| 392 |
+
"right_inner_finger",
|
| 393 |
+
"rizon4",
|
| 394 |
+
"robot",
|
| 395 |
+
"robotiq_2f85",
|
| 396 |
+
"shoulder_lift_joint",
|
| 397 |
+
"shoulder_pan_joint",
|
| 398 |
+
"split_aloha",
|
| 399 |
+
"tool_center",
|
| 400 |
+
"ur16e",
|
| 401 |
+
"ur5e",
|
| 402 |
+
"visuals",
|
| 403 |
+
"wrist",
|
| 404 |
+
"wrist_1_joint",
|
| 405 |
+
"wrist_2_joint",
|
| 406 |
+
"wrist_3_joint"
|
| 407 |
+
],
|
| 408 |
+
"ignored_prim_substrings": [
|
| 409 |
+
"base_link",
|
| 410 |
+
"caster",
|
| 411 |
+
"defaultgroundplane",
|
| 412 |
+
"desk",
|
| 413 |
+
"floor",
|
| 414 |
+
"ground",
|
| 415 |
+
"groundplane",
|
| 416 |
+
"link0",
|
| 417 |
+
"table",
|
| 418 |
+
"wheel",
|
| 419 |
+
"workbench"
|
| 420 |
+
],
|
| 421 |
+
"enabled": true
|
| 422 |
+
},
|
| 423 |
+
"status": "active",
|
| 424 |
+
"passed": true,
|
| 425 |
+
"source_missing": false,
|
| 426 |
+
"forbidden": [],
|
| 427 |
+
"disturbances": [],
|
| 428 |
+
"last_frame": {
|
| 429 |
+
"passed": true,
|
| 430 |
+
"source_missing": false,
|
| 431 |
+
"forbidden": [],
|
| 432 |
+
"allowed": [
|
| 433 |
+
{
|
| 434 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 435 |
+
"b": "/World/target_beaker/mesh"
|
| 436 |
+
},
|
| 437 |
+
{
|
| 438 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 439 |
+
"b": "/World/target_beaker/mesh"
|
| 440 |
+
}
|
| 441 |
+
],
|
| 442 |
+
"ignored": [],
|
| 443 |
+
"failed_keys": []
|
| 444 |
+
},
|
| 445 |
+
"failed_keys": []
|
| 446 |
+
}
|
| 447 |
+
},
|
| 448 |
+
"gripper": null,
|
| 449 |
+
"post_done_wait_frames": 0,
|
| 450 |
+
"post_done_wait_exhausted": false
|
| 451 |
+
},
|
| 452 |
+
"physical_semantics": {
|
| 453 |
+
"skill": "shake",
|
| 454 |
+
"target": "beaker_b",
|
| 455 |
+
"attach_used": false,
|
| 456 |
+
"attach_object": null,
|
| 457 |
+
"attach_object_path": null,
|
| 458 |
+
"attach_allowed": false,
|
| 459 |
+
"ordinary_object_physical_only": true
|
| 460 |
+
}
|
| 461 |
+
},
|
| 462 |
+
{
|
| 463 |
+
"step_index": 2,
|
| 464 |
+
"skill": "place",
|
| 465 |
+
"target": "heater_platform",
|
| 466 |
+
"success": true,
|
| 467 |
+
"reason": "executed",
|
| 468 |
+
"debug": {
|
| 469 |
+
"arm": null,
|
| 470 |
+
"checker": {
|
| 471 |
+
"checker": "PlaceSuccessChecker",
|
| 472 |
+
"skill": "place",
|
| 473 |
+
"target": "heater_platform",
|
| 474 |
+
"passed": true,
|
| 475 |
+
"metrics": {
|
| 476 |
+
"held": "beaker_b",
|
| 477 |
+
"target": "heater_platform",
|
| 478 |
+
"object_position": [
|
| 479 |
+
0.33992961918145204,
|
| 480 |
+
-0.3238770939419545,
|
| 481 |
+
0.8470194744043994
|
| 482 |
+
],
|
| 483 |
+
"target_position": [
|
| 484 |
+
0.3326402067456511,
|
| 485 |
+
-0.32594351902881546,
|
| 486 |
+
0.8084375599031817
|
| 487 |
+
],
|
| 488 |
+
"target_position_source": "target_object:_xform_position",
|
| 489 |
+
"xy_dist": 0.007576651390872998,
|
| 490 |
+
"xy_threshold": 0.08,
|
| 491 |
+
"gripper_dist": 0.1865813495893337,
|
| 492 |
+
"gripper_away_threshold": 0.04,
|
| 493 |
+
"gripper_away_ok": true,
|
| 494 |
+
"object_z": 0.8470194744043994,
|
| 495 |
+
"min_z": 0.5730800627579278,
|
| 496 |
+
"min_z_margin": 0.2,
|
| 497 |
+
"require_object_upright": true,
|
| 498 |
+
"object_upright_reference_source": "scene_initial",
|
| 499 |
+
"release_fingertip_source": "active_contact_pad_positions",
|
| 500 |
+
"release_finger_gap": 0.07552111137421767,
|
| 501 |
+
"release_finger_gap_metric": "3d_contact_pad_distance",
|
| 502 |
+
"release_fingertip_min_gap": 0.08547816999663026,
|
| 503 |
+
"release_gap_margin": 0.02,
|
| 504 |
+
"release_gap_missing_size": false,
|
| 505 |
+
"release_min_pad_clearance": 0.15503566002860392,
|
| 506 |
+
"release_required_pad_clearance": 0.05273908499831513,
|
| 507 |
+
"release_pad_clearance_ok": true,
|
| 508 |
+
"release_gap_ok": false,
|
| 509 |
+
"force_virtual_attach": false,
|
| 510 |
+
"virtual_attach_allowed": false,
|
| 511 |
+
"max_z": 0.9084375599031816,
|
| 512 |
+
"max_z_margin": 0.1,
|
| 513 |
+
"object_tilt_deg": 0.5293397610823093,
|
| 514 |
+
"object_max_tilt_deg": 12.0,
|
| 515 |
+
"object_axis_flip_tolerance_deg": 3.0,
|
| 516 |
+
"object_upright_axis_local": null,
|
| 517 |
+
"required_placed_release_frames": 2,
|
| 518 |
+
"placed_release_frames": 157,
|
| 519 |
+
"max_placed_release_frames": 157
|
| 520 |
+
},
|
| 521 |
+
"failed_keys": [],
|
| 522 |
+
"failure_code": null,
|
| 523 |
+
"failure_messages": {},
|
| 524 |
+
"safety": {
|
| 525 |
+
"policy": {
|
| 526 |
+
"skill": "place",
|
| 527 |
+
"target_object": "heater_platform",
|
| 528 |
+
"held_object": "beaker_b",
|
| 529 |
+
"allowed_objects": [
|
| 530 |
+
"beaker_b",
|
| 531 |
+
"heater_platform"
|
| 532 |
+
],
|
| 533 |
+
"allowed_object_paths": [
|
| 534 |
+
"/World/heat_device/heat_device/heat_device/plat",
|
| 535 |
+
"/World/target_beaker"
|
| 536 |
+
],
|
| 537 |
+
"allowed_prim_substrings": [],
|
| 538 |
+
"robot_prim_substrings": [
|
| 539 |
+
"Robotiq2F85",
|
| 540 |
+
"Robotiq_2F_85",
|
| 541 |
+
"contact_sensor",
|
| 542 |
+
"dummy_base_prismatic_x_joint",
|
| 543 |
+
"dummy_base_prismatic_y_joint",
|
| 544 |
+
"dummy_base_revolute_z_joint",
|
| 545 |
+
"elbow_joint",
|
| 546 |
+
"festo",
|
| 547 |
+
"finger",
|
| 548 |
+
"fr3",
|
| 549 |
+
"fr3_duo_mobile",
|
| 550 |
+
"fr3_joint1",
|
| 551 |
+
"fr3_joint2",
|
| 552 |
+
"fr3_joint3",
|
| 553 |
+
"fr3_joint4",
|
| 554 |
+
"fr3_joint5",
|
| 555 |
+
"fr3_joint6",
|
| 556 |
+
"fr3_joint7",
|
| 557 |
+
"fr3_leftfinger",
|
| 558 |
+
"fr3_rightfinger",
|
| 559 |
+
"franka",
|
| 560 |
+
"geometry",
|
| 561 |
+
"gripper",
|
| 562 |
+
"gripper_center",
|
| 563 |
+
"joint1",
|
| 564 |
+
"joint2",
|
| 565 |
+
"joint3",
|
| 566 |
+
"joint4",
|
| 567 |
+
"joint5",
|
| 568 |
+
"joint6",
|
| 569 |
+
"joint7",
|
| 570 |
+
"left_inner_finger",
|
| 571 |
+
"lift2",
|
| 572 |
+
"mobile_rotate",
|
| 573 |
+
"mobile_translate_x",
|
| 574 |
+
"mobile_translate_y",
|
| 575 |
+
"panda_joint1",
|
| 576 |
+
"panda_joint2",
|
| 577 |
+
"panda_joint3",
|
| 578 |
+
"panda_joint4",
|
| 579 |
+
"panda_joint5",
|
| 580 |
+
"panda_joint6",
|
| 581 |
+
"panda_joint7",
|
| 582 |
+
"panda_leftfinger",
|
| 583 |
+
"panda_leftfingertip",
|
| 584 |
+
"panda_rightfinger",
|
| 585 |
+
"panda_rightfingertip",
|
| 586 |
+
"ridgebase",
|
| 587 |
+
"ridgebase_festo",
|
| 588 |
+
"ridgebase_fr3",
|
| 589 |
+
"ridgebase_rizon4",
|
| 590 |
+
"ridgebase_ur16e",
|
| 591 |
+
"ridgebase_ur5e",
|
| 592 |
+
"right_inner_finger",
|
| 593 |
+
"rizon4",
|
| 594 |
+
"robot",
|
| 595 |
+
"robotiq_2f85",
|
| 596 |
+
"shoulder_lift_joint",
|
| 597 |
+
"shoulder_pan_joint",
|
| 598 |
+
"split_aloha",
|
| 599 |
+
"tool_center",
|
| 600 |
+
"ur16e",
|
| 601 |
+
"ur5e",
|
| 602 |
+
"visuals",
|
| 603 |
+
"wrist",
|
| 604 |
+
"wrist_1_joint",
|
| 605 |
+
"wrist_2_joint",
|
| 606 |
+
"wrist_3_joint"
|
| 607 |
+
],
|
| 608 |
+
"ignored_prim_substrings": [
|
| 609 |
+
"base_link",
|
| 610 |
+
"caster",
|
| 611 |
+
"defaultgroundplane",
|
| 612 |
+
"desk",
|
| 613 |
+
"floor",
|
| 614 |
+
"ground",
|
| 615 |
+
"groundplane",
|
| 616 |
+
"link0",
|
| 617 |
+
"table",
|
| 618 |
+
"wheel",
|
| 619 |
+
"workbench"
|
| 620 |
+
],
|
| 621 |
+
"enabled": true
|
| 622 |
+
},
|
| 623 |
+
"status": "active",
|
| 624 |
+
"passed": true,
|
| 625 |
+
"source_missing": false,
|
| 626 |
+
"forbidden": [],
|
| 627 |
+
"disturbances": [],
|
| 628 |
+
"last_frame": {
|
| 629 |
+
"passed": true,
|
| 630 |
+
"source_missing": false,
|
| 631 |
+
"forbidden": [],
|
| 632 |
+
"allowed": [],
|
| 633 |
+
"ignored": [],
|
| 634 |
+
"failed_keys": []
|
| 635 |
+
},
|
| 636 |
+
"failed_keys": []
|
| 637 |
+
}
|
| 638 |
+
},
|
| 639 |
+
"gripper": null,
|
| 640 |
+
"post_done_wait_frames": 0,
|
| 641 |
+
"post_done_wait_exhausted": false
|
| 642 |
+
},
|
| 643 |
+
"physical_semantics": {
|
| 644 |
+
"skill": "place",
|
| 645 |
+
"target": "heater_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 |
+
"step_index": 3,
|
| 655 |
+
"skill": "press",
|
| 656 |
+
"target": "heat_button",
|
| 657 |
+
"success": true,
|
| 658 |
+
"reason": "executed",
|
| 659 |
+
"debug": {
|
| 660 |
+
"arm": null,
|
| 661 |
+
"checker": {
|
| 662 |
+
"checker": "PressSuccessChecker",
|
| 663 |
+
"skill": "press",
|
| 664 |
+
"target": "heat_button",
|
| 665 |
+
"passed": true,
|
| 666 |
+
"metrics": {
|
| 667 |
+
"target": "heat_button",
|
| 668 |
+
"z_decrease": 0.008101105690002441,
|
| 669 |
+
"max_z_decrease": 0.008101105690002441,
|
| 670 |
+
"final_z_decrease": 0.0,
|
| 671 |
+
"z_decrease_threshold": 0.0003,
|
| 672 |
+
"min_ee_to_button": 0.03502045595978081,
|
| 673 |
+
"contact_distance_threshold": 0.08,
|
| 674 |
+
"ee_contact_ok": true,
|
| 675 |
+
"max_z_decrease_with_ee_contact": 0.008101105690002441,
|
| 676 |
+
"ee_contacted_z_ok": true,
|
| 677 |
+
"physical_press_ok": true,
|
| 678 |
+
"required_contacted_press_frames": 2,
|
| 679 |
+
"contacted_z_stable_frames": 0,
|
| 680 |
+
"max_contacted_z_stable_frames": 78,
|
| 681 |
+
"contact_point_distance": 0.021381753849101494,
|
| 682 |
+
"contact_point_source": "active_contact_pad_positions",
|
| 683 |
+
"contact_point_distance_threshold": 0.04,
|
| 684 |
+
"contact_point_seen_ok": true,
|
| 685 |
+
"contact_point_ok": true,
|
| 686 |
+
"contact_point_stable_frames": 0,
|
| 687 |
+
"max_contact_point_stable_frames": 120,
|
| 688 |
+
"max_z_decrease_with_contact_point": 0.008101105690002441,
|
| 689 |
+
"contact_point_contacted_z_ok": true,
|
| 690 |
+
"contact_point_contacted_z_stable_frames": 0,
|
| 691 |
+
"max_contact_point_contacted_z_stable_frames": 78,
|
| 692 |
+
"contact_ok": true,
|
| 693 |
+
"button_final_displacement": 0.0,
|
| 694 |
+
"button_max_displacement": 0.008101149511134756,
|
| 695 |
+
"max_button_displacement": 0.12,
|
| 696 |
+
"button_start": [
|
| 697 |
+
0.18834012746810913,
|
| 698 |
+
-0.38220497965812683,
|
| 699 |
+
0.7768088579177856
|
| 700 |
+
],
|
| 701 |
+
"button_final": [
|
| 702 |
+
0.18834012746810913,
|
| 703 |
+
-0.38220497965812683,
|
| 704 |
+
0.7768088579177856
|
| 705 |
+
],
|
| 706 |
+
"closest_ee": [
|
| 707 |
+
0.18770508435952482,
|
| 708 |
+
-0.3835039071673218,
|
| 709 |
+
0.8050892257754277
|
| 710 |
+
],
|
| 711 |
+
"closest_button": [
|
| 712 |
+
0.1883250176906585,
|
| 713 |
+
-0.38220417499542236,
|
| 714 |
+
0.7700983881950378
|
| 715 |
+
],
|
| 716 |
+
"closest_ee_minus_button": [
|
| 717 |
+
-0.000619933331133693,
|
| 718 |
+
-0.001299732171899437,
|
| 719 |
+
0.0349908375803899
|
| 720 |
+
],
|
| 721 |
+
"button_min_z_position": [
|
| 722 |
+
0.18831358850002283,
|
| 723 |
+
-0.3822025954723358,
|
| 724 |
+
0.7687077522277832
|
| 725 |
+
],
|
| 726 |
+
"min_active_finger_to_button": 0.14661317972784307,
|
| 727 |
+
"closest_active_finger": [
|
| 728 |
+
0.0468168705701828,
|
| 729 |
+
-0.367233008146286,
|
| 730 |
+
0.8080481886863708
|
| 731 |
+
],
|
| 732 |
+
"closest_active_finger_button": [
|
| 733 |
+
0.1883529871702194,
|
| 734 |
+
-0.3822128176689148,
|
| 735 |
+
0.7728550434112549
|
| 736 |
+
],
|
| 737 |
+
"closest_active_finger_index": 0,
|
| 738 |
+
"closest_active_finger_minus_button": [
|
| 739 |
+
-0.1415361166000366,
|
| 740 |
+
0.014979809522628784,
|
| 741 |
+
0.03519314527511597
|
| 742 |
+
],
|
| 743 |
+
"min_contact_pad_to_button": 0.021381753849101494,
|
| 744 |
+
"closest_contact_pad": [
|
| 745 |
+
0.18831358850002283,
|
| 746 |
+
-0.3847215374610746,
|
| 747 |
+
0.7899406118778853
|
| 748 |
+
],
|
| 749 |
+
"closest_contact_pad_button": [
|
| 750 |
+
0.18831358850002283,
|
| 751 |
+
-0.3822025954723358,
|
| 752 |
+
0.7687077522277832
|
| 753 |
+
],
|
| 754 |
+
"closest_contact_pad_index": 0,
|
| 755 |
+
"closest_contact_pad_minus_button": [
|
| 756 |
+
0.0,
|
| 757 |
+
-0.00251894198873881,
|
| 758 |
+
0.02123285965010213
|
| 759 |
+
]
|
| 760 |
+
},
|
| 761 |
+
"failed_keys": [],
|
| 762 |
+
"failure_code": null,
|
| 763 |
+
"failure_messages": {},
|
| 764 |
+
"safety": {
|
| 765 |
+
"policy": {
|
| 766 |
+
"skill": "press",
|
| 767 |
+
"target_object": "heat_button",
|
| 768 |
+
"held_object": null,
|
| 769 |
+
"allowed_objects": [
|
| 770 |
+
"heat_button"
|
| 771 |
+
],
|
| 772 |
+
"allowed_object_paths": [
|
| 773 |
+
"/World/heat_device/button"
|
| 774 |
+
],
|
| 775 |
+
"allowed_prim_substrings": [],
|
| 776 |
+
"robot_prim_substrings": [
|
| 777 |
+
"Robotiq2F85",
|
| 778 |
+
"Robotiq_2F_85",
|
| 779 |
+
"contact_sensor",
|
| 780 |
+
"dummy_base_prismatic_x_joint",
|
| 781 |
+
"dummy_base_prismatic_y_joint",
|
| 782 |
+
"dummy_base_revolute_z_joint",
|
| 783 |
+
"elbow_joint",
|
| 784 |
+
"festo",
|
| 785 |
+
"finger",
|
| 786 |
+
"fr3",
|
| 787 |
+
"fr3_duo_mobile",
|
| 788 |
+
"fr3_joint1",
|
| 789 |
+
"fr3_joint2",
|
| 790 |
+
"fr3_joint3",
|
| 791 |
+
"fr3_joint4",
|
| 792 |
+
"fr3_joint5",
|
| 793 |
+
"fr3_joint6",
|
| 794 |
+
"fr3_joint7",
|
| 795 |
+
"fr3_leftfinger",
|
| 796 |
+
"fr3_rightfinger",
|
| 797 |
+
"franka",
|
| 798 |
+
"geometry",
|
| 799 |
+
"gripper",
|
| 800 |
+
"gripper_center",
|
| 801 |
+
"joint1",
|
| 802 |
+
"joint2",
|
| 803 |
+
"joint3",
|
| 804 |
+
"joint4",
|
| 805 |
+
"joint5",
|
| 806 |
+
"joint6",
|
| 807 |
+
"joint7",
|
| 808 |
+
"left_inner_finger",
|
| 809 |
+
"lift2",
|
| 810 |
+
"mobile_rotate",
|
| 811 |
+
"mobile_translate_x",
|
| 812 |
+
"mobile_translate_y",
|
| 813 |
+
"panda_joint1",
|
| 814 |
+
"panda_joint2",
|
| 815 |
+
"panda_joint3",
|
| 816 |
+
"panda_joint4",
|
| 817 |
+
"panda_joint5",
|
| 818 |
+
"panda_joint6",
|
| 819 |
+
"panda_joint7",
|
| 820 |
+
"panda_leftfinger",
|
| 821 |
+
"panda_leftfingertip",
|
| 822 |
+
"panda_rightfinger",
|
| 823 |
+
"panda_rightfingertip",
|
| 824 |
+
"ridgebase",
|
| 825 |
+
"ridgebase_festo",
|
| 826 |
+
"ridgebase_fr3",
|
| 827 |
+
"ridgebase_rizon4",
|
| 828 |
+
"ridgebase_ur16e",
|
| 829 |
+
"ridgebase_ur5e",
|
| 830 |
+
"right_inner_finger",
|
| 831 |
+
"rizon4",
|
| 832 |
+
"robot",
|
| 833 |
+
"robotiq_2f85",
|
| 834 |
+
"shoulder_lift_joint",
|
| 835 |
+
"shoulder_pan_joint",
|
| 836 |
+
"split_aloha",
|
| 837 |
+
"tool_center",
|
| 838 |
+
"ur16e",
|
| 839 |
+
"ur5e",
|
| 840 |
+
"visuals",
|
| 841 |
+
"wrist",
|
| 842 |
+
"wrist_1_joint",
|
| 843 |
+
"wrist_2_joint",
|
| 844 |
+
"wrist_3_joint"
|
| 845 |
+
],
|
| 846 |
+
"ignored_prim_substrings": [
|
| 847 |
+
"base_link",
|
| 848 |
+
"caster",
|
| 849 |
+
"defaultgroundplane",
|
| 850 |
+
"desk",
|
| 851 |
+
"floor",
|
| 852 |
+
"ground",
|
| 853 |
+
"groundplane",
|
| 854 |
+
"link0",
|
| 855 |
+
"table",
|
| 856 |
+
"wheel",
|
| 857 |
+
"workbench"
|
| 858 |
+
],
|
| 859 |
+
"enabled": true
|
| 860 |
+
},
|
| 861 |
+
"status": "active",
|
| 862 |
+
"passed": true,
|
| 863 |
+
"source_missing": false,
|
| 864 |
+
"forbidden": [],
|
| 865 |
+
"disturbances": [],
|
| 866 |
+
"last_frame": {
|
| 867 |
+
"passed": true,
|
| 868 |
+
"source_missing": false,
|
| 869 |
+
"forbidden": [],
|
| 870 |
+
"allowed": [],
|
| 871 |
+
"ignored": [],
|
| 872 |
+
"failed_keys": []
|
| 873 |
+
},
|
| 874 |
+
"failed_keys": []
|
| 875 |
+
}
|
| 876 |
+
},
|
| 877 |
+
"gripper": null,
|
| 878 |
+
"post_done_wait_frames": 0,
|
| 879 |
+
"post_done_wait_exhausted": false
|
| 880 |
+
},
|
| 881 |
+
"physical_semantics": {
|
| 882 |
+
"skill": "press",
|
| 883 |
+
"target": "heat_button",
|
| 884 |
+
"attach_used": false,
|
| 885 |
+
"attach_object": null,
|
| 886 |
+
"attach_object_path": null,
|
| 887 |
+
"attach_allowed": false,
|
| 888 |
+
"ordinary_object_physical_only": true
|
| 889 |
+
}
|
| 890 |
+
}
|
| 891 |
+
],
|
| 892 |
+
"physical_semantics": {
|
| 893 |
+
"attach_records": [],
|
| 894 |
+
"ordinary_attach_violations": [],
|
| 895 |
+
"forbidden_shortcuts_absent": true
|
| 896 |
+
},
|
| 897 |
+
"h5_episode_index": 85,
|
| 898 |
+
"reproducibility": {
|
| 899 |
+
"enabled": true,
|
| 900 |
+
"action_seed": 6098556129387905517,
|
| 901 |
+
"physical_seed": 7490668268172140043,
|
| 902 |
+
"layout_id": "layout_00031",
|
| 903 |
+
"step_seeds": [
|
| 904 |
+
4567401361451441112,
|
| 905 |
+
7000790218311912638,
|
| 906 |
+
7522013946436761511,
|
| 907 |
+
7728913421038834906
|
| 908 |
+
],
|
| 909 |
+
"workflow_spec_digest": "bc4db0291f406fbd9c91f68a4c7f1acd36da9a03dd09cb73d832a7602138bc78",
|
| 910 |
+
"strict_task_state": false,
|
| 911 |
+
"allow_physical_randomization": true,
|
| 912 |
+
"seed_source": "workflow.reproducibility",
|
| 913 |
+
"task_island_state_digest": "8abc695fe291169508063525cd15ed75aaf9921b89d8af6169567271315aa60f",
|
| 914 |
+
"visual_seed": 770160716871674400,
|
| 915 |
+
"episode_index": 85,
|
| 916 |
+
"physical_randomization_enabled": true,
|
| 917 |
+
"motion_controller_type": "ik_servo",
|
| 918 |
+
"runtime_step_seeds": [
|
| 919 |
+
4567401361451441112,
|
| 920 |
+
7000790218311912638,
|
| 921 |
+
7522013946436761511,
|
| 922 |
+
7728913421038834906
|
| 923 |
+
],
|
| 924 |
+
"runtime_workflow_digest": "45388e27c653b4c58871f8eb0be862a6bfbe31c6d7d135b34c259a2497af3374"
|
| 925 |
+
}
|
| 926 |
+
}
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_86_success.json
ADDED
|
@@ -0,0 +1,926 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 86,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 4,
|
| 5 |
+
"total_steps": 4,
|
| 6 |
+
"step_accuracy": "4/4",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_b",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_b",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_b",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.18351052142842036,
|
| 26 |
+
0.21621172374085793,
|
| 27 |
+
1.044300875088057
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.044300875088057,
|
| 30 |
+
"required_z": 0.8565866266178552,
|
| 31 |
+
"initial_z": 0.7565866266178553,
|
| 32 |
+
"lift_margin": 0.18771424847020168,
|
| 33 |
+
"gripper_z": 1.0504069742845308,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.17865510774188562,
|
| 38 |
+
0.21156153678302486,
|
| 39 |
+
1.0504069742845308
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004855413686534749,
|
| 43 |
+
0.0046501869578330635,
|
| 44 |
+
-0.006106099196473869
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006723041038859549,
|
| 47 |
+
"object_to_gripper_z": -0.006106099196473869,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.18351052142842036,
|
| 51 |
+
0.19162648314494546,
|
| 52 |
+
1.044300875088057
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.17236705362148802,
|
| 56 |
+
0.21621172374085793,
|
| 57 |
+
1.044300875088057
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.17793878752495418,
|
| 61 |
+
0.2039191034429017,
|
| 62 |
+
1.044300875088057
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005571733903466186,
|
| 66 |
+
0.01229262029795622,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.026992794036984017,
|
| 70 |
+
"fingertip_max_gap": 0.09582610916866766,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013496397018492002,
|
| 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": 1.044300875088057,
|
| 78 |
+
"object_top_z": 1.0913528036864666,
|
| 79 |
+
"finger_top_clearance": 0.047051928598409676,
|
| 80 |
+
"fingertip_min_top_clearance": 0.014115578579522902,
|
| 81 |
+
"object_projection_between_fingers": 0.8295703925588189,
|
| 82 |
+
"object_to_finger_line_xy": 0.010149554608198965,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.05041305458433383,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 2.439595760694655,
|
| 89 |
+
"object_max_tilt_deg": 15.0,
|
| 90 |
+
"object_upright_axis_local": [
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
1.0
|
| 94 |
+
],
|
| 95 |
+
"stable_success_frames": 210,
|
| 96 |
+
"max_stable_success_frames": 210,
|
| 97 |
+
"required_stable_lift_frames": 5
|
| 98 |
+
},
|
| 99 |
+
"failed_keys": [],
|
| 100 |
+
"failure_code": null,
|
| 101 |
+
"failure_messages": {},
|
| 102 |
+
"safety": {
|
| 103 |
+
"policy": {
|
| 104 |
+
"skill": "pick",
|
| 105 |
+
"target_object": "beaker_b",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_b"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/target_beaker"
|
| 112 |
+
],
|
| 113 |
+
"allowed_prim_substrings": [],
|
| 114 |
+
"robot_prim_substrings": [
|
| 115 |
+
"Robotiq2F85",
|
| 116 |
+
"Robotiq_2F_85",
|
| 117 |
+
"contact_sensor",
|
| 118 |
+
"dummy_base_prismatic_x_joint",
|
| 119 |
+
"dummy_base_prismatic_y_joint",
|
| 120 |
+
"dummy_base_revolute_z_joint",
|
| 121 |
+
"elbow_joint",
|
| 122 |
+
"festo",
|
| 123 |
+
"finger",
|
| 124 |
+
"fr3",
|
| 125 |
+
"fr3_duo_mobile",
|
| 126 |
+
"fr3_joint1",
|
| 127 |
+
"fr3_joint2",
|
| 128 |
+
"fr3_joint3",
|
| 129 |
+
"fr3_joint4",
|
| 130 |
+
"fr3_joint5",
|
| 131 |
+
"fr3_joint6",
|
| 132 |
+
"fr3_joint7",
|
| 133 |
+
"fr3_leftfinger",
|
| 134 |
+
"fr3_rightfinger",
|
| 135 |
+
"franka",
|
| 136 |
+
"geometry",
|
| 137 |
+
"gripper",
|
| 138 |
+
"gripper_center",
|
| 139 |
+
"joint1",
|
| 140 |
+
"joint2",
|
| 141 |
+
"joint3",
|
| 142 |
+
"joint4",
|
| 143 |
+
"joint5",
|
| 144 |
+
"joint6",
|
| 145 |
+
"joint7",
|
| 146 |
+
"left_inner_finger",
|
| 147 |
+
"lift2",
|
| 148 |
+
"mobile_rotate",
|
| 149 |
+
"mobile_translate_x",
|
| 150 |
+
"mobile_translate_y",
|
| 151 |
+
"panda_joint1",
|
| 152 |
+
"panda_joint2",
|
| 153 |
+
"panda_joint3",
|
| 154 |
+
"panda_joint4",
|
| 155 |
+
"panda_joint5",
|
| 156 |
+
"panda_joint6",
|
| 157 |
+
"panda_joint7",
|
| 158 |
+
"panda_leftfinger",
|
| 159 |
+
"panda_leftfingertip",
|
| 160 |
+
"panda_rightfinger",
|
| 161 |
+
"panda_rightfingertip",
|
| 162 |
+
"ridgebase",
|
| 163 |
+
"ridgebase_festo",
|
| 164 |
+
"ridgebase_fr3",
|
| 165 |
+
"ridgebase_rizon4",
|
| 166 |
+
"ridgebase_ur16e",
|
| 167 |
+
"ridgebase_ur5e",
|
| 168 |
+
"right_inner_finger",
|
| 169 |
+
"rizon4",
|
| 170 |
+
"robot",
|
| 171 |
+
"robotiq_2f85",
|
| 172 |
+
"shoulder_lift_joint",
|
| 173 |
+
"shoulder_pan_joint",
|
| 174 |
+
"split_aloha",
|
| 175 |
+
"tool_center",
|
| 176 |
+
"ur16e",
|
| 177 |
+
"ur5e",
|
| 178 |
+
"visuals",
|
| 179 |
+
"wrist",
|
| 180 |
+
"wrist_1_joint",
|
| 181 |
+
"wrist_2_joint",
|
| 182 |
+
"wrist_3_joint"
|
| 183 |
+
],
|
| 184 |
+
"ignored_prim_substrings": [
|
| 185 |
+
"base_link",
|
| 186 |
+
"caster",
|
| 187 |
+
"defaultgroundplane",
|
| 188 |
+
"desk",
|
| 189 |
+
"floor",
|
| 190 |
+
"ground",
|
| 191 |
+
"groundplane",
|
| 192 |
+
"link0",
|
| 193 |
+
"table",
|
| 194 |
+
"wheel",
|
| 195 |
+
"workbench"
|
| 196 |
+
],
|
| 197 |
+
"enabled": true
|
| 198 |
+
},
|
| 199 |
+
"status": "active",
|
| 200 |
+
"passed": true,
|
| 201 |
+
"source_missing": false,
|
| 202 |
+
"forbidden": [],
|
| 203 |
+
"disturbances": [],
|
| 204 |
+
"last_frame": {
|
| 205 |
+
"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/target_beaker/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/target_beaker/mesh"
|
| 216 |
+
}
|
| 217 |
+
],
|
| 218 |
+
"ignored": [],
|
| 219 |
+
"failed_keys": []
|
| 220 |
+
},
|
| 221 |
+
"failed_keys": []
|
| 222 |
+
}
|
| 223 |
+
},
|
| 224 |
+
"gripper": null,
|
| 225 |
+
"post_done_wait_frames": 0,
|
| 226 |
+
"post_done_wait_exhausted": false
|
| 227 |
+
},
|
| 228 |
+
"physical_semantics": {
|
| 229 |
+
"skill": "pick",
|
| 230 |
+
"target": "beaker_b",
|
| 231 |
+
"attach_used": false,
|
| 232 |
+
"attach_object": null,
|
| 233 |
+
"attach_object_path": null,
|
| 234 |
+
"attach_allowed": false,
|
| 235 |
+
"ordinary_object_physical_only": true
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
{
|
| 239 |
+
"step_index": 1,
|
| 240 |
+
"skill": "shake",
|
| 241 |
+
"target": "beaker_b",
|
| 242 |
+
"success": true,
|
| 243 |
+
"reason": "executed",
|
| 244 |
+
"debug": {
|
| 245 |
+
"arm": null,
|
| 246 |
+
"checker": {
|
| 247 |
+
"checker": "ShakeSuccessChecker",
|
| 248 |
+
"skill": "shake",
|
| 249 |
+
"target": "beaker_b",
|
| 250 |
+
"passed": true,
|
| 251 |
+
"metrics": {
|
| 252 |
+
"held": "beaker_b",
|
| 253 |
+
"force_virtual_attach": false,
|
| 254 |
+
"virtual_attach_allowed": false,
|
| 255 |
+
"gripper_position": [
|
| 256 |
+
0.18200873069697773,
|
| 257 |
+
0.2179354148591563,
|
| 258 |
+
1.2390445151743268
|
| 259 |
+
],
|
| 260 |
+
"held_position": [
|
| 261 |
+
0.18693967607945858,
|
| 262 |
+
0.22236700933142528,
|
| 263 |
+
1.2328376001355812
|
| 264 |
+
],
|
| 265 |
+
"object_initial_z": 0.7730800627579277,
|
| 266 |
+
"required_gripper_z": 0.8930800627579277,
|
| 267 |
+
"shake_count": 5,
|
| 268 |
+
"held_shake_count": 5,
|
| 269 |
+
"effective_shake_count": 5,
|
| 270 |
+
"min_shake_count": 3,
|
| 271 |
+
"held_gripper_dist": 0.009081797521958989,
|
| 272 |
+
"max_held_gripper_dist": 0.00908271582916637,
|
| 273 |
+
"held_gripper_max_dist": 0.15,
|
| 274 |
+
"held_gripper_z_dist": 0.006206915038745597,
|
| 275 |
+
"max_held_gripper_z_dist": 0.006232582322731606,
|
| 276 |
+
"held_gripper_z_max_dist": 0.15,
|
| 277 |
+
"held_object_xy_range": 0.08594315173335454,
|
| 278 |
+
"held_object_min_xy_range": 0.04,
|
| 279 |
+
"held_motion_ok": true,
|
| 280 |
+
"held_grasp_geometry_checked": true,
|
| 281 |
+
"held_grasp_geometry_required": true,
|
| 282 |
+
"held_grasp_source": "active_contact_pad_positions",
|
| 283 |
+
"held_grasp_finger_a": [
|
| 284 |
+
0.18693967607945858,
|
| 285 |
+
0.19752273408404655,
|
| 286 |
+
1.2328376001355812
|
| 287 |
+
],
|
| 288 |
+
"held_grasp_finger_b": [
|
| 289 |
+
0.17669897941915735,
|
| 290 |
+
0.22236700933142528,
|
| 291 |
+
1.2328376001355812
|
| 292 |
+
],
|
| 293 |
+
"held_grasp_midpoint": [
|
| 294 |
+
0.18181932774930798,
|
| 295 |
+
0.2099448717077359,
|
| 296 |
+
1.2328376001355812
|
| 297 |
+
],
|
| 298 |
+
"held_grasp_object_position": [
|
| 299 |
+
0.18693967607945858,
|
| 300 |
+
0.22236700933142528,
|
| 301 |
+
1.2328376001355812
|
| 302 |
+
],
|
| 303 |
+
"held_grasp_finger_gap": 0.026872102274586182,
|
| 304 |
+
"held_grasp_max_gap": 0.1249237185716629,
|
| 305 |
+
"held_grasp_geometry_frame": "object_local",
|
| 306 |
+
"held_grasp_size_source": "beaker_b_local_size",
|
| 307 |
+
"held_grasp_z_skew": 0.024918396022449472,
|
| 308 |
+
"held_grasp_world_z_skew": 0.0,
|
| 309 |
+
"held_grasp_z_skew_max": 0.08,
|
| 310 |
+
"held_grasp_z_skew_frame": "object_local_up",
|
| 311 |
+
"held_grasp_local_up_axis": [
|
| 312 |
+
0.008382398333480586,
|
| 313 |
+
-0.999528228397426,
|
| 314 |
+
0.02954752163687857
|
| 315 |
+
],
|
| 316 |
+
"held_grasp_object_projection_between_fingers": 0.5,
|
| 317 |
+
"held_grasp_object_to_finger_line_xy": 0.005237129103868191,
|
| 318 |
+
"held_grasp_line_xy_max_dist": 0.04746185928583145,
|
| 319 |
+
"held_grasp_object_top_z": 0.045200224965810776,
|
| 320 |
+
"held_grasp_top_clearance": 0.03282686855320503,
|
| 321 |
+
"held_grasp_min_top_clearance": 0.013560067489743232
|
| 322 |
+
},
|
| 323 |
+
"failed_keys": [],
|
| 324 |
+
"failure_code": null,
|
| 325 |
+
"failure_messages": {},
|
| 326 |
+
"safety": {
|
| 327 |
+
"policy": {
|
| 328 |
+
"skill": "shake",
|
| 329 |
+
"target_object": "beaker_b",
|
| 330 |
+
"held_object": "beaker_b",
|
| 331 |
+
"allowed_objects": [
|
| 332 |
+
"beaker_b"
|
| 333 |
+
],
|
| 334 |
+
"allowed_object_paths": [
|
| 335 |
+
"/World/target_beaker"
|
| 336 |
+
],
|
| 337 |
+
"allowed_prim_substrings": [],
|
| 338 |
+
"robot_prim_substrings": [
|
| 339 |
+
"Robotiq2F85",
|
| 340 |
+
"Robotiq_2F_85",
|
| 341 |
+
"contact_sensor",
|
| 342 |
+
"dummy_base_prismatic_x_joint",
|
| 343 |
+
"dummy_base_prismatic_y_joint",
|
| 344 |
+
"dummy_base_revolute_z_joint",
|
| 345 |
+
"elbow_joint",
|
| 346 |
+
"festo",
|
| 347 |
+
"finger",
|
| 348 |
+
"fr3",
|
| 349 |
+
"fr3_duo_mobile",
|
| 350 |
+
"fr3_joint1",
|
| 351 |
+
"fr3_joint2",
|
| 352 |
+
"fr3_joint3",
|
| 353 |
+
"fr3_joint4",
|
| 354 |
+
"fr3_joint5",
|
| 355 |
+
"fr3_joint6",
|
| 356 |
+
"fr3_joint7",
|
| 357 |
+
"fr3_leftfinger",
|
| 358 |
+
"fr3_rightfinger",
|
| 359 |
+
"franka",
|
| 360 |
+
"geometry",
|
| 361 |
+
"gripper",
|
| 362 |
+
"gripper_center",
|
| 363 |
+
"joint1",
|
| 364 |
+
"joint2",
|
| 365 |
+
"joint3",
|
| 366 |
+
"joint4",
|
| 367 |
+
"joint5",
|
| 368 |
+
"joint6",
|
| 369 |
+
"joint7",
|
| 370 |
+
"left_inner_finger",
|
| 371 |
+
"lift2",
|
| 372 |
+
"mobile_rotate",
|
| 373 |
+
"mobile_translate_x",
|
| 374 |
+
"mobile_translate_y",
|
| 375 |
+
"panda_joint1",
|
| 376 |
+
"panda_joint2",
|
| 377 |
+
"panda_joint3",
|
| 378 |
+
"panda_joint4",
|
| 379 |
+
"panda_joint5",
|
| 380 |
+
"panda_joint6",
|
| 381 |
+
"panda_joint7",
|
| 382 |
+
"panda_leftfinger",
|
| 383 |
+
"panda_leftfingertip",
|
| 384 |
+
"panda_rightfinger",
|
| 385 |
+
"panda_rightfingertip",
|
| 386 |
+
"ridgebase",
|
| 387 |
+
"ridgebase_festo",
|
| 388 |
+
"ridgebase_fr3",
|
| 389 |
+
"ridgebase_rizon4",
|
| 390 |
+
"ridgebase_ur16e",
|
| 391 |
+
"ridgebase_ur5e",
|
| 392 |
+
"right_inner_finger",
|
| 393 |
+
"rizon4",
|
| 394 |
+
"robot",
|
| 395 |
+
"robotiq_2f85",
|
| 396 |
+
"shoulder_lift_joint",
|
| 397 |
+
"shoulder_pan_joint",
|
| 398 |
+
"split_aloha",
|
| 399 |
+
"tool_center",
|
| 400 |
+
"ur16e",
|
| 401 |
+
"ur5e",
|
| 402 |
+
"visuals",
|
| 403 |
+
"wrist",
|
| 404 |
+
"wrist_1_joint",
|
| 405 |
+
"wrist_2_joint",
|
| 406 |
+
"wrist_3_joint"
|
| 407 |
+
],
|
| 408 |
+
"ignored_prim_substrings": [
|
| 409 |
+
"base_link",
|
| 410 |
+
"caster",
|
| 411 |
+
"defaultgroundplane",
|
| 412 |
+
"desk",
|
| 413 |
+
"floor",
|
| 414 |
+
"ground",
|
| 415 |
+
"groundplane",
|
| 416 |
+
"link0",
|
| 417 |
+
"table",
|
| 418 |
+
"wheel",
|
| 419 |
+
"workbench"
|
| 420 |
+
],
|
| 421 |
+
"enabled": true
|
| 422 |
+
},
|
| 423 |
+
"status": "active",
|
| 424 |
+
"passed": true,
|
| 425 |
+
"source_missing": false,
|
| 426 |
+
"forbidden": [],
|
| 427 |
+
"disturbances": [],
|
| 428 |
+
"last_frame": {
|
| 429 |
+
"passed": true,
|
| 430 |
+
"source_missing": false,
|
| 431 |
+
"forbidden": [],
|
| 432 |
+
"allowed": [
|
| 433 |
+
{
|
| 434 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 435 |
+
"b": "/World/target_beaker/mesh"
|
| 436 |
+
},
|
| 437 |
+
{
|
| 438 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 439 |
+
"b": "/World/target_beaker/mesh"
|
| 440 |
+
}
|
| 441 |
+
],
|
| 442 |
+
"ignored": [],
|
| 443 |
+
"failed_keys": []
|
| 444 |
+
},
|
| 445 |
+
"failed_keys": []
|
| 446 |
+
}
|
| 447 |
+
},
|
| 448 |
+
"gripper": null,
|
| 449 |
+
"post_done_wait_frames": 0,
|
| 450 |
+
"post_done_wait_exhausted": false
|
| 451 |
+
},
|
| 452 |
+
"physical_semantics": {
|
| 453 |
+
"skill": "shake",
|
| 454 |
+
"target": "beaker_b",
|
| 455 |
+
"attach_used": false,
|
| 456 |
+
"attach_object": null,
|
| 457 |
+
"attach_object_path": null,
|
| 458 |
+
"attach_allowed": false,
|
| 459 |
+
"ordinary_object_physical_only": true
|
| 460 |
+
}
|
| 461 |
+
},
|
| 462 |
+
{
|
| 463 |
+
"step_index": 2,
|
| 464 |
+
"skill": "place",
|
| 465 |
+
"target": "heater_platform",
|
| 466 |
+
"success": true,
|
| 467 |
+
"reason": "executed",
|
| 468 |
+
"debug": {
|
| 469 |
+
"arm": null,
|
| 470 |
+
"checker": {
|
| 471 |
+
"checker": "PlaceSuccessChecker",
|
| 472 |
+
"skill": "place",
|
| 473 |
+
"target": "heater_platform",
|
| 474 |
+
"passed": true,
|
| 475 |
+
"metrics": {
|
| 476 |
+
"held": "beaker_b",
|
| 477 |
+
"target": "heater_platform",
|
| 478 |
+
"object_position": [
|
| 479 |
+
0.33321671588143875,
|
| 480 |
+
-0.32622469352154504,
|
| 481 |
+
0.8470197232171949
|
| 482 |
+
],
|
| 483 |
+
"target_position": [
|
| 484 |
+
0.3291916271115063,
|
| 485 |
+
-0.3273139037574839,
|
| 486 |
+
0.8084375599031817
|
| 487 |
+
],
|
| 488 |
+
"target_position_source": "target_object:_xform_position",
|
| 489 |
+
"xy_dist": 0.004169858336192065,
|
| 490 |
+
"xy_threshold": 0.08,
|
| 491 |
+
"gripper_dist": 0.1832580592479894,
|
| 492 |
+
"gripper_away_threshold": 0.04,
|
| 493 |
+
"gripper_away_ok": true,
|
| 494 |
+
"object_z": 0.8470197232171949,
|
| 495 |
+
"min_z": 0.5730800627579278,
|
| 496 |
+
"min_z_margin": 0.2,
|
| 497 |
+
"require_object_upright": true,
|
| 498 |
+
"object_upright_reference_source": "scene_initial",
|
| 499 |
+
"release_fingertip_source": "active_contact_pad_positions",
|
| 500 |
+
"release_finger_gap": 0.07530200564299672,
|
| 501 |
+
"release_finger_gap_metric": "3d_contact_pad_distance",
|
| 502 |
+
"release_fingertip_min_gap": 0.08883305965622733,
|
| 503 |
+
"release_gap_margin": 0.02,
|
| 504 |
+
"release_gap_missing_size": false,
|
| 505 |
+
"release_min_pad_clearance": 0.1521278798407892,
|
| 506 |
+
"release_required_pad_clearance": 0.054416529828113666,
|
| 507 |
+
"release_pad_clearance_ok": true,
|
| 508 |
+
"release_gap_ok": false,
|
| 509 |
+
"force_virtual_attach": false,
|
| 510 |
+
"virtual_attach_allowed": false,
|
| 511 |
+
"max_z": 0.9084375599031816,
|
| 512 |
+
"max_z_margin": 0.1,
|
| 513 |
+
"object_tilt_deg": 3.858296568690701,
|
| 514 |
+
"object_max_tilt_deg": 12.0,
|
| 515 |
+
"object_axis_flip_tolerance_deg": 3.0,
|
| 516 |
+
"object_upright_axis_local": null,
|
| 517 |
+
"required_placed_release_frames": 2,
|
| 518 |
+
"placed_release_frames": 153,
|
| 519 |
+
"max_placed_release_frames": 153
|
| 520 |
+
},
|
| 521 |
+
"failed_keys": [],
|
| 522 |
+
"failure_code": null,
|
| 523 |
+
"failure_messages": {},
|
| 524 |
+
"safety": {
|
| 525 |
+
"policy": {
|
| 526 |
+
"skill": "place",
|
| 527 |
+
"target_object": "heater_platform",
|
| 528 |
+
"held_object": "beaker_b",
|
| 529 |
+
"allowed_objects": [
|
| 530 |
+
"beaker_b",
|
| 531 |
+
"heater_platform"
|
| 532 |
+
],
|
| 533 |
+
"allowed_object_paths": [
|
| 534 |
+
"/World/heat_device/heat_device/heat_device/plat",
|
| 535 |
+
"/World/target_beaker"
|
| 536 |
+
],
|
| 537 |
+
"allowed_prim_substrings": [],
|
| 538 |
+
"robot_prim_substrings": [
|
| 539 |
+
"Robotiq2F85",
|
| 540 |
+
"Robotiq_2F_85",
|
| 541 |
+
"contact_sensor",
|
| 542 |
+
"dummy_base_prismatic_x_joint",
|
| 543 |
+
"dummy_base_prismatic_y_joint",
|
| 544 |
+
"dummy_base_revolute_z_joint",
|
| 545 |
+
"elbow_joint",
|
| 546 |
+
"festo",
|
| 547 |
+
"finger",
|
| 548 |
+
"fr3",
|
| 549 |
+
"fr3_duo_mobile",
|
| 550 |
+
"fr3_joint1",
|
| 551 |
+
"fr3_joint2",
|
| 552 |
+
"fr3_joint3",
|
| 553 |
+
"fr3_joint4",
|
| 554 |
+
"fr3_joint5",
|
| 555 |
+
"fr3_joint6",
|
| 556 |
+
"fr3_joint7",
|
| 557 |
+
"fr3_leftfinger",
|
| 558 |
+
"fr3_rightfinger",
|
| 559 |
+
"franka",
|
| 560 |
+
"geometry",
|
| 561 |
+
"gripper",
|
| 562 |
+
"gripper_center",
|
| 563 |
+
"joint1",
|
| 564 |
+
"joint2",
|
| 565 |
+
"joint3",
|
| 566 |
+
"joint4",
|
| 567 |
+
"joint5",
|
| 568 |
+
"joint6",
|
| 569 |
+
"joint7",
|
| 570 |
+
"left_inner_finger",
|
| 571 |
+
"lift2",
|
| 572 |
+
"mobile_rotate",
|
| 573 |
+
"mobile_translate_x",
|
| 574 |
+
"mobile_translate_y",
|
| 575 |
+
"panda_joint1",
|
| 576 |
+
"panda_joint2",
|
| 577 |
+
"panda_joint3",
|
| 578 |
+
"panda_joint4",
|
| 579 |
+
"panda_joint5",
|
| 580 |
+
"panda_joint6",
|
| 581 |
+
"panda_joint7",
|
| 582 |
+
"panda_leftfinger",
|
| 583 |
+
"panda_leftfingertip",
|
| 584 |
+
"panda_rightfinger",
|
| 585 |
+
"panda_rightfingertip",
|
| 586 |
+
"ridgebase",
|
| 587 |
+
"ridgebase_festo",
|
| 588 |
+
"ridgebase_fr3",
|
| 589 |
+
"ridgebase_rizon4",
|
| 590 |
+
"ridgebase_ur16e",
|
| 591 |
+
"ridgebase_ur5e",
|
| 592 |
+
"right_inner_finger",
|
| 593 |
+
"rizon4",
|
| 594 |
+
"robot",
|
| 595 |
+
"robotiq_2f85",
|
| 596 |
+
"shoulder_lift_joint",
|
| 597 |
+
"shoulder_pan_joint",
|
| 598 |
+
"split_aloha",
|
| 599 |
+
"tool_center",
|
| 600 |
+
"ur16e",
|
| 601 |
+
"ur5e",
|
| 602 |
+
"visuals",
|
| 603 |
+
"wrist",
|
| 604 |
+
"wrist_1_joint",
|
| 605 |
+
"wrist_2_joint",
|
| 606 |
+
"wrist_3_joint"
|
| 607 |
+
],
|
| 608 |
+
"ignored_prim_substrings": [
|
| 609 |
+
"base_link",
|
| 610 |
+
"caster",
|
| 611 |
+
"defaultgroundplane",
|
| 612 |
+
"desk",
|
| 613 |
+
"floor",
|
| 614 |
+
"ground",
|
| 615 |
+
"groundplane",
|
| 616 |
+
"link0",
|
| 617 |
+
"table",
|
| 618 |
+
"wheel",
|
| 619 |
+
"workbench"
|
| 620 |
+
],
|
| 621 |
+
"enabled": true
|
| 622 |
+
},
|
| 623 |
+
"status": "active",
|
| 624 |
+
"passed": true,
|
| 625 |
+
"source_missing": false,
|
| 626 |
+
"forbidden": [],
|
| 627 |
+
"disturbances": [],
|
| 628 |
+
"last_frame": {
|
| 629 |
+
"passed": true,
|
| 630 |
+
"source_missing": false,
|
| 631 |
+
"forbidden": [],
|
| 632 |
+
"allowed": [],
|
| 633 |
+
"ignored": [],
|
| 634 |
+
"failed_keys": []
|
| 635 |
+
},
|
| 636 |
+
"failed_keys": []
|
| 637 |
+
}
|
| 638 |
+
},
|
| 639 |
+
"gripper": null,
|
| 640 |
+
"post_done_wait_frames": 0,
|
| 641 |
+
"post_done_wait_exhausted": false
|
| 642 |
+
},
|
| 643 |
+
"physical_semantics": {
|
| 644 |
+
"skill": "place",
|
| 645 |
+
"target": "heater_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 |
+
"step_index": 3,
|
| 655 |
+
"skill": "press",
|
| 656 |
+
"target": "heat_button",
|
| 657 |
+
"success": true,
|
| 658 |
+
"reason": "executed",
|
| 659 |
+
"debug": {
|
| 660 |
+
"arm": null,
|
| 661 |
+
"checker": {
|
| 662 |
+
"checker": "PressSuccessChecker",
|
| 663 |
+
"skill": "press",
|
| 664 |
+
"target": "heat_button",
|
| 665 |
+
"passed": true,
|
| 666 |
+
"metrics": {
|
| 667 |
+
"target": "heat_button",
|
| 668 |
+
"z_decrease": 0.007969081401824951,
|
| 669 |
+
"max_z_decrease": 0.007969081401824951,
|
| 670 |
+
"final_z_decrease": 0.0,
|
| 671 |
+
"z_decrease_threshold": 0.0003,
|
| 672 |
+
"min_ee_to_button": 0.03499824199603241,
|
| 673 |
+
"contact_distance_threshold": 0.08,
|
| 674 |
+
"ee_contact_ok": true,
|
| 675 |
+
"max_z_decrease_with_ee_contact": 0.007969081401824951,
|
| 676 |
+
"ee_contacted_z_ok": true,
|
| 677 |
+
"physical_press_ok": true,
|
| 678 |
+
"required_contacted_press_frames": 2,
|
| 679 |
+
"contacted_z_stable_frames": 0,
|
| 680 |
+
"max_contacted_z_stable_frames": 78,
|
| 681 |
+
"contact_point_distance": 0.021281606707285364,
|
| 682 |
+
"contact_point_source": "active_contact_pad_positions",
|
| 683 |
+
"contact_point_distance_threshold": 0.04,
|
| 684 |
+
"contact_point_seen_ok": true,
|
| 685 |
+
"contact_point_ok": true,
|
| 686 |
+
"contact_point_stable_frames": 0,
|
| 687 |
+
"max_contact_point_stable_frames": 120,
|
| 688 |
+
"max_z_decrease_with_contact_point": 0.007969081401824951,
|
| 689 |
+
"contact_point_contacted_z_ok": true,
|
| 690 |
+
"contact_point_contacted_z_stable_frames": 0,
|
| 691 |
+
"max_contact_point_contacted_z_stable_frames": 78,
|
| 692 |
+
"contact_ok": true,
|
| 693 |
+
"button_final_displacement": 0.0,
|
| 694 |
+
"button_max_displacement": 0.007969107778942516,
|
| 695 |
+
"max_button_displacement": 0.12,
|
| 696 |
+
"button_start": [
|
| 697 |
+
0.18489155173301697,
|
| 698 |
+
-0.38357535004615784,
|
| 699 |
+
0.7768088579177856
|
| 700 |
+
],
|
| 701 |
+
"button_final": [
|
| 702 |
+
0.18489155173301697,
|
| 703 |
+
-0.38357535004615784,
|
| 704 |
+
0.7768088579177856
|
| 705 |
+
],
|
| 706 |
+
"closest_ee": [
|
| 707 |
+
0.1854274659650882,
|
| 708 |
+
-0.38365058867194246,
|
| 709 |
+
0.8038335161460186
|
| 710 |
+
],
|
| 711 |
+
"closest_button": [
|
| 712 |
+
0.18487106263637543,
|
| 713 |
+
-0.3835761249065399,
|
| 714 |
+
0.7688397765159607
|
| 715 |
+
],
|
| 716 |
+
"closest_ee_minus_button": [
|
| 717 |
+
0.0005564033287127623,
|
| 718 |
+
-7.446376540254374e-05,
|
| 719 |
+
0.03499373963005792
|
| 720 |
+
],
|
| 721 |
+
"button_min_z_position": [
|
| 722 |
+
0.18487106263637543,
|
| 723 |
+
-0.3835761249065399,
|
| 724 |
+
0.7688397765159607
|
| 725 |
+
],
|
| 726 |
+
"min_active_finger_to_button": 0.14545241252095806,
|
| 727 |
+
"closest_active_finger": [
|
| 728 |
+
0.04477062076330185,
|
| 729 |
+
-0.36679044365882874,
|
| 730 |
+
0.808131754398346
|
| 731 |
+
],
|
| 732 |
+
"closest_active_finger_button": [
|
| 733 |
+
0.18490293622016907,
|
| 734 |
+
-0.38358184695243835,
|
| 735 |
+
0.7729552388191223
|
| 736 |
+
],
|
| 737 |
+
"closest_active_finger_index": 0,
|
| 738 |
+
"closest_active_finger_minus_button": [
|
| 739 |
+
-0.14013231545686722,
|
| 740 |
+
0.01679140329360962,
|
| 741 |
+
0.03517651557922363
|
| 742 |
+
],
|
| 743 |
+
"min_contact_pad_to_button": 0.021281606707285364,
|
| 744 |
+
"closest_contact_pad": [
|
| 745 |
+
0.18487106263637543,
|
| 746 |
+
-0.3849077750830233,
|
| 747 |
+
0.7900796798079026
|
| 748 |
+
],
|
| 749 |
+
"closest_contact_pad_button": [
|
| 750 |
+
0.18487106263637543,
|
| 751 |
+
-0.3835761249065399,
|
| 752 |
+
0.7688397765159607
|
| 753 |
+
],
|
| 754 |
+
"closest_contact_pad_index": 0,
|
| 755 |
+
"closest_contact_pad_minus_button": [
|
| 756 |
+
0.0,
|
| 757 |
+
-0.001331650176483401,
|
| 758 |
+
0.02123990329194192
|
| 759 |
+
]
|
| 760 |
+
},
|
| 761 |
+
"failed_keys": [],
|
| 762 |
+
"failure_code": null,
|
| 763 |
+
"failure_messages": {},
|
| 764 |
+
"safety": {
|
| 765 |
+
"policy": {
|
| 766 |
+
"skill": "press",
|
| 767 |
+
"target_object": "heat_button",
|
| 768 |
+
"held_object": null,
|
| 769 |
+
"allowed_objects": [
|
| 770 |
+
"heat_button"
|
| 771 |
+
],
|
| 772 |
+
"allowed_object_paths": [
|
| 773 |
+
"/World/heat_device/button"
|
| 774 |
+
],
|
| 775 |
+
"allowed_prim_substrings": [],
|
| 776 |
+
"robot_prim_substrings": [
|
| 777 |
+
"Robotiq2F85",
|
| 778 |
+
"Robotiq_2F_85",
|
| 779 |
+
"contact_sensor",
|
| 780 |
+
"dummy_base_prismatic_x_joint",
|
| 781 |
+
"dummy_base_prismatic_y_joint",
|
| 782 |
+
"dummy_base_revolute_z_joint",
|
| 783 |
+
"elbow_joint",
|
| 784 |
+
"festo",
|
| 785 |
+
"finger",
|
| 786 |
+
"fr3",
|
| 787 |
+
"fr3_duo_mobile",
|
| 788 |
+
"fr3_joint1",
|
| 789 |
+
"fr3_joint2",
|
| 790 |
+
"fr3_joint3",
|
| 791 |
+
"fr3_joint4",
|
| 792 |
+
"fr3_joint5",
|
| 793 |
+
"fr3_joint6",
|
| 794 |
+
"fr3_joint7",
|
| 795 |
+
"fr3_leftfinger",
|
| 796 |
+
"fr3_rightfinger",
|
| 797 |
+
"franka",
|
| 798 |
+
"geometry",
|
| 799 |
+
"gripper",
|
| 800 |
+
"gripper_center",
|
| 801 |
+
"joint1",
|
| 802 |
+
"joint2",
|
| 803 |
+
"joint3",
|
| 804 |
+
"joint4",
|
| 805 |
+
"joint5",
|
| 806 |
+
"joint6",
|
| 807 |
+
"joint7",
|
| 808 |
+
"left_inner_finger",
|
| 809 |
+
"lift2",
|
| 810 |
+
"mobile_rotate",
|
| 811 |
+
"mobile_translate_x",
|
| 812 |
+
"mobile_translate_y",
|
| 813 |
+
"panda_joint1",
|
| 814 |
+
"panda_joint2",
|
| 815 |
+
"panda_joint3",
|
| 816 |
+
"panda_joint4",
|
| 817 |
+
"panda_joint5",
|
| 818 |
+
"panda_joint6",
|
| 819 |
+
"panda_joint7",
|
| 820 |
+
"panda_leftfinger",
|
| 821 |
+
"panda_leftfingertip",
|
| 822 |
+
"panda_rightfinger",
|
| 823 |
+
"panda_rightfingertip",
|
| 824 |
+
"ridgebase",
|
| 825 |
+
"ridgebase_festo",
|
| 826 |
+
"ridgebase_fr3",
|
| 827 |
+
"ridgebase_rizon4",
|
| 828 |
+
"ridgebase_ur16e",
|
| 829 |
+
"ridgebase_ur5e",
|
| 830 |
+
"right_inner_finger",
|
| 831 |
+
"rizon4",
|
| 832 |
+
"robot",
|
| 833 |
+
"robotiq_2f85",
|
| 834 |
+
"shoulder_lift_joint",
|
| 835 |
+
"shoulder_pan_joint",
|
| 836 |
+
"split_aloha",
|
| 837 |
+
"tool_center",
|
| 838 |
+
"ur16e",
|
| 839 |
+
"ur5e",
|
| 840 |
+
"visuals",
|
| 841 |
+
"wrist",
|
| 842 |
+
"wrist_1_joint",
|
| 843 |
+
"wrist_2_joint",
|
| 844 |
+
"wrist_3_joint"
|
| 845 |
+
],
|
| 846 |
+
"ignored_prim_substrings": [
|
| 847 |
+
"base_link",
|
| 848 |
+
"caster",
|
| 849 |
+
"defaultgroundplane",
|
| 850 |
+
"desk",
|
| 851 |
+
"floor",
|
| 852 |
+
"ground",
|
| 853 |
+
"groundplane",
|
| 854 |
+
"link0",
|
| 855 |
+
"table",
|
| 856 |
+
"wheel",
|
| 857 |
+
"workbench"
|
| 858 |
+
],
|
| 859 |
+
"enabled": true
|
| 860 |
+
},
|
| 861 |
+
"status": "active",
|
| 862 |
+
"passed": true,
|
| 863 |
+
"source_missing": false,
|
| 864 |
+
"forbidden": [],
|
| 865 |
+
"disturbances": [],
|
| 866 |
+
"last_frame": {
|
| 867 |
+
"passed": true,
|
| 868 |
+
"source_missing": false,
|
| 869 |
+
"forbidden": [],
|
| 870 |
+
"allowed": [],
|
| 871 |
+
"ignored": [],
|
| 872 |
+
"failed_keys": []
|
| 873 |
+
},
|
| 874 |
+
"failed_keys": []
|
| 875 |
+
}
|
| 876 |
+
},
|
| 877 |
+
"gripper": null,
|
| 878 |
+
"post_done_wait_frames": 0,
|
| 879 |
+
"post_done_wait_exhausted": false
|
| 880 |
+
},
|
| 881 |
+
"physical_semantics": {
|
| 882 |
+
"skill": "press",
|
| 883 |
+
"target": "heat_button",
|
| 884 |
+
"attach_used": false,
|
| 885 |
+
"attach_object": null,
|
| 886 |
+
"attach_object_path": null,
|
| 887 |
+
"attach_allowed": false,
|
| 888 |
+
"ordinary_object_physical_only": true
|
| 889 |
+
}
|
| 890 |
+
}
|
| 891 |
+
],
|
| 892 |
+
"physical_semantics": {
|
| 893 |
+
"attach_records": [],
|
| 894 |
+
"ordinary_attach_violations": [],
|
| 895 |
+
"forbidden_shortcuts_absent": true
|
| 896 |
+
},
|
| 897 |
+
"h5_episode_index": 86,
|
| 898 |
+
"reproducibility": {
|
| 899 |
+
"enabled": true,
|
| 900 |
+
"action_seed": 6098556129387905517,
|
| 901 |
+
"physical_seed": 7490668268172140043,
|
| 902 |
+
"layout_id": "layout_00031",
|
| 903 |
+
"step_seeds": [
|
| 904 |
+
4567401361451441112,
|
| 905 |
+
7000790218311912638,
|
| 906 |
+
7522013946436761511,
|
| 907 |
+
7728913421038834906
|
| 908 |
+
],
|
| 909 |
+
"workflow_spec_digest": "bc4db0291f406fbd9c91f68a4c7f1acd36da9a03dd09cb73d832a7602138bc78",
|
| 910 |
+
"strict_task_state": false,
|
| 911 |
+
"allow_physical_randomization": true,
|
| 912 |
+
"seed_source": "workflow.reproducibility",
|
| 913 |
+
"task_island_state_digest": "b6cf40b69901700e7f0ffb0b3923a5aafc40a86579a8fad1d56ecf32c02ef112",
|
| 914 |
+
"visual_seed": 4864041739196823750,
|
| 915 |
+
"episode_index": 86,
|
| 916 |
+
"physical_randomization_enabled": true,
|
| 917 |
+
"motion_controller_type": "ik_servo",
|
| 918 |
+
"runtime_step_seeds": [
|
| 919 |
+
4567401361451441112,
|
| 920 |
+
7000790218311912638,
|
| 921 |
+
7522013946436761511,
|
| 922 |
+
7728913421038834906
|
| 923 |
+
],
|
| 924 |
+
"runtime_workflow_digest": "45388e27c653b4c58871f8eb0be862a6bfbe31c6d7d135b34c259a2497af3374"
|
| 925 |
+
}
|
| 926 |
+
}
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_87_success.json
ADDED
|
@@ -0,0 +1,926 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 87,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 4,
|
| 5 |
+
"total_steps": 4,
|
| 6 |
+
"step_accuracy": "4/4",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_b",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_b",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_b",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.19036248815028434,
|
| 26 |
+
0.22142102974327796,
|
| 27 |
+
1.0423790334537664
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0423790334537664,
|
| 30 |
+
"required_z": 0.8565865074085657,
|
| 31 |
+
"initial_z": 0.7565865074085657,
|
| 32 |
+
"lift_margin": 0.1857925260452007,
|
| 33 |
+
"gripper_z": 1.0483046026506881,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.1856328872392184,
|
| 38 |
+
0.2168981563476408,
|
| 39 |
+
1.0483046026506881
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004729600911065945,
|
| 43 |
+
0.004522873395637145,
|
| 44 |
+
-0.005925569196921776
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.00654412014948672,
|
| 47 |
+
"object_to_gripper_z": -0.005925569196921776,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.19036248815028434,
|
| 51 |
+
0.19688219126225032,
|
| 52 |
+
1.0423790334537664
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.17947504085169455,
|
| 56 |
+
0.22142102974327796,
|
| 57 |
+
1.0423790334537664
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.18491876450098943,
|
| 61 |
+
0.20915161050276415,
|
| 62 |
+
1.0423790334537664
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005443723649294907,
|
| 66 |
+
0.012269419240513807,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.026845690579263053,
|
| 70 |
+
"fingertip_max_gap": 0.09905030477573276,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.01342284528963152,
|
| 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": 1.0423790334537664,
|
| 78 |
+
"object_top_z": 1.0906093167431348,
|
| 79 |
+
"finger_top_clearance": 0.0482302832893684,
|
| 80 |
+
"fingertip_min_top_clearance": 0.014469084986810503,
|
| 81 |
+
"object_projection_between_fingers": 0.835523835053354,
|
| 82 |
+
"object_to_finger_line_xy": 0.00995188817892311,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.05202515238786638,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 3.4951001377506494,
|
| 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_b",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_b"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/target_beaker"
|
| 112 |
+
],
|
| 113 |
+
"allowed_prim_substrings": [],
|
| 114 |
+
"robot_prim_substrings": [
|
| 115 |
+
"Robotiq2F85",
|
| 116 |
+
"Robotiq_2F_85",
|
| 117 |
+
"contact_sensor",
|
| 118 |
+
"dummy_base_prismatic_x_joint",
|
| 119 |
+
"dummy_base_prismatic_y_joint",
|
| 120 |
+
"dummy_base_revolute_z_joint",
|
| 121 |
+
"elbow_joint",
|
| 122 |
+
"festo",
|
| 123 |
+
"finger",
|
| 124 |
+
"fr3",
|
| 125 |
+
"fr3_duo_mobile",
|
| 126 |
+
"fr3_joint1",
|
| 127 |
+
"fr3_joint2",
|
| 128 |
+
"fr3_joint3",
|
| 129 |
+
"fr3_joint4",
|
| 130 |
+
"fr3_joint5",
|
| 131 |
+
"fr3_joint6",
|
| 132 |
+
"fr3_joint7",
|
| 133 |
+
"fr3_leftfinger",
|
| 134 |
+
"fr3_rightfinger",
|
| 135 |
+
"franka",
|
| 136 |
+
"geometry",
|
| 137 |
+
"gripper",
|
| 138 |
+
"gripper_center",
|
| 139 |
+
"joint1",
|
| 140 |
+
"joint2",
|
| 141 |
+
"joint3",
|
| 142 |
+
"joint4",
|
| 143 |
+
"joint5",
|
| 144 |
+
"joint6",
|
| 145 |
+
"joint7",
|
| 146 |
+
"left_inner_finger",
|
| 147 |
+
"lift2",
|
| 148 |
+
"mobile_rotate",
|
| 149 |
+
"mobile_translate_x",
|
| 150 |
+
"mobile_translate_y",
|
| 151 |
+
"panda_joint1",
|
| 152 |
+
"panda_joint2",
|
| 153 |
+
"panda_joint3",
|
| 154 |
+
"panda_joint4",
|
| 155 |
+
"panda_joint5",
|
| 156 |
+
"panda_joint6",
|
| 157 |
+
"panda_joint7",
|
| 158 |
+
"panda_leftfinger",
|
| 159 |
+
"panda_leftfingertip",
|
| 160 |
+
"panda_rightfinger",
|
| 161 |
+
"panda_rightfingertip",
|
| 162 |
+
"ridgebase",
|
| 163 |
+
"ridgebase_festo",
|
| 164 |
+
"ridgebase_fr3",
|
| 165 |
+
"ridgebase_rizon4",
|
| 166 |
+
"ridgebase_ur16e",
|
| 167 |
+
"ridgebase_ur5e",
|
| 168 |
+
"right_inner_finger",
|
| 169 |
+
"rizon4",
|
| 170 |
+
"robot",
|
| 171 |
+
"robotiq_2f85",
|
| 172 |
+
"shoulder_lift_joint",
|
| 173 |
+
"shoulder_pan_joint",
|
| 174 |
+
"split_aloha",
|
| 175 |
+
"tool_center",
|
| 176 |
+
"ur16e",
|
| 177 |
+
"ur5e",
|
| 178 |
+
"visuals",
|
| 179 |
+
"wrist",
|
| 180 |
+
"wrist_1_joint",
|
| 181 |
+
"wrist_2_joint",
|
| 182 |
+
"wrist_3_joint"
|
| 183 |
+
],
|
| 184 |
+
"ignored_prim_substrings": [
|
| 185 |
+
"base_link",
|
| 186 |
+
"caster",
|
| 187 |
+
"defaultgroundplane",
|
| 188 |
+
"desk",
|
| 189 |
+
"floor",
|
| 190 |
+
"ground",
|
| 191 |
+
"groundplane",
|
| 192 |
+
"link0",
|
| 193 |
+
"table",
|
| 194 |
+
"wheel",
|
| 195 |
+
"workbench"
|
| 196 |
+
],
|
| 197 |
+
"enabled": true
|
| 198 |
+
},
|
| 199 |
+
"status": "active",
|
| 200 |
+
"passed": true,
|
| 201 |
+
"source_missing": false,
|
| 202 |
+
"forbidden": [],
|
| 203 |
+
"disturbances": [],
|
| 204 |
+
"last_frame": {
|
| 205 |
+
"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/target_beaker/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/target_beaker/mesh"
|
| 216 |
+
}
|
| 217 |
+
],
|
| 218 |
+
"ignored": [],
|
| 219 |
+
"failed_keys": []
|
| 220 |
+
},
|
| 221 |
+
"failed_keys": []
|
| 222 |
+
}
|
| 223 |
+
},
|
| 224 |
+
"gripper": null,
|
| 225 |
+
"post_done_wait_frames": 0,
|
| 226 |
+
"post_done_wait_exhausted": false
|
| 227 |
+
},
|
| 228 |
+
"physical_semantics": {
|
| 229 |
+
"skill": "pick",
|
| 230 |
+
"target": "beaker_b",
|
| 231 |
+
"attach_used": false,
|
| 232 |
+
"attach_object": null,
|
| 233 |
+
"attach_object_path": null,
|
| 234 |
+
"attach_allowed": false,
|
| 235 |
+
"ordinary_object_physical_only": true
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
{
|
| 239 |
+
"step_index": 1,
|
| 240 |
+
"skill": "shake",
|
| 241 |
+
"target": "beaker_b",
|
| 242 |
+
"success": true,
|
| 243 |
+
"reason": "executed",
|
| 244 |
+
"debug": {
|
| 245 |
+
"arm": null,
|
| 246 |
+
"checker": {
|
| 247 |
+
"checker": "ShakeSuccessChecker",
|
| 248 |
+
"skill": "shake",
|
| 249 |
+
"target": "beaker_b",
|
| 250 |
+
"passed": true,
|
| 251 |
+
"metrics": {
|
| 252 |
+
"held": "beaker_b",
|
| 253 |
+
"force_virtual_attach": false,
|
| 254 |
+
"virtual_attach_allowed": false,
|
| 255 |
+
"gripper_position": [
|
| 256 |
+
0.18860615390319577,
|
| 257 |
+
0.22405061675382154,
|
| 258 |
+
1.2384885821360347
|
| 259 |
+
],
|
| 260 |
+
"held_position": [
|
| 261 |
+
0.19337830104707432,
|
| 262 |
+
0.22843728697939727,
|
| 263 |
+
1.232487675592683
|
| 264 |
+
],
|
| 265 |
+
"object_initial_z": 0.7730800627579277,
|
| 266 |
+
"required_gripper_z": 0.8930800627579277,
|
| 267 |
+
"shake_count": 5,
|
| 268 |
+
"held_shake_count": 5,
|
| 269 |
+
"effective_shake_count": 5,
|
| 270 |
+
"min_shake_count": 3,
|
| 271 |
+
"held_gripper_dist": 0.008833297423545888,
|
| 272 |
+
"max_held_gripper_dist": 0.00884210580884168,
|
| 273 |
+
"held_gripper_max_dist": 0.15,
|
| 274 |
+
"held_gripper_z_dist": 0.006000906543351725,
|
| 275 |
+
"max_held_gripper_z_dist": 0.006025043738486779,
|
| 276 |
+
"held_gripper_z_max_dist": 0.15,
|
| 277 |
+
"held_object_xy_range": 0.0851252159503291,
|
| 278 |
+
"held_object_min_xy_range": 0.04,
|
| 279 |
+
"held_motion_ok": true,
|
| 280 |
+
"held_grasp_geometry_checked": true,
|
| 281 |
+
"held_grasp_geometry_required": true,
|
| 282 |
+
"held_grasp_source": "active_contact_pad_positions",
|
| 283 |
+
"held_grasp_finger_a": [
|
| 284 |
+
0.19337830104707432,
|
| 285 |
+
0.20380511598504816,
|
| 286 |
+
1.232487675592683
|
| 287 |
+
],
|
| 288 |
+
"held_grasp_finger_b": [
|
| 289 |
+
0.18299218686254864,
|
| 290 |
+
0.22843728697939727,
|
| 291 |
+
1.232487675592683
|
| 292 |
+
],
|
| 293 |
+
"held_grasp_midpoint": [
|
| 294 |
+
0.18818524395481148,
|
| 295 |
+
0.21612120148222272,
|
| 296 |
+
1.232487675592683
|
| 297 |
+
],
|
| 298 |
+
"held_grasp_object_position": [
|
| 299 |
+
0.19337830104707432,
|
| 300 |
+
0.22843728697939727,
|
| 301 |
+
1.232487675592683
|
| 302 |
+
],
|
| 303 |
+
"held_grasp_finger_gap": 0.02673228788841051,
|
| 304 |
+
"held_grasp_max_gap": 0.1249237185716629,
|
| 305 |
+
"held_grasp_geometry_frame": "object_local",
|
| 306 |
+
"held_grasp_size_source": "beaker_b_local_size",
|
| 307 |
+
"held_grasp_z_skew": 0.024977689955290323,
|
| 308 |
+
"held_grasp_world_z_skew": 0.0,
|
| 309 |
+
"held_grasp_z_skew_max": 0.08,
|
| 310 |
+
"held_grasp_z_skew_frame": "object_local_up",
|
| 311 |
+
"held_grasp_local_up_axis": [
|
| 312 |
+
0.0366917743741794,
|
| 313 |
+
-0.9985561160098301,
|
| 314 |
+
0.03923514843398745
|
| 315 |
+
],
|
| 316 |
+
"held_grasp_object_projection_between_fingers": 0.5,
|
| 317 |
+
"held_grasp_object_to_finger_line_xy": 0.005661797528237114,
|
| 318 |
+
"held_grasp_line_xy_max_dist": 0.04746185928583145,
|
| 319 |
+
"held_grasp_object_top_z": 0.045200224965810776,
|
| 320 |
+
"held_grasp_top_clearance": 0.03309246494644869,
|
| 321 |
+
"held_grasp_min_top_clearance": 0.013560067489743232
|
| 322 |
+
},
|
| 323 |
+
"failed_keys": [],
|
| 324 |
+
"failure_code": null,
|
| 325 |
+
"failure_messages": {},
|
| 326 |
+
"safety": {
|
| 327 |
+
"policy": {
|
| 328 |
+
"skill": "shake",
|
| 329 |
+
"target_object": "beaker_b",
|
| 330 |
+
"held_object": "beaker_b",
|
| 331 |
+
"allowed_objects": [
|
| 332 |
+
"beaker_b"
|
| 333 |
+
],
|
| 334 |
+
"allowed_object_paths": [
|
| 335 |
+
"/World/target_beaker"
|
| 336 |
+
],
|
| 337 |
+
"allowed_prim_substrings": [],
|
| 338 |
+
"robot_prim_substrings": [
|
| 339 |
+
"Robotiq2F85",
|
| 340 |
+
"Robotiq_2F_85",
|
| 341 |
+
"contact_sensor",
|
| 342 |
+
"dummy_base_prismatic_x_joint",
|
| 343 |
+
"dummy_base_prismatic_y_joint",
|
| 344 |
+
"dummy_base_revolute_z_joint",
|
| 345 |
+
"elbow_joint",
|
| 346 |
+
"festo",
|
| 347 |
+
"finger",
|
| 348 |
+
"fr3",
|
| 349 |
+
"fr3_duo_mobile",
|
| 350 |
+
"fr3_joint1",
|
| 351 |
+
"fr3_joint2",
|
| 352 |
+
"fr3_joint3",
|
| 353 |
+
"fr3_joint4",
|
| 354 |
+
"fr3_joint5",
|
| 355 |
+
"fr3_joint6",
|
| 356 |
+
"fr3_joint7",
|
| 357 |
+
"fr3_leftfinger",
|
| 358 |
+
"fr3_rightfinger",
|
| 359 |
+
"franka",
|
| 360 |
+
"geometry",
|
| 361 |
+
"gripper",
|
| 362 |
+
"gripper_center",
|
| 363 |
+
"joint1",
|
| 364 |
+
"joint2",
|
| 365 |
+
"joint3",
|
| 366 |
+
"joint4",
|
| 367 |
+
"joint5",
|
| 368 |
+
"joint6",
|
| 369 |
+
"joint7",
|
| 370 |
+
"left_inner_finger",
|
| 371 |
+
"lift2",
|
| 372 |
+
"mobile_rotate",
|
| 373 |
+
"mobile_translate_x",
|
| 374 |
+
"mobile_translate_y",
|
| 375 |
+
"panda_joint1",
|
| 376 |
+
"panda_joint2",
|
| 377 |
+
"panda_joint3",
|
| 378 |
+
"panda_joint4",
|
| 379 |
+
"panda_joint5",
|
| 380 |
+
"panda_joint6",
|
| 381 |
+
"panda_joint7",
|
| 382 |
+
"panda_leftfinger",
|
| 383 |
+
"panda_leftfingertip",
|
| 384 |
+
"panda_rightfinger",
|
| 385 |
+
"panda_rightfingertip",
|
| 386 |
+
"ridgebase",
|
| 387 |
+
"ridgebase_festo",
|
| 388 |
+
"ridgebase_fr3",
|
| 389 |
+
"ridgebase_rizon4",
|
| 390 |
+
"ridgebase_ur16e",
|
| 391 |
+
"ridgebase_ur5e",
|
| 392 |
+
"right_inner_finger",
|
| 393 |
+
"rizon4",
|
| 394 |
+
"robot",
|
| 395 |
+
"robotiq_2f85",
|
| 396 |
+
"shoulder_lift_joint",
|
| 397 |
+
"shoulder_pan_joint",
|
| 398 |
+
"split_aloha",
|
| 399 |
+
"tool_center",
|
| 400 |
+
"ur16e",
|
| 401 |
+
"ur5e",
|
| 402 |
+
"visuals",
|
| 403 |
+
"wrist",
|
| 404 |
+
"wrist_1_joint",
|
| 405 |
+
"wrist_2_joint",
|
| 406 |
+
"wrist_3_joint"
|
| 407 |
+
],
|
| 408 |
+
"ignored_prim_substrings": [
|
| 409 |
+
"base_link",
|
| 410 |
+
"caster",
|
| 411 |
+
"defaultgroundplane",
|
| 412 |
+
"desk",
|
| 413 |
+
"floor",
|
| 414 |
+
"ground",
|
| 415 |
+
"groundplane",
|
| 416 |
+
"link0",
|
| 417 |
+
"table",
|
| 418 |
+
"wheel",
|
| 419 |
+
"workbench"
|
| 420 |
+
],
|
| 421 |
+
"enabled": true
|
| 422 |
+
},
|
| 423 |
+
"status": "active",
|
| 424 |
+
"passed": true,
|
| 425 |
+
"source_missing": false,
|
| 426 |
+
"forbidden": [],
|
| 427 |
+
"disturbances": [],
|
| 428 |
+
"last_frame": {
|
| 429 |
+
"passed": true,
|
| 430 |
+
"source_missing": false,
|
| 431 |
+
"forbidden": [],
|
| 432 |
+
"allowed": [
|
| 433 |
+
{
|
| 434 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 435 |
+
"b": "/World/target_beaker/mesh"
|
| 436 |
+
},
|
| 437 |
+
{
|
| 438 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 439 |
+
"b": "/World/target_beaker/mesh"
|
| 440 |
+
}
|
| 441 |
+
],
|
| 442 |
+
"ignored": [],
|
| 443 |
+
"failed_keys": []
|
| 444 |
+
},
|
| 445 |
+
"failed_keys": []
|
| 446 |
+
}
|
| 447 |
+
},
|
| 448 |
+
"gripper": null,
|
| 449 |
+
"post_done_wait_frames": 0,
|
| 450 |
+
"post_done_wait_exhausted": false
|
| 451 |
+
},
|
| 452 |
+
"physical_semantics": {
|
| 453 |
+
"skill": "shake",
|
| 454 |
+
"target": "beaker_b",
|
| 455 |
+
"attach_used": false,
|
| 456 |
+
"attach_object": null,
|
| 457 |
+
"attach_object_path": null,
|
| 458 |
+
"attach_allowed": false,
|
| 459 |
+
"ordinary_object_physical_only": true
|
| 460 |
+
}
|
| 461 |
+
},
|
| 462 |
+
{
|
| 463 |
+
"step_index": 2,
|
| 464 |
+
"skill": "place",
|
| 465 |
+
"target": "heater_platform",
|
| 466 |
+
"success": true,
|
| 467 |
+
"reason": "executed",
|
| 468 |
+
"debug": {
|
| 469 |
+
"arm": null,
|
| 470 |
+
"checker": {
|
| 471 |
+
"checker": "PlaceSuccessChecker",
|
| 472 |
+
"skill": "place",
|
| 473 |
+
"target": "heater_platform",
|
| 474 |
+
"passed": true,
|
| 475 |
+
"metrics": {
|
| 476 |
+
"held": "beaker_b",
|
| 477 |
+
"target": "heater_platform",
|
| 478 |
+
"object_position": [
|
| 479 |
+
0.32793517997974164,
|
| 480 |
+
-0.32664864225327117,
|
| 481 |
+
0.8470197585822522
|
| 482 |
+
],
|
| 483 |
+
"target_position": [
|
| 484 |
+
0.32514133138227436,
|
| 485 |
+
-0.3269459866675872,
|
| 486 |
+
0.8084375599031817
|
| 487 |
+
],
|
| 488 |
+
"target_position_source": "target_object:_xform_position",
|
| 489 |
+
"xy_dist": 0.0028096269656833176,
|
| 490 |
+
"xy_threshold": 0.08,
|
| 491 |
+
"gripper_dist": 0.1828064126934101,
|
| 492 |
+
"gripper_away_threshold": 0.04,
|
| 493 |
+
"gripper_away_ok": true,
|
| 494 |
+
"object_z": 0.8470197585822522,
|
| 495 |
+
"min_z": 0.5730800627579278,
|
| 496 |
+
"min_z_margin": 0.2,
|
| 497 |
+
"require_object_upright": true,
|
| 498 |
+
"object_upright_reference_source": "scene_initial",
|
| 499 |
+
"release_fingertip_source": "active_contact_pad_positions",
|
| 500 |
+
"release_finger_gap": 0.07585536722714376,
|
| 501 |
+
"release_finger_gap_metric": "3d_contact_pad_distance",
|
| 502 |
+
"release_fingertip_min_gap": 0.09069447389999595,
|
| 503 |
+
"release_gap_margin": 0.02,
|
| 504 |
+
"release_gap_missing_size": false,
|
| 505 |
+
"release_min_pad_clearance": 0.1505412957471934,
|
| 506 |
+
"release_required_pad_clearance": 0.05534723694999798,
|
| 507 |
+
"release_pad_clearance_ok": true,
|
| 508 |
+
"release_gap_ok": false,
|
| 509 |
+
"force_virtual_attach": false,
|
| 510 |
+
"virtual_attach_allowed": false,
|
| 511 |
+
"max_z": 0.9084375599031816,
|
| 512 |
+
"max_z_margin": 0.1,
|
| 513 |
+
"object_tilt_deg": 5.812862137403398,
|
| 514 |
+
"object_max_tilt_deg": 12.0,
|
| 515 |
+
"object_axis_flip_tolerance_deg": 3.0,
|
| 516 |
+
"object_upright_axis_local": null,
|
| 517 |
+
"required_placed_release_frames": 2,
|
| 518 |
+
"placed_release_frames": 150,
|
| 519 |
+
"max_placed_release_frames": 150
|
| 520 |
+
},
|
| 521 |
+
"failed_keys": [],
|
| 522 |
+
"failure_code": null,
|
| 523 |
+
"failure_messages": {},
|
| 524 |
+
"safety": {
|
| 525 |
+
"policy": {
|
| 526 |
+
"skill": "place",
|
| 527 |
+
"target_object": "heater_platform",
|
| 528 |
+
"held_object": "beaker_b",
|
| 529 |
+
"allowed_objects": [
|
| 530 |
+
"beaker_b",
|
| 531 |
+
"heater_platform"
|
| 532 |
+
],
|
| 533 |
+
"allowed_object_paths": [
|
| 534 |
+
"/World/heat_device/heat_device/heat_device/plat",
|
| 535 |
+
"/World/target_beaker"
|
| 536 |
+
],
|
| 537 |
+
"allowed_prim_substrings": [],
|
| 538 |
+
"robot_prim_substrings": [
|
| 539 |
+
"Robotiq2F85",
|
| 540 |
+
"Robotiq_2F_85",
|
| 541 |
+
"contact_sensor",
|
| 542 |
+
"dummy_base_prismatic_x_joint",
|
| 543 |
+
"dummy_base_prismatic_y_joint",
|
| 544 |
+
"dummy_base_revolute_z_joint",
|
| 545 |
+
"elbow_joint",
|
| 546 |
+
"festo",
|
| 547 |
+
"finger",
|
| 548 |
+
"fr3",
|
| 549 |
+
"fr3_duo_mobile",
|
| 550 |
+
"fr3_joint1",
|
| 551 |
+
"fr3_joint2",
|
| 552 |
+
"fr3_joint3",
|
| 553 |
+
"fr3_joint4",
|
| 554 |
+
"fr3_joint5",
|
| 555 |
+
"fr3_joint6",
|
| 556 |
+
"fr3_joint7",
|
| 557 |
+
"fr3_leftfinger",
|
| 558 |
+
"fr3_rightfinger",
|
| 559 |
+
"franka",
|
| 560 |
+
"geometry",
|
| 561 |
+
"gripper",
|
| 562 |
+
"gripper_center",
|
| 563 |
+
"joint1",
|
| 564 |
+
"joint2",
|
| 565 |
+
"joint3",
|
| 566 |
+
"joint4",
|
| 567 |
+
"joint5",
|
| 568 |
+
"joint6",
|
| 569 |
+
"joint7",
|
| 570 |
+
"left_inner_finger",
|
| 571 |
+
"lift2",
|
| 572 |
+
"mobile_rotate",
|
| 573 |
+
"mobile_translate_x",
|
| 574 |
+
"mobile_translate_y",
|
| 575 |
+
"panda_joint1",
|
| 576 |
+
"panda_joint2",
|
| 577 |
+
"panda_joint3",
|
| 578 |
+
"panda_joint4",
|
| 579 |
+
"panda_joint5",
|
| 580 |
+
"panda_joint6",
|
| 581 |
+
"panda_joint7",
|
| 582 |
+
"panda_leftfinger",
|
| 583 |
+
"panda_leftfingertip",
|
| 584 |
+
"panda_rightfinger",
|
| 585 |
+
"panda_rightfingertip",
|
| 586 |
+
"ridgebase",
|
| 587 |
+
"ridgebase_festo",
|
| 588 |
+
"ridgebase_fr3",
|
| 589 |
+
"ridgebase_rizon4",
|
| 590 |
+
"ridgebase_ur16e",
|
| 591 |
+
"ridgebase_ur5e",
|
| 592 |
+
"right_inner_finger",
|
| 593 |
+
"rizon4",
|
| 594 |
+
"robot",
|
| 595 |
+
"robotiq_2f85",
|
| 596 |
+
"shoulder_lift_joint",
|
| 597 |
+
"shoulder_pan_joint",
|
| 598 |
+
"split_aloha",
|
| 599 |
+
"tool_center",
|
| 600 |
+
"ur16e",
|
| 601 |
+
"ur5e",
|
| 602 |
+
"visuals",
|
| 603 |
+
"wrist",
|
| 604 |
+
"wrist_1_joint",
|
| 605 |
+
"wrist_2_joint",
|
| 606 |
+
"wrist_3_joint"
|
| 607 |
+
],
|
| 608 |
+
"ignored_prim_substrings": [
|
| 609 |
+
"base_link",
|
| 610 |
+
"caster",
|
| 611 |
+
"defaultgroundplane",
|
| 612 |
+
"desk",
|
| 613 |
+
"floor",
|
| 614 |
+
"ground",
|
| 615 |
+
"groundplane",
|
| 616 |
+
"link0",
|
| 617 |
+
"table",
|
| 618 |
+
"wheel",
|
| 619 |
+
"workbench"
|
| 620 |
+
],
|
| 621 |
+
"enabled": true
|
| 622 |
+
},
|
| 623 |
+
"status": "active",
|
| 624 |
+
"passed": true,
|
| 625 |
+
"source_missing": false,
|
| 626 |
+
"forbidden": [],
|
| 627 |
+
"disturbances": [],
|
| 628 |
+
"last_frame": {
|
| 629 |
+
"passed": true,
|
| 630 |
+
"source_missing": false,
|
| 631 |
+
"forbidden": [],
|
| 632 |
+
"allowed": [],
|
| 633 |
+
"ignored": [],
|
| 634 |
+
"failed_keys": []
|
| 635 |
+
},
|
| 636 |
+
"failed_keys": []
|
| 637 |
+
}
|
| 638 |
+
},
|
| 639 |
+
"gripper": null,
|
| 640 |
+
"post_done_wait_frames": 0,
|
| 641 |
+
"post_done_wait_exhausted": false
|
| 642 |
+
},
|
| 643 |
+
"physical_semantics": {
|
| 644 |
+
"skill": "place",
|
| 645 |
+
"target": "heater_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 |
+
"step_index": 3,
|
| 655 |
+
"skill": "press",
|
| 656 |
+
"target": "heat_button",
|
| 657 |
+
"success": true,
|
| 658 |
+
"reason": "executed",
|
| 659 |
+
"debug": {
|
| 660 |
+
"arm": null,
|
| 661 |
+
"checker": {
|
| 662 |
+
"checker": "PressSuccessChecker",
|
| 663 |
+
"skill": "press",
|
| 664 |
+
"target": "heat_button",
|
| 665 |
+
"passed": true,
|
| 666 |
+
"metrics": {
|
| 667 |
+
"target": "heat_button",
|
| 668 |
+
"z_decrease": 0.007898807525634766,
|
| 669 |
+
"max_z_decrease": 0.007898807525634766,
|
| 670 |
+
"final_z_decrease": 0.0,
|
| 671 |
+
"z_decrease_threshold": 0.0003,
|
| 672 |
+
"min_ee_to_button": 0.035092586319148286,
|
| 673 |
+
"contact_distance_threshold": 0.08,
|
| 674 |
+
"ee_contact_ok": true,
|
| 675 |
+
"max_z_decrease_with_ee_contact": 0.007898807525634766,
|
| 676 |
+
"ee_contacted_z_ok": true,
|
| 677 |
+
"physical_press_ok": true,
|
| 678 |
+
"required_contacted_press_frames": 2,
|
| 679 |
+
"contacted_z_stable_frames": 0,
|
| 680 |
+
"max_contacted_z_stable_frames": 78,
|
| 681 |
+
"contact_point_distance": 0.021135560803057743,
|
| 682 |
+
"contact_point_source": "active_contact_pad_positions",
|
| 683 |
+
"contact_point_distance_threshold": 0.04,
|
| 684 |
+
"contact_point_seen_ok": true,
|
| 685 |
+
"contact_point_ok": true,
|
| 686 |
+
"contact_point_stable_frames": 0,
|
| 687 |
+
"max_contact_point_stable_frames": 120,
|
| 688 |
+
"max_z_decrease_with_contact_point": 0.007898807525634766,
|
| 689 |
+
"contact_point_contacted_z_ok": true,
|
| 690 |
+
"contact_point_contacted_z_stable_frames": 0,
|
| 691 |
+
"max_contact_point_contacted_z_stable_frames": 78,
|
| 692 |
+
"contact_ok": true,
|
| 693 |
+
"button_final_displacement": 0.0,
|
| 694 |
+
"button_max_displacement": 0.007898830099815981,
|
| 695 |
+
"max_button_displacement": 0.12,
|
| 696 |
+
"button_start": [
|
| 697 |
+
0.180841252207756,
|
| 698 |
+
-0.3832074403762817,
|
| 699 |
+
0.7768088579177856
|
| 700 |
+
],
|
| 701 |
+
"button_final": [
|
| 702 |
+
0.180841252207756,
|
| 703 |
+
-0.3832074403762817,
|
| 704 |
+
0.7768088579177856
|
| 705 |
+
],
|
| 706 |
+
"closest_ee": [
|
| 707 |
+
0.18122528659872658,
|
| 708 |
+
-0.38262902763772566,
|
| 709 |
+
0.807729443781506
|
| 710 |
+
],
|
| 711 |
+
"closest_button": [
|
| 712 |
+
0.1808308809995651,
|
| 713 |
+
-0.38321241736412043,
|
| 714 |
+
0.7726439237594604
|
| 715 |
+
],
|
| 716 |
+
"closest_ee_minus_button": [
|
| 717 |
+
0.00039440559916148477,
|
| 718 |
+
0.0005833897263947674,
|
| 719 |
+
0.03508552002204557
|
| 720 |
+
],
|
| 721 |
+
"button_min_z_position": [
|
| 722 |
+
0.18082274496555323,
|
| 723 |
+
-0.3832111954689026,
|
| 724 |
+
0.7689100503921509
|
| 725 |
+
],
|
| 726 |
+
"min_active_finger_to_button": 0.14560174148220026,
|
| 727 |
+
"closest_active_finger": [
|
| 728 |
+
0.05503707379102707,
|
| 729 |
+
-0.44790831208229065,
|
| 730 |
+
0.8108293414115906
|
| 731 |
+
],
|
| 732 |
+
"closest_active_finger_button": [
|
| 733 |
+
0.18084441125392908,
|
| 734 |
+
-0.38320991396903986,
|
| 735 |
+
0.7763837575912476
|
| 736 |
+
],
|
| 737 |
+
"closest_active_finger_index": 1,
|
| 738 |
+
"closest_active_finger_minus_button": [
|
| 739 |
+
-0.125807337462902,
|
| 740 |
+
-0.06469839811325079,
|
| 741 |
+
0.03444558382034302
|
| 742 |
+
],
|
| 743 |
+
"min_contact_pad_to_button": 0.021135560803057743,
|
| 744 |
+
"closest_contact_pad": [
|
| 745 |
+
0.18082274496555323,
|
| 746 |
+
-0.38363723573044767,
|
| 747 |
+
0.7900413168036865
|
| 748 |
+
],
|
| 749 |
+
"closest_contact_pad_button": [
|
| 750 |
+
0.18082274496555323,
|
| 751 |
+
-0.3832111954689026,
|
| 752 |
+
0.7689100503921509
|
| 753 |
+
],
|
| 754 |
+
"closest_contact_pad_index": 0,
|
| 755 |
+
"closest_contact_pad_minus_button": [
|
| 756 |
+
0.0,
|
| 757 |
+
-0.0004260402615450798,
|
| 758 |
+
0.02113126641153562
|
| 759 |
+
]
|
| 760 |
+
},
|
| 761 |
+
"failed_keys": [],
|
| 762 |
+
"failure_code": null,
|
| 763 |
+
"failure_messages": {},
|
| 764 |
+
"safety": {
|
| 765 |
+
"policy": {
|
| 766 |
+
"skill": "press",
|
| 767 |
+
"target_object": "heat_button",
|
| 768 |
+
"held_object": null,
|
| 769 |
+
"allowed_objects": [
|
| 770 |
+
"heat_button"
|
| 771 |
+
],
|
| 772 |
+
"allowed_object_paths": [
|
| 773 |
+
"/World/heat_device/button"
|
| 774 |
+
],
|
| 775 |
+
"allowed_prim_substrings": [],
|
| 776 |
+
"robot_prim_substrings": [
|
| 777 |
+
"Robotiq2F85",
|
| 778 |
+
"Robotiq_2F_85",
|
| 779 |
+
"contact_sensor",
|
| 780 |
+
"dummy_base_prismatic_x_joint",
|
| 781 |
+
"dummy_base_prismatic_y_joint",
|
| 782 |
+
"dummy_base_revolute_z_joint",
|
| 783 |
+
"elbow_joint",
|
| 784 |
+
"festo",
|
| 785 |
+
"finger",
|
| 786 |
+
"fr3",
|
| 787 |
+
"fr3_duo_mobile",
|
| 788 |
+
"fr3_joint1",
|
| 789 |
+
"fr3_joint2",
|
| 790 |
+
"fr3_joint3",
|
| 791 |
+
"fr3_joint4",
|
| 792 |
+
"fr3_joint5",
|
| 793 |
+
"fr3_joint6",
|
| 794 |
+
"fr3_joint7",
|
| 795 |
+
"fr3_leftfinger",
|
| 796 |
+
"fr3_rightfinger",
|
| 797 |
+
"franka",
|
| 798 |
+
"geometry",
|
| 799 |
+
"gripper",
|
| 800 |
+
"gripper_center",
|
| 801 |
+
"joint1",
|
| 802 |
+
"joint2",
|
| 803 |
+
"joint3",
|
| 804 |
+
"joint4",
|
| 805 |
+
"joint5",
|
| 806 |
+
"joint6",
|
| 807 |
+
"joint7",
|
| 808 |
+
"left_inner_finger",
|
| 809 |
+
"lift2",
|
| 810 |
+
"mobile_rotate",
|
| 811 |
+
"mobile_translate_x",
|
| 812 |
+
"mobile_translate_y",
|
| 813 |
+
"panda_joint1",
|
| 814 |
+
"panda_joint2",
|
| 815 |
+
"panda_joint3",
|
| 816 |
+
"panda_joint4",
|
| 817 |
+
"panda_joint5",
|
| 818 |
+
"panda_joint6",
|
| 819 |
+
"panda_joint7",
|
| 820 |
+
"panda_leftfinger",
|
| 821 |
+
"panda_leftfingertip",
|
| 822 |
+
"panda_rightfinger",
|
| 823 |
+
"panda_rightfingertip",
|
| 824 |
+
"ridgebase",
|
| 825 |
+
"ridgebase_festo",
|
| 826 |
+
"ridgebase_fr3",
|
| 827 |
+
"ridgebase_rizon4",
|
| 828 |
+
"ridgebase_ur16e",
|
| 829 |
+
"ridgebase_ur5e",
|
| 830 |
+
"right_inner_finger",
|
| 831 |
+
"rizon4",
|
| 832 |
+
"robot",
|
| 833 |
+
"robotiq_2f85",
|
| 834 |
+
"shoulder_lift_joint",
|
| 835 |
+
"shoulder_pan_joint",
|
| 836 |
+
"split_aloha",
|
| 837 |
+
"tool_center",
|
| 838 |
+
"ur16e",
|
| 839 |
+
"ur5e",
|
| 840 |
+
"visuals",
|
| 841 |
+
"wrist",
|
| 842 |
+
"wrist_1_joint",
|
| 843 |
+
"wrist_2_joint",
|
| 844 |
+
"wrist_3_joint"
|
| 845 |
+
],
|
| 846 |
+
"ignored_prim_substrings": [
|
| 847 |
+
"base_link",
|
| 848 |
+
"caster",
|
| 849 |
+
"defaultgroundplane",
|
| 850 |
+
"desk",
|
| 851 |
+
"floor",
|
| 852 |
+
"ground",
|
| 853 |
+
"groundplane",
|
| 854 |
+
"link0",
|
| 855 |
+
"table",
|
| 856 |
+
"wheel",
|
| 857 |
+
"workbench"
|
| 858 |
+
],
|
| 859 |
+
"enabled": true
|
| 860 |
+
},
|
| 861 |
+
"status": "active",
|
| 862 |
+
"passed": true,
|
| 863 |
+
"source_missing": false,
|
| 864 |
+
"forbidden": [],
|
| 865 |
+
"disturbances": [],
|
| 866 |
+
"last_frame": {
|
| 867 |
+
"passed": true,
|
| 868 |
+
"source_missing": false,
|
| 869 |
+
"forbidden": [],
|
| 870 |
+
"allowed": [],
|
| 871 |
+
"ignored": [],
|
| 872 |
+
"failed_keys": []
|
| 873 |
+
},
|
| 874 |
+
"failed_keys": []
|
| 875 |
+
}
|
| 876 |
+
},
|
| 877 |
+
"gripper": null,
|
| 878 |
+
"post_done_wait_frames": 0,
|
| 879 |
+
"post_done_wait_exhausted": false
|
| 880 |
+
},
|
| 881 |
+
"physical_semantics": {
|
| 882 |
+
"skill": "press",
|
| 883 |
+
"target": "heat_button",
|
| 884 |
+
"attach_used": false,
|
| 885 |
+
"attach_object": null,
|
| 886 |
+
"attach_object_path": null,
|
| 887 |
+
"attach_allowed": false,
|
| 888 |
+
"ordinary_object_physical_only": true
|
| 889 |
+
}
|
| 890 |
+
}
|
| 891 |
+
],
|
| 892 |
+
"physical_semantics": {
|
| 893 |
+
"attach_records": [],
|
| 894 |
+
"ordinary_attach_violations": [],
|
| 895 |
+
"forbidden_shortcuts_absent": true
|
| 896 |
+
},
|
| 897 |
+
"h5_episode_index": 87,
|
| 898 |
+
"reproducibility": {
|
| 899 |
+
"enabled": true,
|
| 900 |
+
"action_seed": 6098556129387905517,
|
| 901 |
+
"physical_seed": 7490668268172140043,
|
| 902 |
+
"layout_id": "layout_00031",
|
| 903 |
+
"step_seeds": [
|
| 904 |
+
4567401361451441112,
|
| 905 |
+
7000790218311912638,
|
| 906 |
+
7522013946436761511,
|
| 907 |
+
7728913421038834906
|
| 908 |
+
],
|
| 909 |
+
"workflow_spec_digest": "bc4db0291f406fbd9c91f68a4c7f1acd36da9a03dd09cb73d832a7602138bc78",
|
| 910 |
+
"strict_task_state": false,
|
| 911 |
+
"allow_physical_randomization": true,
|
| 912 |
+
"seed_source": "workflow.reproducibility",
|
| 913 |
+
"task_island_state_digest": "c47b61ef49138c973b16d616f11a33fc9bebfaedf7869eed8722d10634c4f6c8",
|
| 914 |
+
"visual_seed": 4862564724633892358,
|
| 915 |
+
"episode_index": 87,
|
| 916 |
+
"physical_randomization_enabled": true,
|
| 917 |
+
"motion_controller_type": "ik_servo",
|
| 918 |
+
"runtime_step_seeds": [
|
| 919 |
+
4567401361451441112,
|
| 920 |
+
7000790218311912638,
|
| 921 |
+
7522013946436761511,
|
| 922 |
+
7728913421038834906
|
| 923 |
+
],
|
| 924 |
+
"runtime_workflow_digest": "45388e27c653b4c58871f8eb0be862a6bfbe31c6d7d135b34c259a2497af3374"
|
| 925 |
+
}
|
| 926 |
+
}
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_88_success.json
ADDED
|
@@ -0,0 +1,926 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 88,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 4,
|
| 5 |
+
"total_steps": 4,
|
| 6 |
+
"step_accuracy": "4/4",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_b",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_b",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_b",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.19113091906999088,
|
| 26 |
+
0.21161329964474357,
|
| 27 |
+
1.0435630401246148
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0435630401246148,
|
| 30 |
+
"required_z": 0.8565865074085656,
|
| 31 |
+
"initial_z": 0.7565865074085656,
|
| 32 |
+
"lift_margin": 0.1869765327160492,
|
| 33 |
+
"gripper_z": 1.048842334021707,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.18626639183968563,
|
| 38 |
+
0.2068380333598107,
|
| 39 |
+
1.048842334021707
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.0048645272303052545,
|
| 43 |
+
0.004775266284932855,
|
| 44 |
+
-0.005279293897092252
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006816655577803366,
|
| 47 |
+
"object_to_gripper_z": -0.005279293897092252,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.19113091906999088,
|
| 51 |
+
0.1872957585719795,
|
| 52 |
+
1.0435630401246148
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.1794408186207493,
|
| 56 |
+
0.21161329964474357,
|
| 57 |
+
1.0435630401246148
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.18528586884537007,
|
| 61 |
+
0.19945452910836153,
|
| 62 |
+
1.0435630401246148
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.0058450502246208125,
|
| 66 |
+
0.012158770536382035,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.026981498333838432,
|
| 70 |
+
"fingertip_max_gap": 0.09321252816070713,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013490749166919223,
|
| 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": 1.0435630401246148,
|
| 78 |
+
"object_top_z": 1.0895649035121053,
|
| 79 |
+
"finger_top_clearance": 0.04600186338749057,
|
| 80 |
+
"fingertip_min_top_clearance": 0.013800559016247204,
|
| 81 |
+
"object_projection_between_fingers": 0.8122826738631264,
|
| 82 |
+
"object_to_finger_line_xy": 0.01053590480046291,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.04910626408035357,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 1.674023689756541,
|
| 89 |
+
"object_max_tilt_deg": 15.0,
|
| 90 |
+
"object_upright_axis_local": [
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
1.0
|
| 94 |
+
],
|
| 95 |
+
"stable_success_frames": 210,
|
| 96 |
+
"max_stable_success_frames": 210,
|
| 97 |
+
"required_stable_lift_frames": 5
|
| 98 |
+
},
|
| 99 |
+
"failed_keys": [],
|
| 100 |
+
"failure_code": null,
|
| 101 |
+
"failure_messages": {},
|
| 102 |
+
"safety": {
|
| 103 |
+
"policy": {
|
| 104 |
+
"skill": "pick",
|
| 105 |
+
"target_object": "beaker_b",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_b"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/target_beaker"
|
| 112 |
+
],
|
| 113 |
+
"allowed_prim_substrings": [],
|
| 114 |
+
"robot_prim_substrings": [
|
| 115 |
+
"Robotiq2F85",
|
| 116 |
+
"Robotiq_2F_85",
|
| 117 |
+
"contact_sensor",
|
| 118 |
+
"dummy_base_prismatic_x_joint",
|
| 119 |
+
"dummy_base_prismatic_y_joint",
|
| 120 |
+
"dummy_base_revolute_z_joint",
|
| 121 |
+
"elbow_joint",
|
| 122 |
+
"festo",
|
| 123 |
+
"finger",
|
| 124 |
+
"fr3",
|
| 125 |
+
"fr3_duo_mobile",
|
| 126 |
+
"fr3_joint1",
|
| 127 |
+
"fr3_joint2",
|
| 128 |
+
"fr3_joint3",
|
| 129 |
+
"fr3_joint4",
|
| 130 |
+
"fr3_joint5",
|
| 131 |
+
"fr3_joint6",
|
| 132 |
+
"fr3_joint7",
|
| 133 |
+
"fr3_leftfinger",
|
| 134 |
+
"fr3_rightfinger",
|
| 135 |
+
"franka",
|
| 136 |
+
"geometry",
|
| 137 |
+
"gripper",
|
| 138 |
+
"gripper_center",
|
| 139 |
+
"joint1",
|
| 140 |
+
"joint2",
|
| 141 |
+
"joint3",
|
| 142 |
+
"joint4",
|
| 143 |
+
"joint5",
|
| 144 |
+
"joint6",
|
| 145 |
+
"joint7",
|
| 146 |
+
"left_inner_finger",
|
| 147 |
+
"lift2",
|
| 148 |
+
"mobile_rotate",
|
| 149 |
+
"mobile_translate_x",
|
| 150 |
+
"mobile_translate_y",
|
| 151 |
+
"panda_joint1",
|
| 152 |
+
"panda_joint2",
|
| 153 |
+
"panda_joint3",
|
| 154 |
+
"panda_joint4",
|
| 155 |
+
"panda_joint5",
|
| 156 |
+
"panda_joint6",
|
| 157 |
+
"panda_joint7",
|
| 158 |
+
"panda_leftfinger",
|
| 159 |
+
"panda_leftfingertip",
|
| 160 |
+
"panda_rightfinger",
|
| 161 |
+
"panda_rightfingertip",
|
| 162 |
+
"ridgebase",
|
| 163 |
+
"ridgebase_festo",
|
| 164 |
+
"ridgebase_fr3",
|
| 165 |
+
"ridgebase_rizon4",
|
| 166 |
+
"ridgebase_ur16e",
|
| 167 |
+
"ridgebase_ur5e",
|
| 168 |
+
"right_inner_finger",
|
| 169 |
+
"rizon4",
|
| 170 |
+
"robot",
|
| 171 |
+
"robotiq_2f85",
|
| 172 |
+
"shoulder_lift_joint",
|
| 173 |
+
"shoulder_pan_joint",
|
| 174 |
+
"split_aloha",
|
| 175 |
+
"tool_center",
|
| 176 |
+
"ur16e",
|
| 177 |
+
"ur5e",
|
| 178 |
+
"visuals",
|
| 179 |
+
"wrist",
|
| 180 |
+
"wrist_1_joint",
|
| 181 |
+
"wrist_2_joint",
|
| 182 |
+
"wrist_3_joint"
|
| 183 |
+
],
|
| 184 |
+
"ignored_prim_substrings": [
|
| 185 |
+
"base_link",
|
| 186 |
+
"caster",
|
| 187 |
+
"defaultgroundplane",
|
| 188 |
+
"desk",
|
| 189 |
+
"floor",
|
| 190 |
+
"ground",
|
| 191 |
+
"groundplane",
|
| 192 |
+
"link0",
|
| 193 |
+
"table",
|
| 194 |
+
"wheel",
|
| 195 |
+
"workbench"
|
| 196 |
+
],
|
| 197 |
+
"enabled": true
|
| 198 |
+
},
|
| 199 |
+
"status": "active",
|
| 200 |
+
"passed": true,
|
| 201 |
+
"source_missing": false,
|
| 202 |
+
"forbidden": [],
|
| 203 |
+
"disturbances": [],
|
| 204 |
+
"last_frame": {
|
| 205 |
+
"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/target_beaker/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/target_beaker/mesh"
|
| 216 |
+
}
|
| 217 |
+
],
|
| 218 |
+
"ignored": [],
|
| 219 |
+
"failed_keys": []
|
| 220 |
+
},
|
| 221 |
+
"failed_keys": []
|
| 222 |
+
}
|
| 223 |
+
},
|
| 224 |
+
"gripper": null,
|
| 225 |
+
"post_done_wait_frames": 0,
|
| 226 |
+
"post_done_wait_exhausted": false
|
| 227 |
+
},
|
| 228 |
+
"physical_semantics": {
|
| 229 |
+
"skill": "pick",
|
| 230 |
+
"target": "beaker_b",
|
| 231 |
+
"attach_used": false,
|
| 232 |
+
"attach_object": null,
|
| 233 |
+
"attach_object_path": null,
|
| 234 |
+
"attach_allowed": false,
|
| 235 |
+
"ordinary_object_physical_only": true
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
{
|
| 239 |
+
"step_index": 1,
|
| 240 |
+
"skill": "shake",
|
| 241 |
+
"target": "beaker_b",
|
| 242 |
+
"success": true,
|
| 243 |
+
"reason": "executed",
|
| 244 |
+
"debug": {
|
| 245 |
+
"arm": null,
|
| 246 |
+
"checker": {
|
| 247 |
+
"checker": "ShakeSuccessChecker",
|
| 248 |
+
"skill": "shake",
|
| 249 |
+
"target": "beaker_b",
|
| 250 |
+
"passed": true,
|
| 251 |
+
"metrics": {
|
| 252 |
+
"held": "beaker_b",
|
| 253 |
+
"force_virtual_attach": false,
|
| 254 |
+
"virtual_attach_allowed": false,
|
| 255 |
+
"gripper_position": [
|
| 256 |
+
0.18993317446522257,
|
| 257 |
+
0.2126913485255656,
|
| 258 |
+
1.236420137545651
|
| 259 |
+
],
|
| 260 |
+
"held_position": [
|
| 261 |
+
0.19497977227525917,
|
| 262 |
+
0.21712252224071626,
|
| 263 |
+
1.2310125644729468
|
| 264 |
+
],
|
| 265 |
+
"object_initial_z": 0.7730800627579277,
|
| 266 |
+
"required_gripper_z": 0.8930800627579277,
|
| 267 |
+
"shake_count": 5,
|
| 268 |
+
"held_shake_count": 5,
|
| 269 |
+
"effective_shake_count": 5,
|
| 270 |
+
"min_shake_count": 3,
|
| 271 |
+
"held_gripper_dist": 0.008622371859688211,
|
| 272 |
+
"max_held_gripper_dist": 0.008623710112693337,
|
| 273 |
+
"held_gripper_max_dist": 0.15,
|
| 274 |
+
"held_gripper_z_dist": 0.005407573072704119,
|
| 275 |
+
"max_held_gripper_z_dist": 0.005429073703272058,
|
| 276 |
+
"held_gripper_z_max_dist": 0.15,
|
| 277 |
+
"held_object_xy_range": 0.08635748971637863,
|
| 278 |
+
"held_object_min_xy_range": 0.04,
|
| 279 |
+
"held_motion_ok": true,
|
| 280 |
+
"held_grasp_geometry_checked": true,
|
| 281 |
+
"held_grasp_geometry_required": true,
|
| 282 |
+
"held_grasp_source": "active_contact_pad_positions",
|
| 283 |
+
"held_grasp_finger_a": [
|
| 284 |
+
0.19497977227525917,
|
| 285 |
+
0.19215514653468685,
|
| 286 |
+
1.2310125644729468
|
| 287 |
+
],
|
| 288 |
+
"held_grasp_finger_b": [
|
| 289 |
+
0.184861345223499,
|
| 290 |
+
0.21712252224071626,
|
| 291 |
+
1.2310125644729468
|
| 292 |
+
],
|
| 293 |
+
"held_grasp_midpoint": [
|
| 294 |
+
0.18992055874937908,
|
| 295 |
+
0.20463883438770156,
|
| 296 |
+
1.2310125644729468
|
| 297 |
+
],
|
| 298 |
+
"held_grasp_object_position": [
|
| 299 |
+
0.19497977227525917,
|
| 300 |
+
0.21712252224071626,
|
| 301 |
+
1.2310125644729468
|
| 302 |
+
],
|
| 303 |
+
"held_grasp_finger_gap": 0.026939792420280818,
|
| 304 |
+
"held_grasp_max_gap": 0.1249237185716629,
|
| 305 |
+
"held_grasp_geometry_frame": "object_local",
|
| 306 |
+
"held_grasp_size_source": "beaker_b_local_size",
|
| 307 |
+
"held_grasp_z_skew": 0.02467694416214066,
|
| 308 |
+
"held_grasp_world_z_skew": 0.0,
|
| 309 |
+
"held_grasp_z_skew_max": 0.08,
|
| 310 |
+
"held_grasp_z_skew_frame": "object_local_up",
|
| 311 |
+
"held_grasp_local_up_axis": [
|
| 312 |
+
-0.027298439083238306,
|
| 313 |
+
-0.9994306858852348,
|
| 314 |
+
0.019826732826875304
|
| 315 |
+
],
|
| 316 |
+
"held_grasp_object_projection_between_fingers": 0.5,
|
| 317 |
+
"held_grasp_object_to_finger_line_xy": 0.004723104553886658,
|
| 318 |
+
"held_grasp_line_xy_max_dist": 0.04746185928583145,
|
| 319 |
+
"held_grasp_object_top_z": 0.045200224965810776,
|
| 320 |
+
"held_grasp_top_clearance": 0.03258553562024978,
|
| 321 |
+
"held_grasp_min_top_clearance": 0.013560067489743232
|
| 322 |
+
},
|
| 323 |
+
"failed_keys": [],
|
| 324 |
+
"failure_code": null,
|
| 325 |
+
"failure_messages": {},
|
| 326 |
+
"safety": {
|
| 327 |
+
"policy": {
|
| 328 |
+
"skill": "shake",
|
| 329 |
+
"target_object": "beaker_b",
|
| 330 |
+
"held_object": "beaker_b",
|
| 331 |
+
"allowed_objects": [
|
| 332 |
+
"beaker_b"
|
| 333 |
+
],
|
| 334 |
+
"allowed_object_paths": [
|
| 335 |
+
"/World/target_beaker"
|
| 336 |
+
],
|
| 337 |
+
"allowed_prim_substrings": [],
|
| 338 |
+
"robot_prim_substrings": [
|
| 339 |
+
"Robotiq2F85",
|
| 340 |
+
"Robotiq_2F_85",
|
| 341 |
+
"contact_sensor",
|
| 342 |
+
"dummy_base_prismatic_x_joint",
|
| 343 |
+
"dummy_base_prismatic_y_joint",
|
| 344 |
+
"dummy_base_revolute_z_joint",
|
| 345 |
+
"elbow_joint",
|
| 346 |
+
"festo",
|
| 347 |
+
"finger",
|
| 348 |
+
"fr3",
|
| 349 |
+
"fr3_duo_mobile",
|
| 350 |
+
"fr3_joint1",
|
| 351 |
+
"fr3_joint2",
|
| 352 |
+
"fr3_joint3",
|
| 353 |
+
"fr3_joint4",
|
| 354 |
+
"fr3_joint5",
|
| 355 |
+
"fr3_joint6",
|
| 356 |
+
"fr3_joint7",
|
| 357 |
+
"fr3_leftfinger",
|
| 358 |
+
"fr3_rightfinger",
|
| 359 |
+
"franka",
|
| 360 |
+
"geometry",
|
| 361 |
+
"gripper",
|
| 362 |
+
"gripper_center",
|
| 363 |
+
"joint1",
|
| 364 |
+
"joint2",
|
| 365 |
+
"joint3",
|
| 366 |
+
"joint4",
|
| 367 |
+
"joint5",
|
| 368 |
+
"joint6",
|
| 369 |
+
"joint7",
|
| 370 |
+
"left_inner_finger",
|
| 371 |
+
"lift2",
|
| 372 |
+
"mobile_rotate",
|
| 373 |
+
"mobile_translate_x",
|
| 374 |
+
"mobile_translate_y",
|
| 375 |
+
"panda_joint1",
|
| 376 |
+
"panda_joint2",
|
| 377 |
+
"panda_joint3",
|
| 378 |
+
"panda_joint4",
|
| 379 |
+
"panda_joint5",
|
| 380 |
+
"panda_joint6",
|
| 381 |
+
"panda_joint7",
|
| 382 |
+
"panda_leftfinger",
|
| 383 |
+
"panda_leftfingertip",
|
| 384 |
+
"panda_rightfinger",
|
| 385 |
+
"panda_rightfingertip",
|
| 386 |
+
"ridgebase",
|
| 387 |
+
"ridgebase_festo",
|
| 388 |
+
"ridgebase_fr3",
|
| 389 |
+
"ridgebase_rizon4",
|
| 390 |
+
"ridgebase_ur16e",
|
| 391 |
+
"ridgebase_ur5e",
|
| 392 |
+
"right_inner_finger",
|
| 393 |
+
"rizon4",
|
| 394 |
+
"robot",
|
| 395 |
+
"robotiq_2f85",
|
| 396 |
+
"shoulder_lift_joint",
|
| 397 |
+
"shoulder_pan_joint",
|
| 398 |
+
"split_aloha",
|
| 399 |
+
"tool_center",
|
| 400 |
+
"ur16e",
|
| 401 |
+
"ur5e",
|
| 402 |
+
"visuals",
|
| 403 |
+
"wrist",
|
| 404 |
+
"wrist_1_joint",
|
| 405 |
+
"wrist_2_joint",
|
| 406 |
+
"wrist_3_joint"
|
| 407 |
+
],
|
| 408 |
+
"ignored_prim_substrings": [
|
| 409 |
+
"base_link",
|
| 410 |
+
"caster",
|
| 411 |
+
"defaultgroundplane",
|
| 412 |
+
"desk",
|
| 413 |
+
"floor",
|
| 414 |
+
"ground",
|
| 415 |
+
"groundplane",
|
| 416 |
+
"link0",
|
| 417 |
+
"table",
|
| 418 |
+
"wheel",
|
| 419 |
+
"workbench"
|
| 420 |
+
],
|
| 421 |
+
"enabled": true
|
| 422 |
+
},
|
| 423 |
+
"status": "active",
|
| 424 |
+
"passed": true,
|
| 425 |
+
"source_missing": false,
|
| 426 |
+
"forbidden": [],
|
| 427 |
+
"disturbances": [],
|
| 428 |
+
"last_frame": {
|
| 429 |
+
"passed": true,
|
| 430 |
+
"source_missing": false,
|
| 431 |
+
"forbidden": [],
|
| 432 |
+
"allowed": [
|
| 433 |
+
{
|
| 434 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 435 |
+
"b": "/World/target_beaker/mesh"
|
| 436 |
+
},
|
| 437 |
+
{
|
| 438 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 439 |
+
"b": "/World/target_beaker/mesh"
|
| 440 |
+
}
|
| 441 |
+
],
|
| 442 |
+
"ignored": [],
|
| 443 |
+
"failed_keys": []
|
| 444 |
+
},
|
| 445 |
+
"failed_keys": []
|
| 446 |
+
}
|
| 447 |
+
},
|
| 448 |
+
"gripper": null,
|
| 449 |
+
"post_done_wait_frames": 0,
|
| 450 |
+
"post_done_wait_exhausted": false
|
| 451 |
+
},
|
| 452 |
+
"physical_semantics": {
|
| 453 |
+
"skill": "shake",
|
| 454 |
+
"target": "beaker_b",
|
| 455 |
+
"attach_used": false,
|
| 456 |
+
"attach_object": null,
|
| 457 |
+
"attach_object_path": null,
|
| 458 |
+
"attach_allowed": false,
|
| 459 |
+
"ordinary_object_physical_only": true
|
| 460 |
+
}
|
| 461 |
+
},
|
| 462 |
+
{
|
| 463 |
+
"step_index": 2,
|
| 464 |
+
"skill": "place",
|
| 465 |
+
"target": "heater_platform",
|
| 466 |
+
"success": true,
|
| 467 |
+
"reason": "executed",
|
| 468 |
+
"debug": {
|
| 469 |
+
"arm": null,
|
| 470 |
+
"checker": {
|
| 471 |
+
"checker": "PlaceSuccessChecker",
|
| 472 |
+
"skill": "place",
|
| 473 |
+
"target": "heater_platform",
|
| 474 |
+
"passed": true,
|
| 475 |
+
"metrics": {
|
| 476 |
+
"held": "beaker_b",
|
| 477 |
+
"target": "heater_platform",
|
| 478 |
+
"object_position": [
|
| 479 |
+
0.3384277259756573,
|
| 480 |
+
-0.3235580768906407,
|
| 481 |
+
0.8470194206045432
|
| 482 |
+
],
|
| 483 |
+
"target_position": [
|
| 484 |
+
0.33025439299362863,
|
| 485 |
+
-0.32651411117227475,
|
| 486 |
+
0.8084375599031817
|
| 487 |
+
],
|
| 488 |
+
"target_position_source": "target_object:_xform_position",
|
| 489 |
+
"xy_dist": 0.008691461943155086,
|
| 490 |
+
"xy_threshold": 0.08,
|
| 491 |
+
"gripper_dist": 0.18701786327054123,
|
| 492 |
+
"gripper_away_threshold": 0.04,
|
| 493 |
+
"gripper_away_ok": true,
|
| 494 |
+
"object_z": 0.8470194206045432,
|
| 495 |
+
"min_z": 0.5730800627579278,
|
| 496 |
+
"min_z_margin": 0.2,
|
| 497 |
+
"require_object_upright": true,
|
| 498 |
+
"object_upright_reference_source": "scene_initial",
|
| 499 |
+
"release_fingertip_source": "active_contact_pad_positions",
|
| 500 |
+
"release_finger_gap": 0.07566755816085609,
|
| 501 |
+
"release_finger_gap_metric": "3d_contact_pad_distance",
|
| 502 |
+
"release_fingertip_min_gap": 0.0864962841001674,
|
| 503 |
+
"release_gap_margin": 0.02,
|
| 504 |
+
"release_gap_missing_size": false,
|
| 505 |
+
"release_min_pad_clearance": 0.15531253086118074,
|
| 506 |
+
"release_required_pad_clearance": 0.0532481420500837,
|
| 507 |
+
"release_pad_clearance_ok": true,
|
| 508 |
+
"release_gap_ok": false,
|
| 509 |
+
"force_virtual_attach": false,
|
| 510 |
+
"virtual_attach_allowed": false,
|
| 511 |
+
"max_z": 0.9084375599031816,
|
| 512 |
+
"max_z_margin": 0.1,
|
| 513 |
+
"object_tilt_deg": 1.5164278000385325,
|
| 514 |
+
"object_max_tilt_deg": 12.0,
|
| 515 |
+
"object_axis_flip_tolerance_deg": 3.0,
|
| 516 |
+
"object_upright_axis_local": null,
|
| 517 |
+
"required_placed_release_frames": 2,
|
| 518 |
+
"placed_release_frames": 156,
|
| 519 |
+
"max_placed_release_frames": 156
|
| 520 |
+
},
|
| 521 |
+
"failed_keys": [],
|
| 522 |
+
"failure_code": null,
|
| 523 |
+
"failure_messages": {},
|
| 524 |
+
"safety": {
|
| 525 |
+
"policy": {
|
| 526 |
+
"skill": "place",
|
| 527 |
+
"target_object": "heater_platform",
|
| 528 |
+
"held_object": "beaker_b",
|
| 529 |
+
"allowed_objects": [
|
| 530 |
+
"beaker_b",
|
| 531 |
+
"heater_platform"
|
| 532 |
+
],
|
| 533 |
+
"allowed_object_paths": [
|
| 534 |
+
"/World/heat_device/heat_device/heat_device/plat",
|
| 535 |
+
"/World/target_beaker"
|
| 536 |
+
],
|
| 537 |
+
"allowed_prim_substrings": [],
|
| 538 |
+
"robot_prim_substrings": [
|
| 539 |
+
"Robotiq2F85",
|
| 540 |
+
"Robotiq_2F_85",
|
| 541 |
+
"contact_sensor",
|
| 542 |
+
"dummy_base_prismatic_x_joint",
|
| 543 |
+
"dummy_base_prismatic_y_joint",
|
| 544 |
+
"dummy_base_revolute_z_joint",
|
| 545 |
+
"elbow_joint",
|
| 546 |
+
"festo",
|
| 547 |
+
"finger",
|
| 548 |
+
"fr3",
|
| 549 |
+
"fr3_duo_mobile",
|
| 550 |
+
"fr3_joint1",
|
| 551 |
+
"fr3_joint2",
|
| 552 |
+
"fr3_joint3",
|
| 553 |
+
"fr3_joint4",
|
| 554 |
+
"fr3_joint5",
|
| 555 |
+
"fr3_joint6",
|
| 556 |
+
"fr3_joint7",
|
| 557 |
+
"fr3_leftfinger",
|
| 558 |
+
"fr3_rightfinger",
|
| 559 |
+
"franka",
|
| 560 |
+
"geometry",
|
| 561 |
+
"gripper",
|
| 562 |
+
"gripper_center",
|
| 563 |
+
"joint1",
|
| 564 |
+
"joint2",
|
| 565 |
+
"joint3",
|
| 566 |
+
"joint4",
|
| 567 |
+
"joint5",
|
| 568 |
+
"joint6",
|
| 569 |
+
"joint7",
|
| 570 |
+
"left_inner_finger",
|
| 571 |
+
"lift2",
|
| 572 |
+
"mobile_rotate",
|
| 573 |
+
"mobile_translate_x",
|
| 574 |
+
"mobile_translate_y",
|
| 575 |
+
"panda_joint1",
|
| 576 |
+
"panda_joint2",
|
| 577 |
+
"panda_joint3",
|
| 578 |
+
"panda_joint4",
|
| 579 |
+
"panda_joint5",
|
| 580 |
+
"panda_joint6",
|
| 581 |
+
"panda_joint7",
|
| 582 |
+
"panda_leftfinger",
|
| 583 |
+
"panda_leftfingertip",
|
| 584 |
+
"panda_rightfinger",
|
| 585 |
+
"panda_rightfingertip",
|
| 586 |
+
"ridgebase",
|
| 587 |
+
"ridgebase_festo",
|
| 588 |
+
"ridgebase_fr3",
|
| 589 |
+
"ridgebase_rizon4",
|
| 590 |
+
"ridgebase_ur16e",
|
| 591 |
+
"ridgebase_ur5e",
|
| 592 |
+
"right_inner_finger",
|
| 593 |
+
"rizon4",
|
| 594 |
+
"robot",
|
| 595 |
+
"robotiq_2f85",
|
| 596 |
+
"shoulder_lift_joint",
|
| 597 |
+
"shoulder_pan_joint",
|
| 598 |
+
"split_aloha",
|
| 599 |
+
"tool_center",
|
| 600 |
+
"ur16e",
|
| 601 |
+
"ur5e",
|
| 602 |
+
"visuals",
|
| 603 |
+
"wrist",
|
| 604 |
+
"wrist_1_joint",
|
| 605 |
+
"wrist_2_joint",
|
| 606 |
+
"wrist_3_joint"
|
| 607 |
+
],
|
| 608 |
+
"ignored_prim_substrings": [
|
| 609 |
+
"base_link",
|
| 610 |
+
"caster",
|
| 611 |
+
"defaultgroundplane",
|
| 612 |
+
"desk",
|
| 613 |
+
"floor",
|
| 614 |
+
"ground",
|
| 615 |
+
"groundplane",
|
| 616 |
+
"link0",
|
| 617 |
+
"table",
|
| 618 |
+
"wheel",
|
| 619 |
+
"workbench"
|
| 620 |
+
],
|
| 621 |
+
"enabled": true
|
| 622 |
+
},
|
| 623 |
+
"status": "active",
|
| 624 |
+
"passed": true,
|
| 625 |
+
"source_missing": false,
|
| 626 |
+
"forbidden": [],
|
| 627 |
+
"disturbances": [],
|
| 628 |
+
"last_frame": {
|
| 629 |
+
"passed": true,
|
| 630 |
+
"source_missing": false,
|
| 631 |
+
"forbidden": [],
|
| 632 |
+
"allowed": [],
|
| 633 |
+
"ignored": [],
|
| 634 |
+
"failed_keys": []
|
| 635 |
+
},
|
| 636 |
+
"failed_keys": []
|
| 637 |
+
}
|
| 638 |
+
},
|
| 639 |
+
"gripper": null,
|
| 640 |
+
"post_done_wait_frames": 0,
|
| 641 |
+
"post_done_wait_exhausted": false
|
| 642 |
+
},
|
| 643 |
+
"physical_semantics": {
|
| 644 |
+
"skill": "place",
|
| 645 |
+
"target": "heater_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 |
+
"step_index": 3,
|
| 655 |
+
"skill": "press",
|
| 656 |
+
"target": "heat_button",
|
| 657 |
+
"success": true,
|
| 658 |
+
"reason": "executed",
|
| 659 |
+
"debug": {
|
| 660 |
+
"arm": null,
|
| 661 |
+
"checker": {
|
| 662 |
+
"checker": "PressSuccessChecker",
|
| 663 |
+
"skill": "press",
|
| 664 |
+
"target": "heat_button",
|
| 665 |
+
"passed": true,
|
| 666 |
+
"metrics": {
|
| 667 |
+
"target": "heat_button",
|
| 668 |
+
"z_decrease": 0.0078660249710083,
|
| 669 |
+
"max_z_decrease": 0.0078660249710083,
|
| 670 |
+
"final_z_decrease": 0.0,
|
| 671 |
+
"z_decrease_threshold": 0.0003,
|
| 672 |
+
"min_ee_to_button": 0.03504414544186721,
|
| 673 |
+
"contact_distance_threshold": 0.08,
|
| 674 |
+
"ee_contact_ok": true,
|
| 675 |
+
"max_z_decrease_with_ee_contact": 0.0078660249710083,
|
| 676 |
+
"ee_contacted_z_ok": true,
|
| 677 |
+
"physical_press_ok": true,
|
| 678 |
+
"required_contacted_press_frames": 2,
|
| 679 |
+
"contacted_z_stable_frames": 0,
|
| 680 |
+
"max_contacted_z_stable_frames": 78,
|
| 681 |
+
"contact_point_distance": 0.02129914118622259,
|
| 682 |
+
"contact_point_source": "active_contact_pad_positions",
|
| 683 |
+
"contact_point_distance_threshold": 0.04,
|
| 684 |
+
"contact_point_seen_ok": true,
|
| 685 |
+
"contact_point_ok": true,
|
| 686 |
+
"contact_point_stable_frames": 0,
|
| 687 |
+
"max_contact_point_stable_frames": 120,
|
| 688 |
+
"max_z_decrease_with_contact_point": 0.0078660249710083,
|
| 689 |
+
"contact_point_contacted_z_ok": true,
|
| 690 |
+
"contact_point_contacted_z_stable_frames": 0,
|
| 691 |
+
"max_contact_point_contacted_z_stable_frames": 78,
|
| 692 |
+
"contact_ok": true,
|
| 693 |
+
"button_final_displacement": 0.0,
|
| 694 |
+
"button_max_displacement": 0.007866051061052716,
|
| 695 |
+
"max_button_displacement": 0.12,
|
| 696 |
+
"button_start": [
|
| 697 |
+
0.18595431745052338,
|
| 698 |
+
-0.38277557492256165,
|
| 699 |
+
0.7768088579177856
|
| 700 |
+
],
|
| 701 |
+
"button_final": [
|
| 702 |
+
0.18595431745052338,
|
| 703 |
+
-0.38277557492256165,
|
| 704 |
+
0.7768088579177856
|
| 705 |
+
],
|
| 706 |
+
"closest_ee": [
|
| 707 |
+
0.1841449323684443,
|
| 708 |
+
-0.3829049397644725,
|
| 709 |
+
0.8080228847576524
|
| 710 |
+
],
|
| 711 |
+
"closest_button": [
|
| 712 |
+
0.18596458435058594,
|
| 713 |
+
-0.3827824294567108,
|
| 714 |
+
0.7730262279510498
|
| 715 |
+
],
|
| 716 |
+
"closest_ee_minus_button": [
|
| 717 |
+
-0.0018196519821416512,
|
| 718 |
+
-0.0001225103077616696,
|
| 719 |
+
0.03499665680660258
|
| 720 |
+
],
|
| 721 |
+
"button_min_z_position": [
|
| 722 |
+
0.18593409657478333,
|
| 723 |
+
-0.38277682662010193,
|
| 724 |
+
0.7689428329467773
|
| 725 |
+
],
|
| 726 |
+
"min_active_finger_to_button": 0.14801927686776267,
|
| 727 |
+
"closest_active_finger": [
|
| 728 |
+
0.056478001177310944,
|
| 729 |
+
-0.44538432359695435,
|
| 730 |
+
0.808010995388031
|
| 731 |
+
],
|
| 732 |
+
"closest_active_finger_button": [
|
| 733 |
+
0.18596458435058594,
|
| 734 |
+
-0.3827824294567108,
|
| 735 |
+
0.7730262279510498
|
| 736 |
+
],
|
| 737 |
+
"closest_active_finger_index": 1,
|
| 738 |
+
"closest_active_finger_minus_button": [
|
| 739 |
+
-0.129486583173275,
|
| 740 |
+
-0.06260189414024353,
|
| 741 |
+
0.0349847674369812
|
| 742 |
+
],
|
| 743 |
+
"min_contact_pad_to_button": 0.02129914118622259,
|
| 744 |
+
"closest_contact_pad": [
|
| 745 |
+
0.18593409657478333,
|
| 746 |
+
-0.38428850882374177,
|
| 747 |
+
0.7901882614476535
|
| 748 |
+
],
|
| 749 |
+
"closest_contact_pad_button": [
|
| 750 |
+
0.18593409657478333,
|
| 751 |
+
-0.38277682662010193,
|
| 752 |
+
0.7689428329467773
|
| 753 |
+
],
|
| 754 |
+
"closest_contact_pad_index": 0,
|
| 755 |
+
"closest_contact_pad_minus_button": [
|
| 756 |
+
0.0,
|
| 757 |
+
-0.0015116822036398414,
|
| 758 |
+
0.021245428500876185
|
| 759 |
+
]
|
| 760 |
+
},
|
| 761 |
+
"failed_keys": [],
|
| 762 |
+
"failure_code": null,
|
| 763 |
+
"failure_messages": {},
|
| 764 |
+
"safety": {
|
| 765 |
+
"policy": {
|
| 766 |
+
"skill": "press",
|
| 767 |
+
"target_object": "heat_button",
|
| 768 |
+
"held_object": null,
|
| 769 |
+
"allowed_objects": [
|
| 770 |
+
"heat_button"
|
| 771 |
+
],
|
| 772 |
+
"allowed_object_paths": [
|
| 773 |
+
"/World/heat_device/button"
|
| 774 |
+
],
|
| 775 |
+
"allowed_prim_substrings": [],
|
| 776 |
+
"robot_prim_substrings": [
|
| 777 |
+
"Robotiq2F85",
|
| 778 |
+
"Robotiq_2F_85",
|
| 779 |
+
"contact_sensor",
|
| 780 |
+
"dummy_base_prismatic_x_joint",
|
| 781 |
+
"dummy_base_prismatic_y_joint",
|
| 782 |
+
"dummy_base_revolute_z_joint",
|
| 783 |
+
"elbow_joint",
|
| 784 |
+
"festo",
|
| 785 |
+
"finger",
|
| 786 |
+
"fr3",
|
| 787 |
+
"fr3_duo_mobile",
|
| 788 |
+
"fr3_joint1",
|
| 789 |
+
"fr3_joint2",
|
| 790 |
+
"fr3_joint3",
|
| 791 |
+
"fr3_joint4",
|
| 792 |
+
"fr3_joint5",
|
| 793 |
+
"fr3_joint6",
|
| 794 |
+
"fr3_joint7",
|
| 795 |
+
"fr3_leftfinger",
|
| 796 |
+
"fr3_rightfinger",
|
| 797 |
+
"franka",
|
| 798 |
+
"geometry",
|
| 799 |
+
"gripper",
|
| 800 |
+
"gripper_center",
|
| 801 |
+
"joint1",
|
| 802 |
+
"joint2",
|
| 803 |
+
"joint3",
|
| 804 |
+
"joint4",
|
| 805 |
+
"joint5",
|
| 806 |
+
"joint6",
|
| 807 |
+
"joint7",
|
| 808 |
+
"left_inner_finger",
|
| 809 |
+
"lift2",
|
| 810 |
+
"mobile_rotate",
|
| 811 |
+
"mobile_translate_x",
|
| 812 |
+
"mobile_translate_y",
|
| 813 |
+
"panda_joint1",
|
| 814 |
+
"panda_joint2",
|
| 815 |
+
"panda_joint3",
|
| 816 |
+
"panda_joint4",
|
| 817 |
+
"panda_joint5",
|
| 818 |
+
"panda_joint6",
|
| 819 |
+
"panda_joint7",
|
| 820 |
+
"panda_leftfinger",
|
| 821 |
+
"panda_leftfingertip",
|
| 822 |
+
"panda_rightfinger",
|
| 823 |
+
"panda_rightfingertip",
|
| 824 |
+
"ridgebase",
|
| 825 |
+
"ridgebase_festo",
|
| 826 |
+
"ridgebase_fr3",
|
| 827 |
+
"ridgebase_rizon4",
|
| 828 |
+
"ridgebase_ur16e",
|
| 829 |
+
"ridgebase_ur5e",
|
| 830 |
+
"right_inner_finger",
|
| 831 |
+
"rizon4",
|
| 832 |
+
"robot",
|
| 833 |
+
"robotiq_2f85",
|
| 834 |
+
"shoulder_lift_joint",
|
| 835 |
+
"shoulder_pan_joint",
|
| 836 |
+
"split_aloha",
|
| 837 |
+
"tool_center",
|
| 838 |
+
"ur16e",
|
| 839 |
+
"ur5e",
|
| 840 |
+
"visuals",
|
| 841 |
+
"wrist",
|
| 842 |
+
"wrist_1_joint",
|
| 843 |
+
"wrist_2_joint",
|
| 844 |
+
"wrist_3_joint"
|
| 845 |
+
],
|
| 846 |
+
"ignored_prim_substrings": [
|
| 847 |
+
"base_link",
|
| 848 |
+
"caster",
|
| 849 |
+
"defaultgroundplane",
|
| 850 |
+
"desk",
|
| 851 |
+
"floor",
|
| 852 |
+
"ground",
|
| 853 |
+
"groundplane",
|
| 854 |
+
"link0",
|
| 855 |
+
"table",
|
| 856 |
+
"wheel",
|
| 857 |
+
"workbench"
|
| 858 |
+
],
|
| 859 |
+
"enabled": true
|
| 860 |
+
},
|
| 861 |
+
"status": "active",
|
| 862 |
+
"passed": true,
|
| 863 |
+
"source_missing": false,
|
| 864 |
+
"forbidden": [],
|
| 865 |
+
"disturbances": [],
|
| 866 |
+
"last_frame": {
|
| 867 |
+
"passed": true,
|
| 868 |
+
"source_missing": false,
|
| 869 |
+
"forbidden": [],
|
| 870 |
+
"allowed": [],
|
| 871 |
+
"ignored": [],
|
| 872 |
+
"failed_keys": []
|
| 873 |
+
},
|
| 874 |
+
"failed_keys": []
|
| 875 |
+
}
|
| 876 |
+
},
|
| 877 |
+
"gripper": null,
|
| 878 |
+
"post_done_wait_frames": 0,
|
| 879 |
+
"post_done_wait_exhausted": false
|
| 880 |
+
},
|
| 881 |
+
"physical_semantics": {
|
| 882 |
+
"skill": "press",
|
| 883 |
+
"target": "heat_button",
|
| 884 |
+
"attach_used": false,
|
| 885 |
+
"attach_object": null,
|
| 886 |
+
"attach_object_path": null,
|
| 887 |
+
"attach_allowed": false,
|
| 888 |
+
"ordinary_object_physical_only": true
|
| 889 |
+
}
|
| 890 |
+
}
|
| 891 |
+
],
|
| 892 |
+
"physical_semantics": {
|
| 893 |
+
"attach_records": [],
|
| 894 |
+
"ordinary_attach_violations": [],
|
| 895 |
+
"forbidden_shortcuts_absent": true
|
| 896 |
+
},
|
| 897 |
+
"h5_episode_index": 88,
|
| 898 |
+
"reproducibility": {
|
| 899 |
+
"enabled": true,
|
| 900 |
+
"action_seed": 6098556129387905517,
|
| 901 |
+
"physical_seed": 7490668268172140043,
|
| 902 |
+
"layout_id": "layout_00031",
|
| 903 |
+
"step_seeds": [
|
| 904 |
+
4567401361451441112,
|
| 905 |
+
7000790218311912638,
|
| 906 |
+
7522013946436761511,
|
| 907 |
+
7728913421038834906
|
| 908 |
+
],
|
| 909 |
+
"workflow_spec_digest": "bc4db0291f406fbd9c91f68a4c7f1acd36da9a03dd09cb73d832a7602138bc78",
|
| 910 |
+
"strict_task_state": false,
|
| 911 |
+
"allow_physical_randomization": true,
|
| 912 |
+
"seed_source": "workflow.reproducibility",
|
| 913 |
+
"task_island_state_digest": "e93ebb0bf729b2347bc627ec62c4850b900552da6032fd6061f69649b906b28f",
|
| 914 |
+
"visual_seed": 8394886441656345913,
|
| 915 |
+
"episode_index": 88,
|
| 916 |
+
"physical_randomization_enabled": true,
|
| 917 |
+
"motion_controller_type": "ik_servo",
|
| 918 |
+
"runtime_step_seeds": [
|
| 919 |
+
4567401361451441112,
|
| 920 |
+
7000790218311912638,
|
| 921 |
+
7522013946436761511,
|
| 922 |
+
7728913421038834906
|
| 923 |
+
],
|
| 924 |
+
"runtime_workflow_digest": "45388e27c653b4c58871f8eb0be862a6bfbe31c6d7d135b34c259a2497af3374"
|
| 925 |
+
}
|
| 926 |
+
}
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_8_success.json
ADDED
|
@@ -0,0 +1,926 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 8,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 4,
|
| 5 |
+
"total_steps": 4,
|
| 6 |
+
"step_accuracy": "4/4",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_b",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_b",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_b",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.18639922900439063,
|
| 26 |
+
0.2209870216650889,
|
| 27 |
+
1.0427991779615224
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0427991779615224,
|
| 30 |
+
"required_z": 0.8565866266178551,
|
| 31 |
+
"initial_z": 0.7565866266178551,
|
| 32 |
+
"lift_margin": 0.18621255134366732,
|
| 33 |
+
"gripper_z": 1.0482718225966703,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.1813692355095444,
|
| 38 |
+
0.21621150965156227,
|
| 39 |
+
1.0482718225966703
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.00502999349484623,
|
| 43 |
+
0.004775512013526634,
|
| 44 |
+
-0.00547264463514785
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006935874101332333,
|
| 47 |
+
"object_to_gripper_z": -0.00547264463514785,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.18639922900439063,
|
| 51 |
+
0.19640243135337843,
|
| 52 |
+
1.0427991779615224
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.17490376766287094,
|
| 56 |
+
0.2209870216650889,
|
| 57 |
+
1.0427991779615224
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.18065149833363078,
|
| 61 |
+
0.20869472650923365,
|
| 62 |
+
1.0427991779615224
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005747730670759843,
|
| 66 |
+
0.012292295155855254,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.027139412525863976,
|
| 70 |
+
"fingertip_max_gap": 0.09252727553909376,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013569706262932,
|
| 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": 1.0427991779615224,
|
| 78 |
+
"object_top_z": 1.088504156481981,
|
| 79 |
+
"finger_top_clearance": 0.04570497852045863,
|
| 80 |
+
"fingertip_min_top_clearance": 0.013711493556137587,
|
| 81 |
+
"object_projection_between_fingers": 0.8205878190146412,
|
| 82 |
+
"object_to_finger_line_xy": 0.010413313377953108,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.04876363776954688,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 1.504040002698241,
|
| 89 |
+
"object_max_tilt_deg": 15.0,
|
| 90 |
+
"object_upright_axis_local": [
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
1.0
|
| 94 |
+
],
|
| 95 |
+
"stable_success_frames": 208,
|
| 96 |
+
"max_stable_success_frames": 208,
|
| 97 |
+
"required_stable_lift_frames": 5
|
| 98 |
+
},
|
| 99 |
+
"failed_keys": [],
|
| 100 |
+
"failure_code": null,
|
| 101 |
+
"failure_messages": {},
|
| 102 |
+
"safety": {
|
| 103 |
+
"policy": {
|
| 104 |
+
"skill": "pick",
|
| 105 |
+
"target_object": "beaker_b",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_b"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/target_beaker"
|
| 112 |
+
],
|
| 113 |
+
"allowed_prim_substrings": [],
|
| 114 |
+
"robot_prim_substrings": [
|
| 115 |
+
"Robotiq2F85",
|
| 116 |
+
"Robotiq_2F_85",
|
| 117 |
+
"contact_sensor",
|
| 118 |
+
"dummy_base_prismatic_x_joint",
|
| 119 |
+
"dummy_base_prismatic_y_joint",
|
| 120 |
+
"dummy_base_revolute_z_joint",
|
| 121 |
+
"elbow_joint",
|
| 122 |
+
"festo",
|
| 123 |
+
"finger",
|
| 124 |
+
"fr3",
|
| 125 |
+
"fr3_duo_mobile",
|
| 126 |
+
"fr3_joint1",
|
| 127 |
+
"fr3_joint2",
|
| 128 |
+
"fr3_joint3",
|
| 129 |
+
"fr3_joint4",
|
| 130 |
+
"fr3_joint5",
|
| 131 |
+
"fr3_joint6",
|
| 132 |
+
"fr3_joint7",
|
| 133 |
+
"fr3_leftfinger",
|
| 134 |
+
"fr3_rightfinger",
|
| 135 |
+
"franka",
|
| 136 |
+
"geometry",
|
| 137 |
+
"gripper",
|
| 138 |
+
"gripper_center",
|
| 139 |
+
"joint1",
|
| 140 |
+
"joint2",
|
| 141 |
+
"joint3",
|
| 142 |
+
"joint4",
|
| 143 |
+
"joint5",
|
| 144 |
+
"joint6",
|
| 145 |
+
"joint7",
|
| 146 |
+
"left_inner_finger",
|
| 147 |
+
"lift2",
|
| 148 |
+
"mobile_rotate",
|
| 149 |
+
"mobile_translate_x",
|
| 150 |
+
"mobile_translate_y",
|
| 151 |
+
"panda_joint1",
|
| 152 |
+
"panda_joint2",
|
| 153 |
+
"panda_joint3",
|
| 154 |
+
"panda_joint4",
|
| 155 |
+
"panda_joint5",
|
| 156 |
+
"panda_joint6",
|
| 157 |
+
"panda_joint7",
|
| 158 |
+
"panda_leftfinger",
|
| 159 |
+
"panda_leftfingertip",
|
| 160 |
+
"panda_rightfinger",
|
| 161 |
+
"panda_rightfingertip",
|
| 162 |
+
"ridgebase",
|
| 163 |
+
"ridgebase_festo",
|
| 164 |
+
"ridgebase_fr3",
|
| 165 |
+
"ridgebase_rizon4",
|
| 166 |
+
"ridgebase_ur16e",
|
| 167 |
+
"ridgebase_ur5e",
|
| 168 |
+
"right_inner_finger",
|
| 169 |
+
"rizon4",
|
| 170 |
+
"robot",
|
| 171 |
+
"robotiq_2f85",
|
| 172 |
+
"shoulder_lift_joint",
|
| 173 |
+
"shoulder_pan_joint",
|
| 174 |
+
"split_aloha",
|
| 175 |
+
"tool_center",
|
| 176 |
+
"ur16e",
|
| 177 |
+
"ur5e",
|
| 178 |
+
"visuals",
|
| 179 |
+
"wrist",
|
| 180 |
+
"wrist_1_joint",
|
| 181 |
+
"wrist_2_joint",
|
| 182 |
+
"wrist_3_joint"
|
| 183 |
+
],
|
| 184 |
+
"ignored_prim_substrings": [
|
| 185 |
+
"base_link",
|
| 186 |
+
"caster",
|
| 187 |
+
"defaultgroundplane",
|
| 188 |
+
"desk",
|
| 189 |
+
"floor",
|
| 190 |
+
"ground",
|
| 191 |
+
"groundplane",
|
| 192 |
+
"link0",
|
| 193 |
+
"table",
|
| 194 |
+
"wheel",
|
| 195 |
+
"workbench"
|
| 196 |
+
],
|
| 197 |
+
"enabled": true
|
| 198 |
+
},
|
| 199 |
+
"status": "active",
|
| 200 |
+
"passed": true,
|
| 201 |
+
"source_missing": false,
|
| 202 |
+
"forbidden": [],
|
| 203 |
+
"disturbances": [],
|
| 204 |
+
"last_frame": {
|
| 205 |
+
"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/target_beaker/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/target_beaker/mesh"
|
| 216 |
+
}
|
| 217 |
+
],
|
| 218 |
+
"ignored": [],
|
| 219 |
+
"failed_keys": []
|
| 220 |
+
},
|
| 221 |
+
"failed_keys": []
|
| 222 |
+
}
|
| 223 |
+
},
|
| 224 |
+
"gripper": null,
|
| 225 |
+
"post_done_wait_frames": 0,
|
| 226 |
+
"post_done_wait_exhausted": false
|
| 227 |
+
},
|
| 228 |
+
"physical_semantics": {
|
| 229 |
+
"skill": "pick",
|
| 230 |
+
"target": "beaker_b",
|
| 231 |
+
"attach_used": false,
|
| 232 |
+
"attach_object": null,
|
| 233 |
+
"attach_object_path": null,
|
| 234 |
+
"attach_allowed": false,
|
| 235 |
+
"ordinary_object_physical_only": true
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
{
|
| 239 |
+
"step_index": 1,
|
| 240 |
+
"skill": "shake",
|
| 241 |
+
"target": "beaker_b",
|
| 242 |
+
"success": true,
|
| 243 |
+
"reason": "executed",
|
| 244 |
+
"debug": {
|
| 245 |
+
"arm": null,
|
| 246 |
+
"checker": {
|
| 247 |
+
"checker": "ShakeSuccessChecker",
|
| 248 |
+
"skill": "shake",
|
| 249 |
+
"target": "beaker_b",
|
| 250 |
+
"passed": true,
|
| 251 |
+
"metrics": {
|
| 252 |
+
"held": "beaker_b",
|
| 253 |
+
"force_virtual_attach": false,
|
| 254 |
+
"virtual_attach_allowed": false,
|
| 255 |
+
"gripper_position": [
|
| 256 |
+
0.18508569954742204,
|
| 257 |
+
0.22173446646294748,
|
| 258 |
+
1.2376580502158487
|
| 259 |
+
],
|
| 260 |
+
"held_position": [
|
| 261 |
+
0.1902694551757074,
|
| 262 |
+
0.22619913675831774,
|
| 263 |
+
1.2320719198005168
|
| 264 |
+
],
|
| 265 |
+
"object_initial_z": 0.7730800627579277,
|
| 266 |
+
"required_gripper_z": 0.8930800627579277,
|
| 267 |
+
"shake_count": 5,
|
| 268 |
+
"held_shake_count": 5,
|
| 269 |
+
"effective_shake_count": 5,
|
| 270 |
+
"min_shake_count": 3,
|
| 271 |
+
"held_gripper_dist": 0.00883229620638022,
|
| 272 |
+
"max_held_gripper_dist": 0.008836002807544437,
|
| 273 |
+
"held_gripper_max_dist": 0.15,
|
| 274 |
+
"held_gripper_z_dist": 0.005586130415331958,
|
| 275 |
+
"max_held_gripper_z_dist": 0.005613246539393657,
|
| 276 |
+
"held_gripper_z_max_dist": 0.15,
|
| 277 |
+
"held_object_xy_range": 0.08521256275377159,
|
| 278 |
+
"held_object_min_xy_range": 0.04,
|
| 279 |
+
"held_motion_ok": true,
|
| 280 |
+
"held_grasp_geometry_checked": true,
|
| 281 |
+
"held_grasp_geometry_required": true,
|
| 282 |
+
"held_grasp_source": "active_contact_pad_positions",
|
| 283 |
+
"held_grasp_finger_a": [
|
| 284 |
+
0.1902694551757074,
|
| 285 |
+
0.20115478563987227,
|
| 286 |
+
1.2320719198005168
|
| 287 |
+
],
|
| 288 |
+
"held_grasp_finger_b": [
|
| 289 |
+
0.1800379244536906,
|
| 290 |
+
0.22619913675831774,
|
| 291 |
+
1.2320719198005168
|
| 292 |
+
],
|
| 293 |
+
"held_grasp_midpoint": [
|
| 294 |
+
0.18515368981469899,
|
| 295 |
+
0.21367696119909502,
|
| 296 |
+
1.2320719198005168
|
| 297 |
+
],
|
| 298 |
+
"held_grasp_object_position": [
|
| 299 |
+
0.1902694551757074,
|
| 300 |
+
0.22619913675831774,
|
| 301 |
+
1.2320719198005168
|
| 302 |
+
],
|
| 303 |
+
"held_grasp_finger_gap": 0.02705371959379254,
|
| 304 |
+
"held_grasp_max_gap": 0.1249237185716629,
|
| 305 |
+
"held_grasp_geometry_frame": "object_local",
|
| 306 |
+
"held_grasp_size_source": "beaker_b_local_size",
|
| 307 |
+
"held_grasp_z_skew": 0.024833362308011756,
|
| 308 |
+
"held_grasp_world_z_skew": 0.0,
|
| 309 |
+
"held_grasp_z_skew_max": 0.08,
|
| 310 |
+
"held_grasp_z_skew_frame": "object_local_up",
|
| 311 |
+
"held_grasp_local_up_axis": [
|
| 312 |
+
-0.019757413843244708,
|
| 313 |
+
-0.9996470172588164,
|
| 314 |
+
0.0177619110395898
|
| 315 |
+
],
|
| 316 |
+
"held_grasp_object_projection_between_fingers": 0.5,
|
| 317 |
+
"held_grasp_object_to_finger_line_xy": 0.004872481086606755,
|
| 318 |
+
"held_grasp_line_xy_max_dist": 0.04746185928583145,
|
| 319 |
+
"held_grasp_object_top_z": 0.045200224965810776,
|
| 320 |
+
"held_grasp_top_clearance": 0.03258139522508014,
|
| 321 |
+
"held_grasp_min_top_clearance": 0.013560067489743232
|
| 322 |
+
},
|
| 323 |
+
"failed_keys": [],
|
| 324 |
+
"failure_code": null,
|
| 325 |
+
"failure_messages": {},
|
| 326 |
+
"safety": {
|
| 327 |
+
"policy": {
|
| 328 |
+
"skill": "shake",
|
| 329 |
+
"target_object": "beaker_b",
|
| 330 |
+
"held_object": "beaker_b",
|
| 331 |
+
"allowed_objects": [
|
| 332 |
+
"beaker_b"
|
| 333 |
+
],
|
| 334 |
+
"allowed_object_paths": [
|
| 335 |
+
"/World/target_beaker"
|
| 336 |
+
],
|
| 337 |
+
"allowed_prim_substrings": [],
|
| 338 |
+
"robot_prim_substrings": [
|
| 339 |
+
"Robotiq2F85",
|
| 340 |
+
"Robotiq_2F_85",
|
| 341 |
+
"contact_sensor",
|
| 342 |
+
"dummy_base_prismatic_x_joint",
|
| 343 |
+
"dummy_base_prismatic_y_joint",
|
| 344 |
+
"dummy_base_revolute_z_joint",
|
| 345 |
+
"elbow_joint",
|
| 346 |
+
"festo",
|
| 347 |
+
"finger",
|
| 348 |
+
"fr3",
|
| 349 |
+
"fr3_duo_mobile",
|
| 350 |
+
"fr3_joint1",
|
| 351 |
+
"fr3_joint2",
|
| 352 |
+
"fr3_joint3",
|
| 353 |
+
"fr3_joint4",
|
| 354 |
+
"fr3_joint5",
|
| 355 |
+
"fr3_joint6",
|
| 356 |
+
"fr3_joint7",
|
| 357 |
+
"fr3_leftfinger",
|
| 358 |
+
"fr3_rightfinger",
|
| 359 |
+
"franka",
|
| 360 |
+
"geometry",
|
| 361 |
+
"gripper",
|
| 362 |
+
"gripper_center",
|
| 363 |
+
"joint1",
|
| 364 |
+
"joint2",
|
| 365 |
+
"joint3",
|
| 366 |
+
"joint4",
|
| 367 |
+
"joint5",
|
| 368 |
+
"joint6",
|
| 369 |
+
"joint7",
|
| 370 |
+
"left_inner_finger",
|
| 371 |
+
"lift2",
|
| 372 |
+
"mobile_rotate",
|
| 373 |
+
"mobile_translate_x",
|
| 374 |
+
"mobile_translate_y",
|
| 375 |
+
"panda_joint1",
|
| 376 |
+
"panda_joint2",
|
| 377 |
+
"panda_joint3",
|
| 378 |
+
"panda_joint4",
|
| 379 |
+
"panda_joint5",
|
| 380 |
+
"panda_joint6",
|
| 381 |
+
"panda_joint7",
|
| 382 |
+
"panda_leftfinger",
|
| 383 |
+
"panda_leftfingertip",
|
| 384 |
+
"panda_rightfinger",
|
| 385 |
+
"panda_rightfingertip",
|
| 386 |
+
"ridgebase",
|
| 387 |
+
"ridgebase_festo",
|
| 388 |
+
"ridgebase_fr3",
|
| 389 |
+
"ridgebase_rizon4",
|
| 390 |
+
"ridgebase_ur16e",
|
| 391 |
+
"ridgebase_ur5e",
|
| 392 |
+
"right_inner_finger",
|
| 393 |
+
"rizon4",
|
| 394 |
+
"robot",
|
| 395 |
+
"robotiq_2f85",
|
| 396 |
+
"shoulder_lift_joint",
|
| 397 |
+
"shoulder_pan_joint",
|
| 398 |
+
"split_aloha",
|
| 399 |
+
"tool_center",
|
| 400 |
+
"ur16e",
|
| 401 |
+
"ur5e",
|
| 402 |
+
"visuals",
|
| 403 |
+
"wrist",
|
| 404 |
+
"wrist_1_joint",
|
| 405 |
+
"wrist_2_joint",
|
| 406 |
+
"wrist_3_joint"
|
| 407 |
+
],
|
| 408 |
+
"ignored_prim_substrings": [
|
| 409 |
+
"base_link",
|
| 410 |
+
"caster",
|
| 411 |
+
"defaultgroundplane",
|
| 412 |
+
"desk",
|
| 413 |
+
"floor",
|
| 414 |
+
"ground",
|
| 415 |
+
"groundplane",
|
| 416 |
+
"link0",
|
| 417 |
+
"table",
|
| 418 |
+
"wheel",
|
| 419 |
+
"workbench"
|
| 420 |
+
],
|
| 421 |
+
"enabled": true
|
| 422 |
+
},
|
| 423 |
+
"status": "active",
|
| 424 |
+
"passed": true,
|
| 425 |
+
"source_missing": false,
|
| 426 |
+
"forbidden": [],
|
| 427 |
+
"disturbances": [],
|
| 428 |
+
"last_frame": {
|
| 429 |
+
"passed": true,
|
| 430 |
+
"source_missing": false,
|
| 431 |
+
"forbidden": [],
|
| 432 |
+
"allowed": [
|
| 433 |
+
{
|
| 434 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 435 |
+
"b": "/World/target_beaker/mesh"
|
| 436 |
+
},
|
| 437 |
+
{
|
| 438 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 439 |
+
"b": "/World/target_beaker/mesh"
|
| 440 |
+
}
|
| 441 |
+
],
|
| 442 |
+
"ignored": [],
|
| 443 |
+
"failed_keys": []
|
| 444 |
+
},
|
| 445 |
+
"failed_keys": []
|
| 446 |
+
}
|
| 447 |
+
},
|
| 448 |
+
"gripper": null,
|
| 449 |
+
"post_done_wait_frames": 0,
|
| 450 |
+
"post_done_wait_exhausted": false
|
| 451 |
+
},
|
| 452 |
+
"physical_semantics": {
|
| 453 |
+
"skill": "shake",
|
| 454 |
+
"target": "beaker_b",
|
| 455 |
+
"attach_used": false,
|
| 456 |
+
"attach_object": null,
|
| 457 |
+
"attach_object_path": null,
|
| 458 |
+
"attach_allowed": false,
|
| 459 |
+
"ordinary_object_physical_only": true
|
| 460 |
+
}
|
| 461 |
+
},
|
| 462 |
+
{
|
| 463 |
+
"step_index": 2,
|
| 464 |
+
"skill": "place",
|
| 465 |
+
"target": "heater_platform",
|
| 466 |
+
"success": true,
|
| 467 |
+
"reason": "executed",
|
| 468 |
+
"debug": {
|
| 469 |
+
"arm": null,
|
| 470 |
+
"checker": {
|
| 471 |
+
"checker": "PlaceSuccessChecker",
|
| 472 |
+
"skill": "place",
|
| 473 |
+
"target": "heater_platform",
|
| 474 |
+
"passed": true,
|
| 475 |
+
"metrics": {
|
| 476 |
+
"held": "beaker_b",
|
| 477 |
+
"target": "heater_platform",
|
| 478 |
+
"object_position": [
|
| 479 |
+
0.33688227459241393,
|
| 480 |
+
-0.32819448494796594,
|
| 481 |
+
0.8470195862207417
|
| 482 |
+
],
|
| 483 |
+
"target_position": [
|
| 484 |
+
0.32837892287951737,
|
| 485 |
+
-0.3309378142856077,
|
| 486 |
+
0.8084375599031817
|
| 487 |
+
],
|
| 488 |
+
"target_position_source": "target_object:_xform_position",
|
| 489 |
+
"xy_dist": 0.008934922842867026,
|
| 490 |
+
"xy_threshold": 0.08,
|
| 491 |
+
"gripper_dist": 0.18883428137961927,
|
| 492 |
+
"gripper_away_threshold": 0.04,
|
| 493 |
+
"gripper_away_ok": true,
|
| 494 |
+
"object_z": 0.8470195862207417,
|
| 495 |
+
"min_z": 0.5730800627579278,
|
| 496 |
+
"min_z_margin": 0.2,
|
| 497 |
+
"require_object_upright": true,
|
| 498 |
+
"object_upright_reference_source": "scene_initial",
|
| 499 |
+
"release_fingertip_source": "active_contact_pad_positions",
|
| 500 |
+
"release_finger_gap": 0.07524851649087641,
|
| 501 |
+
"release_finger_gap_metric": "3d_contact_pad_distance",
|
| 502 |
+
"release_fingertip_min_gap": 0.08669454872318454,
|
| 503 |
+
"release_gap_margin": 0.02,
|
| 504 |
+
"release_gap_missing_size": false,
|
| 505 |
+
"release_min_pad_clearance": 0.1579591312254118,
|
| 506 |
+
"release_required_pad_clearance": 0.05334727436159227,
|
| 507 |
+
"release_pad_clearance_ok": true,
|
| 508 |
+
"release_gap_ok": false,
|
| 509 |
+
"force_virtual_attach": false,
|
| 510 |
+
"virtual_attach_allowed": false,
|
| 511 |
+
"max_z": 0.9084375599031816,
|
| 512 |
+
"max_z_margin": 0.1,
|
| 513 |
+
"object_tilt_deg": 1.710473443780065,
|
| 514 |
+
"object_max_tilt_deg": 12.0,
|
| 515 |
+
"object_axis_flip_tolerance_deg": 3.0,
|
| 516 |
+
"object_upright_axis_local": null,
|
| 517 |
+
"required_placed_release_frames": 2,
|
| 518 |
+
"placed_release_frames": 159,
|
| 519 |
+
"max_placed_release_frames": 159
|
| 520 |
+
},
|
| 521 |
+
"failed_keys": [],
|
| 522 |
+
"failure_code": null,
|
| 523 |
+
"failure_messages": {},
|
| 524 |
+
"safety": {
|
| 525 |
+
"policy": {
|
| 526 |
+
"skill": "place",
|
| 527 |
+
"target_object": "heater_platform",
|
| 528 |
+
"held_object": "beaker_b",
|
| 529 |
+
"allowed_objects": [
|
| 530 |
+
"beaker_b",
|
| 531 |
+
"heater_platform"
|
| 532 |
+
],
|
| 533 |
+
"allowed_object_paths": [
|
| 534 |
+
"/World/heat_device/heat_device/heat_device/plat",
|
| 535 |
+
"/World/target_beaker"
|
| 536 |
+
],
|
| 537 |
+
"allowed_prim_substrings": [],
|
| 538 |
+
"robot_prim_substrings": [
|
| 539 |
+
"Robotiq2F85",
|
| 540 |
+
"Robotiq_2F_85",
|
| 541 |
+
"contact_sensor",
|
| 542 |
+
"dummy_base_prismatic_x_joint",
|
| 543 |
+
"dummy_base_prismatic_y_joint",
|
| 544 |
+
"dummy_base_revolute_z_joint",
|
| 545 |
+
"elbow_joint",
|
| 546 |
+
"festo",
|
| 547 |
+
"finger",
|
| 548 |
+
"fr3",
|
| 549 |
+
"fr3_duo_mobile",
|
| 550 |
+
"fr3_joint1",
|
| 551 |
+
"fr3_joint2",
|
| 552 |
+
"fr3_joint3",
|
| 553 |
+
"fr3_joint4",
|
| 554 |
+
"fr3_joint5",
|
| 555 |
+
"fr3_joint6",
|
| 556 |
+
"fr3_joint7",
|
| 557 |
+
"fr3_leftfinger",
|
| 558 |
+
"fr3_rightfinger",
|
| 559 |
+
"franka",
|
| 560 |
+
"geometry",
|
| 561 |
+
"gripper",
|
| 562 |
+
"gripper_center",
|
| 563 |
+
"joint1",
|
| 564 |
+
"joint2",
|
| 565 |
+
"joint3",
|
| 566 |
+
"joint4",
|
| 567 |
+
"joint5",
|
| 568 |
+
"joint6",
|
| 569 |
+
"joint7",
|
| 570 |
+
"left_inner_finger",
|
| 571 |
+
"lift2",
|
| 572 |
+
"mobile_rotate",
|
| 573 |
+
"mobile_translate_x",
|
| 574 |
+
"mobile_translate_y",
|
| 575 |
+
"panda_joint1",
|
| 576 |
+
"panda_joint2",
|
| 577 |
+
"panda_joint3",
|
| 578 |
+
"panda_joint4",
|
| 579 |
+
"panda_joint5",
|
| 580 |
+
"panda_joint6",
|
| 581 |
+
"panda_joint7",
|
| 582 |
+
"panda_leftfinger",
|
| 583 |
+
"panda_leftfingertip",
|
| 584 |
+
"panda_rightfinger",
|
| 585 |
+
"panda_rightfingertip",
|
| 586 |
+
"ridgebase",
|
| 587 |
+
"ridgebase_festo",
|
| 588 |
+
"ridgebase_fr3",
|
| 589 |
+
"ridgebase_rizon4",
|
| 590 |
+
"ridgebase_ur16e",
|
| 591 |
+
"ridgebase_ur5e",
|
| 592 |
+
"right_inner_finger",
|
| 593 |
+
"rizon4",
|
| 594 |
+
"robot",
|
| 595 |
+
"robotiq_2f85",
|
| 596 |
+
"shoulder_lift_joint",
|
| 597 |
+
"shoulder_pan_joint",
|
| 598 |
+
"split_aloha",
|
| 599 |
+
"tool_center",
|
| 600 |
+
"ur16e",
|
| 601 |
+
"ur5e",
|
| 602 |
+
"visuals",
|
| 603 |
+
"wrist",
|
| 604 |
+
"wrist_1_joint",
|
| 605 |
+
"wrist_2_joint",
|
| 606 |
+
"wrist_3_joint"
|
| 607 |
+
],
|
| 608 |
+
"ignored_prim_substrings": [
|
| 609 |
+
"base_link",
|
| 610 |
+
"caster",
|
| 611 |
+
"defaultgroundplane",
|
| 612 |
+
"desk",
|
| 613 |
+
"floor",
|
| 614 |
+
"ground",
|
| 615 |
+
"groundplane",
|
| 616 |
+
"link0",
|
| 617 |
+
"table",
|
| 618 |
+
"wheel",
|
| 619 |
+
"workbench"
|
| 620 |
+
],
|
| 621 |
+
"enabled": true
|
| 622 |
+
},
|
| 623 |
+
"status": "active",
|
| 624 |
+
"passed": true,
|
| 625 |
+
"source_missing": false,
|
| 626 |
+
"forbidden": [],
|
| 627 |
+
"disturbances": [],
|
| 628 |
+
"last_frame": {
|
| 629 |
+
"passed": true,
|
| 630 |
+
"source_missing": false,
|
| 631 |
+
"forbidden": [],
|
| 632 |
+
"allowed": [],
|
| 633 |
+
"ignored": [],
|
| 634 |
+
"failed_keys": []
|
| 635 |
+
},
|
| 636 |
+
"failed_keys": []
|
| 637 |
+
}
|
| 638 |
+
},
|
| 639 |
+
"gripper": null,
|
| 640 |
+
"post_done_wait_frames": 0,
|
| 641 |
+
"post_done_wait_exhausted": false
|
| 642 |
+
},
|
| 643 |
+
"physical_semantics": {
|
| 644 |
+
"skill": "place",
|
| 645 |
+
"target": "heater_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 |
+
"step_index": 3,
|
| 655 |
+
"skill": "press",
|
| 656 |
+
"target": "heat_button",
|
| 657 |
+
"success": true,
|
| 658 |
+
"reason": "executed",
|
| 659 |
+
"debug": {
|
| 660 |
+
"arm": null,
|
| 661 |
+
"checker": {
|
| 662 |
+
"checker": "PressSuccessChecker",
|
| 663 |
+
"skill": "press",
|
| 664 |
+
"target": "heat_button",
|
| 665 |
+
"passed": true,
|
| 666 |
+
"metrics": {
|
| 667 |
+
"target": "heat_button",
|
| 668 |
+
"z_decrease": 0.008116364479064941,
|
| 669 |
+
"max_z_decrease": 0.008116364479064941,
|
| 670 |
+
"final_z_decrease": 0.0,
|
| 671 |
+
"z_decrease_threshold": 0.0003,
|
| 672 |
+
"min_ee_to_button": 0.034997357725653745,
|
| 673 |
+
"contact_distance_threshold": 0.08,
|
| 674 |
+
"ee_contact_ok": true,
|
| 675 |
+
"max_z_decrease_with_ee_contact": 0.008116364479064941,
|
| 676 |
+
"ee_contacted_z_ok": true,
|
| 677 |
+
"physical_press_ok": true,
|
| 678 |
+
"required_contacted_press_frames": 2,
|
| 679 |
+
"contacted_z_stable_frames": 0,
|
| 680 |
+
"max_contacted_z_stable_frames": 78,
|
| 681 |
+
"contact_point_distance": 0.02129798964143216,
|
| 682 |
+
"contact_point_source": "active_contact_pad_positions",
|
| 683 |
+
"contact_point_distance_threshold": 0.04,
|
| 684 |
+
"contact_point_seen_ok": true,
|
| 685 |
+
"contact_point_ok": true,
|
| 686 |
+
"contact_point_stable_frames": 0,
|
| 687 |
+
"max_contact_point_stable_frames": 120,
|
| 688 |
+
"max_z_decrease_with_contact_point": 0.008116364479064941,
|
| 689 |
+
"contact_point_contacted_z_ok": true,
|
| 690 |
+
"contact_point_contacted_z_stable_frames": 0,
|
| 691 |
+
"max_contact_point_contacted_z_stable_frames": 78,
|
| 692 |
+
"contact_ok": true,
|
| 693 |
+
"button_final_displacement": 0.0,
|
| 694 |
+
"button_max_displacement": 0.008116417402253507,
|
| 695 |
+
"max_button_displacement": 0.12,
|
| 696 |
+
"button_start": [
|
| 697 |
+
0.18407884240150452,
|
| 698 |
+
-0.3871992826461792,
|
| 699 |
+
0.7768088579177856
|
| 700 |
+
],
|
| 701 |
+
"button_final": [
|
| 702 |
+
0.18407884240150452,
|
| 703 |
+
-0.3871992826461792,
|
| 704 |
+
0.7768088579177856
|
| 705 |
+
],
|
| 706 |
+
"closest_ee": [
|
| 707 |
+
0.1844389187873244,
|
| 708 |
+
-0.3874592758069668,
|
| 709 |
+
0.8037549134436925
|
| 710 |
+
],
|
| 711 |
+
"closest_button": [
|
| 712 |
+
0.18405526876449585,
|
| 713 |
+
-0.38719967007637024,
|
| 714 |
+
0.768760621547699
|
| 715 |
+
],
|
| 716 |
+
"closest_ee_minus_button": [
|
| 717 |
+
0.00038365002282855776,
|
| 718 |
+
-0.0002596057305965793,
|
| 719 |
+
0.03499429189599357
|
| 720 |
+
],
|
| 721 |
+
"button_min_z_position": [
|
| 722 |
+
0.1840495467185974,
|
| 723 |
+
-0.3871983587741852,
|
| 724 |
+
0.7686924934387207
|
| 725 |
+
],
|
| 726 |
+
"min_active_finger_to_button": 0.14558717454276782,
|
| 727 |
+
"closest_active_finger": [
|
| 728 |
+
0.043775737285614014,
|
| 729 |
+
-0.37059110403060913,
|
| 730 |
+
0.8079508543014526
|
| 731 |
+
],
|
| 732 |
+
"closest_active_finger_button": [
|
| 733 |
+
0.18409055471420288,
|
| 734 |
+
-0.38720637559890747,
|
| 735 |
+
0.7728608250617981
|
| 736 |
+
],
|
| 737 |
+
"closest_active_finger_index": 0,
|
| 738 |
+
"closest_active_finger_minus_button": [
|
| 739 |
+
-0.14031481742858887,
|
| 740 |
+
0.01661527156829834,
|
| 741 |
+
0.03509002923965454
|
| 742 |
+
],
|
| 743 |
+
"min_contact_pad_to_button": 0.02129798964143216,
|
| 744 |
+
"closest_contact_pad": [
|
| 745 |
+
0.1840495467185974,
|
| 746 |
+
-0.38870881687651626,
|
| 747 |
+
0.7899368545514408
|
| 748 |
+
],
|
| 749 |
+
"closest_contact_pad_button": [
|
| 750 |
+
0.1840495467185974,
|
| 751 |
+
-0.3871983587741852,
|
| 752 |
+
0.7686924934387207
|
| 753 |
+
],
|
| 754 |
+
"closest_contact_pad_index": 0,
|
| 755 |
+
"closest_contact_pad_minus_button": [
|
| 756 |
+
0.0,
|
| 757 |
+
-0.0015104581023310804,
|
| 758 |
+
0.0212443611127201
|
| 759 |
+
]
|
| 760 |
+
},
|
| 761 |
+
"failed_keys": [],
|
| 762 |
+
"failure_code": null,
|
| 763 |
+
"failure_messages": {},
|
| 764 |
+
"safety": {
|
| 765 |
+
"policy": {
|
| 766 |
+
"skill": "press",
|
| 767 |
+
"target_object": "heat_button",
|
| 768 |
+
"held_object": null,
|
| 769 |
+
"allowed_objects": [
|
| 770 |
+
"heat_button"
|
| 771 |
+
],
|
| 772 |
+
"allowed_object_paths": [
|
| 773 |
+
"/World/heat_device/button"
|
| 774 |
+
],
|
| 775 |
+
"allowed_prim_substrings": [],
|
| 776 |
+
"robot_prim_substrings": [
|
| 777 |
+
"Robotiq2F85",
|
| 778 |
+
"Robotiq_2F_85",
|
| 779 |
+
"contact_sensor",
|
| 780 |
+
"dummy_base_prismatic_x_joint",
|
| 781 |
+
"dummy_base_prismatic_y_joint",
|
| 782 |
+
"dummy_base_revolute_z_joint",
|
| 783 |
+
"elbow_joint",
|
| 784 |
+
"festo",
|
| 785 |
+
"finger",
|
| 786 |
+
"fr3",
|
| 787 |
+
"fr3_duo_mobile",
|
| 788 |
+
"fr3_joint1",
|
| 789 |
+
"fr3_joint2",
|
| 790 |
+
"fr3_joint3",
|
| 791 |
+
"fr3_joint4",
|
| 792 |
+
"fr3_joint5",
|
| 793 |
+
"fr3_joint6",
|
| 794 |
+
"fr3_joint7",
|
| 795 |
+
"fr3_leftfinger",
|
| 796 |
+
"fr3_rightfinger",
|
| 797 |
+
"franka",
|
| 798 |
+
"geometry",
|
| 799 |
+
"gripper",
|
| 800 |
+
"gripper_center",
|
| 801 |
+
"joint1",
|
| 802 |
+
"joint2",
|
| 803 |
+
"joint3",
|
| 804 |
+
"joint4",
|
| 805 |
+
"joint5",
|
| 806 |
+
"joint6",
|
| 807 |
+
"joint7",
|
| 808 |
+
"left_inner_finger",
|
| 809 |
+
"lift2",
|
| 810 |
+
"mobile_rotate",
|
| 811 |
+
"mobile_translate_x",
|
| 812 |
+
"mobile_translate_y",
|
| 813 |
+
"panda_joint1",
|
| 814 |
+
"panda_joint2",
|
| 815 |
+
"panda_joint3",
|
| 816 |
+
"panda_joint4",
|
| 817 |
+
"panda_joint5",
|
| 818 |
+
"panda_joint6",
|
| 819 |
+
"panda_joint7",
|
| 820 |
+
"panda_leftfinger",
|
| 821 |
+
"panda_leftfingertip",
|
| 822 |
+
"panda_rightfinger",
|
| 823 |
+
"panda_rightfingertip",
|
| 824 |
+
"ridgebase",
|
| 825 |
+
"ridgebase_festo",
|
| 826 |
+
"ridgebase_fr3",
|
| 827 |
+
"ridgebase_rizon4",
|
| 828 |
+
"ridgebase_ur16e",
|
| 829 |
+
"ridgebase_ur5e",
|
| 830 |
+
"right_inner_finger",
|
| 831 |
+
"rizon4",
|
| 832 |
+
"robot",
|
| 833 |
+
"robotiq_2f85",
|
| 834 |
+
"shoulder_lift_joint",
|
| 835 |
+
"shoulder_pan_joint",
|
| 836 |
+
"split_aloha",
|
| 837 |
+
"tool_center",
|
| 838 |
+
"ur16e",
|
| 839 |
+
"ur5e",
|
| 840 |
+
"visuals",
|
| 841 |
+
"wrist",
|
| 842 |
+
"wrist_1_joint",
|
| 843 |
+
"wrist_2_joint",
|
| 844 |
+
"wrist_3_joint"
|
| 845 |
+
],
|
| 846 |
+
"ignored_prim_substrings": [
|
| 847 |
+
"base_link",
|
| 848 |
+
"caster",
|
| 849 |
+
"defaultgroundplane",
|
| 850 |
+
"desk",
|
| 851 |
+
"floor",
|
| 852 |
+
"ground",
|
| 853 |
+
"groundplane",
|
| 854 |
+
"link0",
|
| 855 |
+
"table",
|
| 856 |
+
"wheel",
|
| 857 |
+
"workbench"
|
| 858 |
+
],
|
| 859 |
+
"enabled": true
|
| 860 |
+
},
|
| 861 |
+
"status": "active",
|
| 862 |
+
"passed": true,
|
| 863 |
+
"source_missing": false,
|
| 864 |
+
"forbidden": [],
|
| 865 |
+
"disturbances": [],
|
| 866 |
+
"last_frame": {
|
| 867 |
+
"passed": true,
|
| 868 |
+
"source_missing": false,
|
| 869 |
+
"forbidden": [],
|
| 870 |
+
"allowed": [],
|
| 871 |
+
"ignored": [],
|
| 872 |
+
"failed_keys": []
|
| 873 |
+
},
|
| 874 |
+
"failed_keys": []
|
| 875 |
+
}
|
| 876 |
+
},
|
| 877 |
+
"gripper": null,
|
| 878 |
+
"post_done_wait_frames": 0,
|
| 879 |
+
"post_done_wait_exhausted": false
|
| 880 |
+
},
|
| 881 |
+
"physical_semantics": {
|
| 882 |
+
"skill": "press",
|
| 883 |
+
"target": "heat_button",
|
| 884 |
+
"attach_used": false,
|
| 885 |
+
"attach_object": null,
|
| 886 |
+
"attach_object_path": null,
|
| 887 |
+
"attach_allowed": false,
|
| 888 |
+
"ordinary_object_physical_only": true
|
| 889 |
+
}
|
| 890 |
+
}
|
| 891 |
+
],
|
| 892 |
+
"physical_semantics": {
|
| 893 |
+
"attach_records": [],
|
| 894 |
+
"ordinary_attach_violations": [],
|
| 895 |
+
"forbidden_shortcuts_absent": true
|
| 896 |
+
},
|
| 897 |
+
"h5_episode_index": 8,
|
| 898 |
+
"reproducibility": {
|
| 899 |
+
"enabled": true,
|
| 900 |
+
"action_seed": 6098556129387905517,
|
| 901 |
+
"physical_seed": 7490668268172140043,
|
| 902 |
+
"layout_id": "layout_00031",
|
| 903 |
+
"step_seeds": [
|
| 904 |
+
4567401361451441112,
|
| 905 |
+
7000790218311912638,
|
| 906 |
+
7522013946436761511,
|
| 907 |
+
7728913421038834906
|
| 908 |
+
],
|
| 909 |
+
"workflow_spec_digest": "bc4db0291f406fbd9c91f68a4c7f1acd36da9a03dd09cb73d832a7602138bc78",
|
| 910 |
+
"strict_task_state": false,
|
| 911 |
+
"allow_physical_randomization": true,
|
| 912 |
+
"seed_source": "workflow.reproducibility",
|
| 913 |
+
"task_island_state_digest": "02959ad93961c66feb82c2a178e15c4ada90d692e8dc32f7875cc03ea718b462",
|
| 914 |
+
"visual_seed": 5758835564470361657,
|
| 915 |
+
"episode_index": 8,
|
| 916 |
+
"physical_randomization_enabled": true,
|
| 917 |
+
"motion_controller_type": "ik_servo",
|
| 918 |
+
"runtime_step_seeds": [
|
| 919 |
+
4567401361451441112,
|
| 920 |
+
7000790218311912638,
|
| 921 |
+
7522013946436761511,
|
| 922 |
+
7728913421038834906
|
| 923 |
+
],
|
| 924 |
+
"runtime_workflow_digest": "45388e27c653b4c58871f8eb0be862a6bfbe31c6d7d135b34c259a2497af3374"
|
| 925 |
+
}
|
| 926 |
+
}
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_90_success.json
ADDED
|
@@ -0,0 +1,926 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 90,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 4,
|
| 5 |
+
"total_steps": 4,
|
| 6 |
+
"step_accuracy": "4/4",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_b",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_b",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_b",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.18644583803398818,
|
| 26 |
+
0.21295754517700213,
|
| 27 |
+
1.0430818590607192
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0430818590607192,
|
| 30 |
+
"required_z": 0.8565865074085656,
|
| 31 |
+
"initial_z": 0.7565865074085656,
|
| 32 |
+
"lift_margin": 0.18649535165215358,
|
| 33 |
+
"gripper_z": 1.048615382681408,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.1820908509248751,
|
| 38 |
+
0.2084697813583913,
|
| 39 |
+
1.048615382681408
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004354987109113084,
|
| 43 |
+
0.004487763818610824,
|
| 44 |
+
-0.005533523620688818
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006253473979491203,
|
| 47 |
+
"object_to_gripper_z": -0.005533523620688818,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.18644583803398818,
|
| 51 |
+
0.18898063921295377,
|
| 52 |
+
1.0430818590607192
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.1751831501022197,
|
| 56 |
+
0.21295754517700213,
|
| 57 |
+
1.0430818590607192
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.18081449406810393,
|
| 61 |
+
0.20096909219497794,
|
| 62 |
+
1.0430818590607192
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005631343965884245,
|
| 66 |
+
0.011988452982024195,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.026490378612945897,
|
| 70 |
+
"fingertip_max_gap": 0.0933168364568574,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.01324518930647296,
|
| 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": 1.0430818590607192,
|
| 78 |
+
"object_top_z": 1.089540568659063,
|
| 79 |
+
"finger_top_clearance": 0.04645870959834375,
|
| 80 |
+
"fingertip_min_top_clearance": 0.013937612879503158,
|
| 81 |
+
"object_projection_between_fingers": 0.8192377366305751,
|
| 82 |
+
"object_to_finger_line_xy": 0.01019405624162972,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.0491584182284287,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 1.3270736882592764,
|
| 89 |
+
"object_max_tilt_deg": 15.0,
|
| 90 |
+
"object_upright_axis_local": [
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
1.0
|
| 94 |
+
],
|
| 95 |
+
"stable_success_frames": 210,
|
| 96 |
+
"max_stable_success_frames": 210,
|
| 97 |
+
"required_stable_lift_frames": 5
|
| 98 |
+
},
|
| 99 |
+
"failed_keys": [],
|
| 100 |
+
"failure_code": null,
|
| 101 |
+
"failure_messages": {},
|
| 102 |
+
"safety": {
|
| 103 |
+
"policy": {
|
| 104 |
+
"skill": "pick",
|
| 105 |
+
"target_object": "beaker_b",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_b"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/target_beaker"
|
| 112 |
+
],
|
| 113 |
+
"allowed_prim_substrings": [],
|
| 114 |
+
"robot_prim_substrings": [
|
| 115 |
+
"Robotiq2F85",
|
| 116 |
+
"Robotiq_2F_85",
|
| 117 |
+
"contact_sensor",
|
| 118 |
+
"dummy_base_prismatic_x_joint",
|
| 119 |
+
"dummy_base_prismatic_y_joint",
|
| 120 |
+
"dummy_base_revolute_z_joint",
|
| 121 |
+
"elbow_joint",
|
| 122 |
+
"festo",
|
| 123 |
+
"finger",
|
| 124 |
+
"fr3",
|
| 125 |
+
"fr3_duo_mobile",
|
| 126 |
+
"fr3_joint1",
|
| 127 |
+
"fr3_joint2",
|
| 128 |
+
"fr3_joint3",
|
| 129 |
+
"fr3_joint4",
|
| 130 |
+
"fr3_joint5",
|
| 131 |
+
"fr3_joint6",
|
| 132 |
+
"fr3_joint7",
|
| 133 |
+
"fr3_leftfinger",
|
| 134 |
+
"fr3_rightfinger",
|
| 135 |
+
"franka",
|
| 136 |
+
"geometry",
|
| 137 |
+
"gripper",
|
| 138 |
+
"gripper_center",
|
| 139 |
+
"joint1",
|
| 140 |
+
"joint2",
|
| 141 |
+
"joint3",
|
| 142 |
+
"joint4",
|
| 143 |
+
"joint5",
|
| 144 |
+
"joint6",
|
| 145 |
+
"joint7",
|
| 146 |
+
"left_inner_finger",
|
| 147 |
+
"lift2",
|
| 148 |
+
"mobile_rotate",
|
| 149 |
+
"mobile_translate_x",
|
| 150 |
+
"mobile_translate_y",
|
| 151 |
+
"panda_joint1",
|
| 152 |
+
"panda_joint2",
|
| 153 |
+
"panda_joint3",
|
| 154 |
+
"panda_joint4",
|
| 155 |
+
"panda_joint5",
|
| 156 |
+
"panda_joint6",
|
| 157 |
+
"panda_joint7",
|
| 158 |
+
"panda_leftfinger",
|
| 159 |
+
"panda_leftfingertip",
|
| 160 |
+
"panda_rightfinger",
|
| 161 |
+
"panda_rightfingertip",
|
| 162 |
+
"ridgebase",
|
| 163 |
+
"ridgebase_festo",
|
| 164 |
+
"ridgebase_fr3",
|
| 165 |
+
"ridgebase_rizon4",
|
| 166 |
+
"ridgebase_ur16e",
|
| 167 |
+
"ridgebase_ur5e",
|
| 168 |
+
"right_inner_finger",
|
| 169 |
+
"rizon4",
|
| 170 |
+
"robot",
|
| 171 |
+
"robotiq_2f85",
|
| 172 |
+
"shoulder_lift_joint",
|
| 173 |
+
"shoulder_pan_joint",
|
| 174 |
+
"split_aloha",
|
| 175 |
+
"tool_center",
|
| 176 |
+
"ur16e",
|
| 177 |
+
"ur5e",
|
| 178 |
+
"visuals",
|
| 179 |
+
"wrist",
|
| 180 |
+
"wrist_1_joint",
|
| 181 |
+
"wrist_2_joint",
|
| 182 |
+
"wrist_3_joint"
|
| 183 |
+
],
|
| 184 |
+
"ignored_prim_substrings": [
|
| 185 |
+
"base_link",
|
| 186 |
+
"caster",
|
| 187 |
+
"defaultgroundplane",
|
| 188 |
+
"desk",
|
| 189 |
+
"floor",
|
| 190 |
+
"ground",
|
| 191 |
+
"groundplane",
|
| 192 |
+
"link0",
|
| 193 |
+
"table",
|
| 194 |
+
"wheel",
|
| 195 |
+
"workbench"
|
| 196 |
+
],
|
| 197 |
+
"enabled": true
|
| 198 |
+
},
|
| 199 |
+
"status": "active",
|
| 200 |
+
"passed": true,
|
| 201 |
+
"source_missing": false,
|
| 202 |
+
"forbidden": [],
|
| 203 |
+
"disturbances": [],
|
| 204 |
+
"last_frame": {
|
| 205 |
+
"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/target_beaker/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/target_beaker/mesh"
|
| 216 |
+
}
|
| 217 |
+
],
|
| 218 |
+
"ignored": [],
|
| 219 |
+
"failed_keys": []
|
| 220 |
+
},
|
| 221 |
+
"failed_keys": []
|
| 222 |
+
}
|
| 223 |
+
},
|
| 224 |
+
"gripper": null,
|
| 225 |
+
"post_done_wait_frames": 0,
|
| 226 |
+
"post_done_wait_exhausted": false
|
| 227 |
+
},
|
| 228 |
+
"physical_semantics": {
|
| 229 |
+
"skill": "pick",
|
| 230 |
+
"target": "beaker_b",
|
| 231 |
+
"attach_used": false,
|
| 232 |
+
"attach_object": null,
|
| 233 |
+
"attach_object_path": null,
|
| 234 |
+
"attach_allowed": false,
|
| 235 |
+
"ordinary_object_physical_only": true
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
{
|
| 239 |
+
"step_index": 1,
|
| 240 |
+
"skill": "shake",
|
| 241 |
+
"target": "beaker_b",
|
| 242 |
+
"success": true,
|
| 243 |
+
"reason": "executed",
|
| 244 |
+
"debug": {
|
| 245 |
+
"arm": null,
|
| 246 |
+
"checker": {
|
| 247 |
+
"checker": "ShakeSuccessChecker",
|
| 248 |
+
"skill": "shake",
|
| 249 |
+
"target": "beaker_b",
|
| 250 |
+
"passed": true,
|
| 251 |
+
"metrics": {
|
| 252 |
+
"held": "beaker_b",
|
| 253 |
+
"force_virtual_attach": false,
|
| 254 |
+
"virtual_attach_allowed": false,
|
| 255 |
+
"gripper_position": [
|
| 256 |
+
0.1860866380827793,
|
| 257 |
+
0.21377415413638462,
|
| 258 |
+
1.237173770076196
|
| 259 |
+
],
|
| 260 |
+
"held_position": [
|
| 261 |
+
0.1906379979759703,
|
| 262 |
+
0.21787488959289994,
|
| 263 |
+
1.2315160490241144
|
| 264 |
+
],
|
| 265 |
+
"object_initial_z": 0.7730800627579277,
|
| 266 |
+
"required_gripper_z": 0.8930800627579277,
|
| 267 |
+
"shake_count": 5,
|
| 268 |
+
"held_shake_count": 5,
|
| 269 |
+
"effective_shake_count": 5,
|
| 270 |
+
"min_shake_count": 3,
|
| 271 |
+
"held_gripper_dist": 0.008339107606023383,
|
| 272 |
+
"max_held_gripper_dist": 0.008350559002300396,
|
| 273 |
+
"held_gripper_max_dist": 0.15,
|
| 274 |
+
"held_gripper_z_dist": 0.005657721052081621,
|
| 275 |
+
"max_held_gripper_z_dist": 0.005676595566346698,
|
| 276 |
+
"held_gripper_z_max_dist": 0.15,
|
| 277 |
+
"held_object_xy_range": 0.08655389123022894,
|
| 278 |
+
"held_object_min_xy_range": 0.04,
|
| 279 |
+
"held_motion_ok": true,
|
| 280 |
+
"held_grasp_geometry_checked": true,
|
| 281 |
+
"held_grasp_geometry_required": true,
|
| 282 |
+
"held_grasp_source": "active_contact_pad_positions",
|
| 283 |
+
"held_grasp_finger_a": [
|
| 284 |
+
0.1906379979759703,
|
| 285 |
+
0.19310818256237455,
|
| 286 |
+
1.2315160490241144
|
| 287 |
+
],
|
| 288 |
+
"held_grasp_finger_b": [
|
| 289 |
+
0.181214380210063,
|
| 290 |
+
0.21787488959289994,
|
| 291 |
+
1.2315160490241144
|
| 292 |
+
],
|
| 293 |
+
"held_grasp_midpoint": [
|
| 294 |
+
0.18592618909301667,
|
| 295 |
+
0.20549153607763726,
|
| 296 |
+
1.2315160490241144
|
| 297 |
+
],
|
| 298 |
+
"held_grasp_object_position": [
|
| 299 |
+
0.1906379979759703,
|
| 300 |
+
0.21787488959289994,
|
| 301 |
+
1.2315160490241144
|
| 302 |
+
],
|
| 303 |
+
"held_grasp_finger_gap": 0.0264989499590795,
|
| 304 |
+
"held_grasp_max_gap": 0.1249237185716629,
|
| 305 |
+
"held_grasp_geometry_frame": "object_local",
|
| 306 |
+
"held_grasp_size_source": "beaker_b_local_size",
|
| 307 |
+
"held_grasp_z_skew": 0.02428109461612599,
|
| 308 |
+
"held_grasp_world_z_skew": 0.0,
|
| 309 |
+
"held_grasp_z_skew_max": 0.08,
|
| 310 |
+
"held_grasp_z_skew_frame": "object_local_up",
|
| 311 |
+
"held_grasp_local_up_axis": [
|
| 312 |
+
-0.04736445235841611,
|
| 313 |
+
-0.9984144876574121,
|
| 314 |
+
0.03041577696812503
|
| 315 |
+
],
|
| 316 |
+
"held_grasp_object_projection_between_fingers": 0.5,
|
| 317 |
+
"held_grasp_object_to_finger_line_xy": 0.004137480148418067,
|
| 318 |
+
"held_grasp_line_xy_max_dist": 0.04746185928583145,
|
| 319 |
+
"held_grasp_object_top_z": 0.045200224965810776,
|
| 320 |
+
"held_grasp_top_clearance": 0.03261333316303054,
|
| 321 |
+
"held_grasp_min_top_clearance": 0.013560067489743232
|
| 322 |
+
},
|
| 323 |
+
"failed_keys": [],
|
| 324 |
+
"failure_code": null,
|
| 325 |
+
"failure_messages": {},
|
| 326 |
+
"safety": {
|
| 327 |
+
"policy": {
|
| 328 |
+
"skill": "shake",
|
| 329 |
+
"target_object": "beaker_b",
|
| 330 |
+
"held_object": "beaker_b",
|
| 331 |
+
"allowed_objects": [
|
| 332 |
+
"beaker_b"
|
| 333 |
+
],
|
| 334 |
+
"allowed_object_paths": [
|
| 335 |
+
"/World/target_beaker"
|
| 336 |
+
],
|
| 337 |
+
"allowed_prim_substrings": [],
|
| 338 |
+
"robot_prim_substrings": [
|
| 339 |
+
"Robotiq2F85",
|
| 340 |
+
"Robotiq_2F_85",
|
| 341 |
+
"contact_sensor",
|
| 342 |
+
"dummy_base_prismatic_x_joint",
|
| 343 |
+
"dummy_base_prismatic_y_joint",
|
| 344 |
+
"dummy_base_revolute_z_joint",
|
| 345 |
+
"elbow_joint",
|
| 346 |
+
"festo",
|
| 347 |
+
"finger",
|
| 348 |
+
"fr3",
|
| 349 |
+
"fr3_duo_mobile",
|
| 350 |
+
"fr3_joint1",
|
| 351 |
+
"fr3_joint2",
|
| 352 |
+
"fr3_joint3",
|
| 353 |
+
"fr3_joint4",
|
| 354 |
+
"fr3_joint5",
|
| 355 |
+
"fr3_joint6",
|
| 356 |
+
"fr3_joint7",
|
| 357 |
+
"fr3_leftfinger",
|
| 358 |
+
"fr3_rightfinger",
|
| 359 |
+
"franka",
|
| 360 |
+
"geometry",
|
| 361 |
+
"gripper",
|
| 362 |
+
"gripper_center",
|
| 363 |
+
"joint1",
|
| 364 |
+
"joint2",
|
| 365 |
+
"joint3",
|
| 366 |
+
"joint4",
|
| 367 |
+
"joint5",
|
| 368 |
+
"joint6",
|
| 369 |
+
"joint7",
|
| 370 |
+
"left_inner_finger",
|
| 371 |
+
"lift2",
|
| 372 |
+
"mobile_rotate",
|
| 373 |
+
"mobile_translate_x",
|
| 374 |
+
"mobile_translate_y",
|
| 375 |
+
"panda_joint1",
|
| 376 |
+
"panda_joint2",
|
| 377 |
+
"panda_joint3",
|
| 378 |
+
"panda_joint4",
|
| 379 |
+
"panda_joint5",
|
| 380 |
+
"panda_joint6",
|
| 381 |
+
"panda_joint7",
|
| 382 |
+
"panda_leftfinger",
|
| 383 |
+
"panda_leftfingertip",
|
| 384 |
+
"panda_rightfinger",
|
| 385 |
+
"panda_rightfingertip",
|
| 386 |
+
"ridgebase",
|
| 387 |
+
"ridgebase_festo",
|
| 388 |
+
"ridgebase_fr3",
|
| 389 |
+
"ridgebase_rizon4",
|
| 390 |
+
"ridgebase_ur16e",
|
| 391 |
+
"ridgebase_ur5e",
|
| 392 |
+
"right_inner_finger",
|
| 393 |
+
"rizon4",
|
| 394 |
+
"robot",
|
| 395 |
+
"robotiq_2f85",
|
| 396 |
+
"shoulder_lift_joint",
|
| 397 |
+
"shoulder_pan_joint",
|
| 398 |
+
"split_aloha",
|
| 399 |
+
"tool_center",
|
| 400 |
+
"ur16e",
|
| 401 |
+
"ur5e",
|
| 402 |
+
"visuals",
|
| 403 |
+
"wrist",
|
| 404 |
+
"wrist_1_joint",
|
| 405 |
+
"wrist_2_joint",
|
| 406 |
+
"wrist_3_joint"
|
| 407 |
+
],
|
| 408 |
+
"ignored_prim_substrings": [
|
| 409 |
+
"base_link",
|
| 410 |
+
"caster",
|
| 411 |
+
"defaultgroundplane",
|
| 412 |
+
"desk",
|
| 413 |
+
"floor",
|
| 414 |
+
"ground",
|
| 415 |
+
"groundplane",
|
| 416 |
+
"link0",
|
| 417 |
+
"table",
|
| 418 |
+
"wheel",
|
| 419 |
+
"workbench"
|
| 420 |
+
],
|
| 421 |
+
"enabled": true
|
| 422 |
+
},
|
| 423 |
+
"status": "active",
|
| 424 |
+
"passed": true,
|
| 425 |
+
"source_missing": false,
|
| 426 |
+
"forbidden": [],
|
| 427 |
+
"disturbances": [],
|
| 428 |
+
"last_frame": {
|
| 429 |
+
"passed": true,
|
| 430 |
+
"source_missing": false,
|
| 431 |
+
"forbidden": [],
|
| 432 |
+
"allowed": [
|
| 433 |
+
{
|
| 434 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 435 |
+
"b": "/World/target_beaker/mesh"
|
| 436 |
+
},
|
| 437 |
+
{
|
| 438 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 439 |
+
"b": "/World/target_beaker/mesh"
|
| 440 |
+
}
|
| 441 |
+
],
|
| 442 |
+
"ignored": [],
|
| 443 |
+
"failed_keys": []
|
| 444 |
+
},
|
| 445 |
+
"failed_keys": []
|
| 446 |
+
}
|
| 447 |
+
},
|
| 448 |
+
"gripper": null,
|
| 449 |
+
"post_done_wait_frames": 0,
|
| 450 |
+
"post_done_wait_exhausted": false
|
| 451 |
+
},
|
| 452 |
+
"physical_semantics": {
|
| 453 |
+
"skill": "shake",
|
| 454 |
+
"target": "beaker_b",
|
| 455 |
+
"attach_used": false,
|
| 456 |
+
"attach_object": null,
|
| 457 |
+
"attach_object_path": null,
|
| 458 |
+
"attach_allowed": false,
|
| 459 |
+
"ordinary_object_physical_only": true
|
| 460 |
+
}
|
| 461 |
+
},
|
| 462 |
+
{
|
| 463 |
+
"step_index": 2,
|
| 464 |
+
"skill": "place",
|
| 465 |
+
"target": "heater_platform",
|
| 466 |
+
"success": true,
|
| 467 |
+
"reason": "executed",
|
| 468 |
+
"debug": {
|
| 469 |
+
"arm": null,
|
| 470 |
+
"checker": {
|
| 471 |
+
"checker": "PlaceSuccessChecker",
|
| 472 |
+
"skill": "place",
|
| 473 |
+
"target": "heater_platform",
|
| 474 |
+
"passed": true,
|
| 475 |
+
"metrics": {
|
| 476 |
+
"held": "beaker_b",
|
| 477 |
+
"target": "heater_platform",
|
| 478 |
+
"object_position": [
|
| 479 |
+
0.3289577313419898,
|
| 480 |
+
-0.3275128435117006,
|
| 481 |
+
0.8470198418853708
|
| 482 |
+
],
|
| 483 |
+
"target_position": [
|
| 484 |
+
0.32328745924079816,
|
| 485 |
+
-0.32859814589643144,
|
| 486 |
+
0.8084375599031817
|
| 487 |
+
],
|
| 488 |
+
"target_position_source": "target_object:_xform_position",
|
| 489 |
+
"xy_dist": 0.005773202488035101,
|
| 490 |
+
"xy_threshold": 0.08,
|
| 491 |
+
"gripper_dist": 0.18466400496496893,
|
| 492 |
+
"gripper_away_threshold": 0.04,
|
| 493 |
+
"gripper_away_ok": true,
|
| 494 |
+
"object_z": 0.8470198418853708,
|
| 495 |
+
"min_z": 0.5730800627579278,
|
| 496 |
+
"min_z_margin": 0.2,
|
| 497 |
+
"require_object_upright": true,
|
| 498 |
+
"object_upright_reference_source": "scene_initial",
|
| 499 |
+
"release_fingertip_source": "active_contact_pad_positions",
|
| 500 |
+
"release_finger_gap": 0.07517472136043275,
|
| 501 |
+
"release_finger_gap_metric": "3d_contact_pad_distance",
|
| 502 |
+
"release_fingertip_min_gap": 0.08552055908572524,
|
| 503 |
+
"release_gap_margin": 0.02,
|
| 504 |
+
"release_gap_missing_size": false,
|
| 505 |
+
"release_min_pad_clearance": 0.15388606170021957,
|
| 506 |
+
"release_required_pad_clearance": 0.05276027954286262,
|
| 507 |
+
"release_pad_clearance_ok": true,
|
| 508 |
+
"release_gap_ok": false,
|
| 509 |
+
"force_virtual_attach": false,
|
| 510 |
+
"virtual_attach_allowed": false,
|
| 511 |
+
"max_z": 0.9084375599031816,
|
| 512 |
+
"max_z_margin": 0.1,
|
| 513 |
+
"object_tilt_deg": 0.5692366306004287,
|
| 514 |
+
"object_max_tilt_deg": 12.0,
|
| 515 |
+
"object_axis_flip_tolerance_deg": 3.0,
|
| 516 |
+
"object_upright_axis_local": null,
|
| 517 |
+
"required_placed_release_frames": 2,
|
| 518 |
+
"placed_release_frames": 154,
|
| 519 |
+
"max_placed_release_frames": 154
|
| 520 |
+
},
|
| 521 |
+
"failed_keys": [],
|
| 522 |
+
"failure_code": null,
|
| 523 |
+
"failure_messages": {},
|
| 524 |
+
"safety": {
|
| 525 |
+
"policy": {
|
| 526 |
+
"skill": "place",
|
| 527 |
+
"target_object": "heater_platform",
|
| 528 |
+
"held_object": "beaker_b",
|
| 529 |
+
"allowed_objects": [
|
| 530 |
+
"beaker_b",
|
| 531 |
+
"heater_platform"
|
| 532 |
+
],
|
| 533 |
+
"allowed_object_paths": [
|
| 534 |
+
"/World/heat_device/heat_device/heat_device/plat",
|
| 535 |
+
"/World/target_beaker"
|
| 536 |
+
],
|
| 537 |
+
"allowed_prim_substrings": [],
|
| 538 |
+
"robot_prim_substrings": [
|
| 539 |
+
"Robotiq2F85",
|
| 540 |
+
"Robotiq_2F_85",
|
| 541 |
+
"contact_sensor",
|
| 542 |
+
"dummy_base_prismatic_x_joint",
|
| 543 |
+
"dummy_base_prismatic_y_joint",
|
| 544 |
+
"dummy_base_revolute_z_joint",
|
| 545 |
+
"elbow_joint",
|
| 546 |
+
"festo",
|
| 547 |
+
"finger",
|
| 548 |
+
"fr3",
|
| 549 |
+
"fr3_duo_mobile",
|
| 550 |
+
"fr3_joint1",
|
| 551 |
+
"fr3_joint2",
|
| 552 |
+
"fr3_joint3",
|
| 553 |
+
"fr3_joint4",
|
| 554 |
+
"fr3_joint5",
|
| 555 |
+
"fr3_joint6",
|
| 556 |
+
"fr3_joint7",
|
| 557 |
+
"fr3_leftfinger",
|
| 558 |
+
"fr3_rightfinger",
|
| 559 |
+
"franka",
|
| 560 |
+
"geometry",
|
| 561 |
+
"gripper",
|
| 562 |
+
"gripper_center",
|
| 563 |
+
"joint1",
|
| 564 |
+
"joint2",
|
| 565 |
+
"joint3",
|
| 566 |
+
"joint4",
|
| 567 |
+
"joint5",
|
| 568 |
+
"joint6",
|
| 569 |
+
"joint7",
|
| 570 |
+
"left_inner_finger",
|
| 571 |
+
"lift2",
|
| 572 |
+
"mobile_rotate",
|
| 573 |
+
"mobile_translate_x",
|
| 574 |
+
"mobile_translate_y",
|
| 575 |
+
"panda_joint1",
|
| 576 |
+
"panda_joint2",
|
| 577 |
+
"panda_joint3",
|
| 578 |
+
"panda_joint4",
|
| 579 |
+
"panda_joint5",
|
| 580 |
+
"panda_joint6",
|
| 581 |
+
"panda_joint7",
|
| 582 |
+
"panda_leftfinger",
|
| 583 |
+
"panda_leftfingertip",
|
| 584 |
+
"panda_rightfinger",
|
| 585 |
+
"panda_rightfingertip",
|
| 586 |
+
"ridgebase",
|
| 587 |
+
"ridgebase_festo",
|
| 588 |
+
"ridgebase_fr3",
|
| 589 |
+
"ridgebase_rizon4",
|
| 590 |
+
"ridgebase_ur16e",
|
| 591 |
+
"ridgebase_ur5e",
|
| 592 |
+
"right_inner_finger",
|
| 593 |
+
"rizon4",
|
| 594 |
+
"robot",
|
| 595 |
+
"robotiq_2f85",
|
| 596 |
+
"shoulder_lift_joint",
|
| 597 |
+
"shoulder_pan_joint",
|
| 598 |
+
"split_aloha",
|
| 599 |
+
"tool_center",
|
| 600 |
+
"ur16e",
|
| 601 |
+
"ur5e",
|
| 602 |
+
"visuals",
|
| 603 |
+
"wrist",
|
| 604 |
+
"wrist_1_joint",
|
| 605 |
+
"wrist_2_joint",
|
| 606 |
+
"wrist_3_joint"
|
| 607 |
+
],
|
| 608 |
+
"ignored_prim_substrings": [
|
| 609 |
+
"base_link",
|
| 610 |
+
"caster",
|
| 611 |
+
"defaultgroundplane",
|
| 612 |
+
"desk",
|
| 613 |
+
"floor",
|
| 614 |
+
"ground",
|
| 615 |
+
"groundplane",
|
| 616 |
+
"link0",
|
| 617 |
+
"table",
|
| 618 |
+
"wheel",
|
| 619 |
+
"workbench"
|
| 620 |
+
],
|
| 621 |
+
"enabled": true
|
| 622 |
+
},
|
| 623 |
+
"status": "active",
|
| 624 |
+
"passed": true,
|
| 625 |
+
"source_missing": false,
|
| 626 |
+
"forbidden": [],
|
| 627 |
+
"disturbances": [],
|
| 628 |
+
"last_frame": {
|
| 629 |
+
"passed": true,
|
| 630 |
+
"source_missing": false,
|
| 631 |
+
"forbidden": [],
|
| 632 |
+
"allowed": [],
|
| 633 |
+
"ignored": [],
|
| 634 |
+
"failed_keys": []
|
| 635 |
+
},
|
| 636 |
+
"failed_keys": []
|
| 637 |
+
}
|
| 638 |
+
},
|
| 639 |
+
"gripper": null,
|
| 640 |
+
"post_done_wait_frames": 0,
|
| 641 |
+
"post_done_wait_exhausted": false
|
| 642 |
+
},
|
| 643 |
+
"physical_semantics": {
|
| 644 |
+
"skill": "place",
|
| 645 |
+
"target": "heater_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 |
+
"step_index": 3,
|
| 655 |
+
"skill": "press",
|
| 656 |
+
"target": "heat_button",
|
| 657 |
+
"success": true,
|
| 658 |
+
"reason": "executed",
|
| 659 |
+
"debug": {
|
| 660 |
+
"arm": null,
|
| 661 |
+
"checker": {
|
| 662 |
+
"checker": "PressSuccessChecker",
|
| 663 |
+
"skill": "press",
|
| 664 |
+
"target": "heat_button",
|
| 665 |
+
"passed": true,
|
| 666 |
+
"metrics": {
|
| 667 |
+
"target": "heat_button",
|
| 668 |
+
"z_decrease": 0.0076247453689575195,
|
| 669 |
+
"max_z_decrease": 0.0076247453689575195,
|
| 670 |
+
"final_z_decrease": 0.0,
|
| 671 |
+
"z_decrease_threshold": 0.0003,
|
| 672 |
+
"min_ee_to_button": 0.03506883471644975,
|
| 673 |
+
"contact_distance_threshold": 0.08,
|
| 674 |
+
"ee_contact_ok": true,
|
| 675 |
+
"max_z_decrease_with_ee_contact": 0.0076247453689575195,
|
| 676 |
+
"ee_contacted_z_ok": true,
|
| 677 |
+
"physical_press_ok": true,
|
| 678 |
+
"required_contacted_press_frames": 2,
|
| 679 |
+
"contacted_z_stable_frames": 0,
|
| 680 |
+
"max_contacted_z_stable_frames": 77,
|
| 681 |
+
"contact_point_distance": 0.021255198056990054,
|
| 682 |
+
"contact_point_source": "active_contact_pad_positions",
|
| 683 |
+
"contact_point_distance_threshold": 0.04,
|
| 684 |
+
"contact_point_seen_ok": true,
|
| 685 |
+
"contact_point_ok": true,
|
| 686 |
+
"contact_point_stable_frames": 0,
|
| 687 |
+
"max_contact_point_stable_frames": 120,
|
| 688 |
+
"max_z_decrease_with_contact_point": 0.0076247453689575195,
|
| 689 |
+
"contact_point_contacted_z_ok": true,
|
| 690 |
+
"contact_point_contacted_z_stable_frames": 0,
|
| 691 |
+
"max_contact_point_contacted_z_stable_frames": 77,
|
| 692 |
+
"contact_ok": true,
|
| 693 |
+
"button_final_displacement": 0.0,
|
| 694 |
+
"button_max_displacement": 0.0076247638143232994,
|
| 695 |
+
"max_button_displacement": 0.12,
|
| 696 |
+
"button_start": [
|
| 697 |
+
0.17898738384246826,
|
| 698 |
+
-0.3848595917224884,
|
| 699 |
+
0.7768088579177856
|
| 700 |
+
],
|
| 701 |
+
"button_final": [
|
| 702 |
+
0.17898738384246826,
|
| 703 |
+
-0.3848595917224884,
|
| 704 |
+
0.7768088579177856
|
| 705 |
+
],
|
| 706 |
+
"closest_ee": [
|
| 707 |
+
0.1798331045976637,
|
| 708 |
+
-0.3828257387216466,
|
| 709 |
+
0.8041831083562555
|
| 710 |
+
],
|
| 711 |
+
"closest_button": [
|
| 712 |
+
0.17897094786167145,
|
| 713 |
+
-0.38486292958259577,
|
| 714 |
+
0.7691841125488281
|
| 715 |
+
],
|
| 716 |
+
"closest_ee_minus_button": [
|
| 717 |
+
0.0008621567359922422,
|
| 718 |
+
0.0020371908609491673,
|
| 719 |
+
0.03499899580742738
|
| 720 |
+
],
|
| 721 |
+
"button_min_z_position": [
|
| 722 |
+
0.17897094786167145,
|
| 723 |
+
-0.38486292958259577,
|
| 724 |
+
0.7691841125488281
|
| 725 |
+
],
|
| 726 |
+
"min_active_finger_to_button": 0.14431756153393227,
|
| 727 |
+
"closest_active_finger": [
|
| 728 |
+
0.052249886095523834,
|
| 729 |
+
-0.4443734586238861,
|
| 730 |
+
0.8081313371658325
|
| 731 |
+
],
|
| 732 |
+
"closest_active_finger_button": [
|
| 733 |
+
0.17899824678897855,
|
| 734 |
+
-0.38486436009407043,
|
| 735 |
+
0.7731873989105225
|
| 736 |
+
],
|
| 737 |
+
"closest_active_finger_index": 1,
|
| 738 |
+
"closest_active_finger_minus_button": [
|
| 739 |
+
-0.12674836069345471,
|
| 740 |
+
-0.059509098529815674,
|
| 741 |
+
0.03494393825531006
|
| 742 |
+
],
|
| 743 |
+
"min_contact_pad_to_button": 0.021255198056990054,
|
| 744 |
+
"closest_contact_pad": [
|
| 745 |
+
0.17897094786167145,
|
| 746 |
+
-0.38486292958259577,
|
| 747 |
+
0.7904393106058182
|
| 748 |
+
],
|
| 749 |
+
"closest_contact_pad_button": [
|
| 750 |
+
0.17897094786167145,
|
| 751 |
+
-0.38486292958259577,
|
| 752 |
+
0.7691841125488281
|
| 753 |
+
],
|
| 754 |
+
"closest_contact_pad_index": 0,
|
| 755 |
+
"closest_contact_pad_minus_button": [
|
| 756 |
+
0.0,
|
| 757 |
+
0.0,
|
| 758 |
+
0.021255198056990054
|
| 759 |
+
]
|
| 760 |
+
},
|
| 761 |
+
"failed_keys": [],
|
| 762 |
+
"failure_code": null,
|
| 763 |
+
"failure_messages": {},
|
| 764 |
+
"safety": {
|
| 765 |
+
"policy": {
|
| 766 |
+
"skill": "press",
|
| 767 |
+
"target_object": "heat_button",
|
| 768 |
+
"held_object": null,
|
| 769 |
+
"allowed_objects": [
|
| 770 |
+
"heat_button"
|
| 771 |
+
],
|
| 772 |
+
"allowed_object_paths": [
|
| 773 |
+
"/World/heat_device/button"
|
| 774 |
+
],
|
| 775 |
+
"allowed_prim_substrings": [],
|
| 776 |
+
"robot_prim_substrings": [
|
| 777 |
+
"Robotiq2F85",
|
| 778 |
+
"Robotiq_2F_85",
|
| 779 |
+
"contact_sensor",
|
| 780 |
+
"dummy_base_prismatic_x_joint",
|
| 781 |
+
"dummy_base_prismatic_y_joint",
|
| 782 |
+
"dummy_base_revolute_z_joint",
|
| 783 |
+
"elbow_joint",
|
| 784 |
+
"festo",
|
| 785 |
+
"finger",
|
| 786 |
+
"fr3",
|
| 787 |
+
"fr3_duo_mobile",
|
| 788 |
+
"fr3_joint1",
|
| 789 |
+
"fr3_joint2",
|
| 790 |
+
"fr3_joint3",
|
| 791 |
+
"fr3_joint4",
|
| 792 |
+
"fr3_joint5",
|
| 793 |
+
"fr3_joint6",
|
| 794 |
+
"fr3_joint7",
|
| 795 |
+
"fr3_leftfinger",
|
| 796 |
+
"fr3_rightfinger",
|
| 797 |
+
"franka",
|
| 798 |
+
"geometry",
|
| 799 |
+
"gripper",
|
| 800 |
+
"gripper_center",
|
| 801 |
+
"joint1",
|
| 802 |
+
"joint2",
|
| 803 |
+
"joint3",
|
| 804 |
+
"joint4",
|
| 805 |
+
"joint5",
|
| 806 |
+
"joint6",
|
| 807 |
+
"joint7",
|
| 808 |
+
"left_inner_finger",
|
| 809 |
+
"lift2",
|
| 810 |
+
"mobile_rotate",
|
| 811 |
+
"mobile_translate_x",
|
| 812 |
+
"mobile_translate_y",
|
| 813 |
+
"panda_joint1",
|
| 814 |
+
"panda_joint2",
|
| 815 |
+
"panda_joint3",
|
| 816 |
+
"panda_joint4",
|
| 817 |
+
"panda_joint5",
|
| 818 |
+
"panda_joint6",
|
| 819 |
+
"panda_joint7",
|
| 820 |
+
"panda_leftfinger",
|
| 821 |
+
"panda_leftfingertip",
|
| 822 |
+
"panda_rightfinger",
|
| 823 |
+
"panda_rightfingertip",
|
| 824 |
+
"ridgebase",
|
| 825 |
+
"ridgebase_festo",
|
| 826 |
+
"ridgebase_fr3",
|
| 827 |
+
"ridgebase_rizon4",
|
| 828 |
+
"ridgebase_ur16e",
|
| 829 |
+
"ridgebase_ur5e",
|
| 830 |
+
"right_inner_finger",
|
| 831 |
+
"rizon4",
|
| 832 |
+
"robot",
|
| 833 |
+
"robotiq_2f85",
|
| 834 |
+
"shoulder_lift_joint",
|
| 835 |
+
"shoulder_pan_joint",
|
| 836 |
+
"split_aloha",
|
| 837 |
+
"tool_center",
|
| 838 |
+
"ur16e",
|
| 839 |
+
"ur5e",
|
| 840 |
+
"visuals",
|
| 841 |
+
"wrist",
|
| 842 |
+
"wrist_1_joint",
|
| 843 |
+
"wrist_2_joint",
|
| 844 |
+
"wrist_3_joint"
|
| 845 |
+
],
|
| 846 |
+
"ignored_prim_substrings": [
|
| 847 |
+
"base_link",
|
| 848 |
+
"caster",
|
| 849 |
+
"defaultgroundplane",
|
| 850 |
+
"desk",
|
| 851 |
+
"floor",
|
| 852 |
+
"ground",
|
| 853 |
+
"groundplane",
|
| 854 |
+
"link0",
|
| 855 |
+
"table",
|
| 856 |
+
"wheel",
|
| 857 |
+
"workbench"
|
| 858 |
+
],
|
| 859 |
+
"enabled": true
|
| 860 |
+
},
|
| 861 |
+
"status": "active",
|
| 862 |
+
"passed": true,
|
| 863 |
+
"source_missing": false,
|
| 864 |
+
"forbidden": [],
|
| 865 |
+
"disturbances": [],
|
| 866 |
+
"last_frame": {
|
| 867 |
+
"passed": true,
|
| 868 |
+
"source_missing": false,
|
| 869 |
+
"forbidden": [],
|
| 870 |
+
"allowed": [],
|
| 871 |
+
"ignored": [],
|
| 872 |
+
"failed_keys": []
|
| 873 |
+
},
|
| 874 |
+
"failed_keys": []
|
| 875 |
+
}
|
| 876 |
+
},
|
| 877 |
+
"gripper": null,
|
| 878 |
+
"post_done_wait_frames": 0,
|
| 879 |
+
"post_done_wait_exhausted": false
|
| 880 |
+
},
|
| 881 |
+
"physical_semantics": {
|
| 882 |
+
"skill": "press",
|
| 883 |
+
"target": "heat_button",
|
| 884 |
+
"attach_used": false,
|
| 885 |
+
"attach_object": null,
|
| 886 |
+
"attach_object_path": null,
|
| 887 |
+
"attach_allowed": false,
|
| 888 |
+
"ordinary_object_physical_only": true
|
| 889 |
+
}
|
| 890 |
+
}
|
| 891 |
+
],
|
| 892 |
+
"physical_semantics": {
|
| 893 |
+
"attach_records": [],
|
| 894 |
+
"ordinary_attach_violations": [],
|
| 895 |
+
"forbidden_shortcuts_absent": true
|
| 896 |
+
},
|
| 897 |
+
"h5_episode_index": 90,
|
| 898 |
+
"reproducibility": {
|
| 899 |
+
"enabled": true,
|
| 900 |
+
"action_seed": 6098556129387905517,
|
| 901 |
+
"physical_seed": 7490668268172140043,
|
| 902 |
+
"layout_id": "layout_00031",
|
| 903 |
+
"step_seeds": [
|
| 904 |
+
4567401361451441112,
|
| 905 |
+
7000790218311912638,
|
| 906 |
+
7522013946436761511,
|
| 907 |
+
7728913421038834906
|
| 908 |
+
],
|
| 909 |
+
"workflow_spec_digest": "bc4db0291f406fbd9c91f68a4c7f1acd36da9a03dd09cb73d832a7602138bc78",
|
| 910 |
+
"strict_task_state": false,
|
| 911 |
+
"allow_physical_randomization": true,
|
| 912 |
+
"seed_source": "workflow.reproducibility",
|
| 913 |
+
"task_island_state_digest": "3056e07319dae036158458b669013666268421607fc7124f6715b8b08cfafc75",
|
| 914 |
+
"visual_seed": 3740303440003927693,
|
| 915 |
+
"episode_index": 90,
|
| 916 |
+
"physical_randomization_enabled": true,
|
| 917 |
+
"motion_controller_type": "ik_servo",
|
| 918 |
+
"runtime_step_seeds": [
|
| 919 |
+
4567401361451441112,
|
| 920 |
+
7000790218311912638,
|
| 921 |
+
7522013946436761511,
|
| 922 |
+
7728913421038834906
|
| 923 |
+
],
|
| 924 |
+
"runtime_workflow_digest": "45388e27c653b4c58871f8eb0be862a6bfbe31c6d7d135b34c259a2497af3374"
|
| 925 |
+
}
|
| 926 |
+
}
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_91_success.json
ADDED
|
@@ -0,0 +1,926 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 91,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 4,
|
| 5 |
+
"total_steps": 4,
|
| 6 |
+
"step_accuracy": "4/4",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_b",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_b",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_b",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.18730953988363536,
|
| 26 |
+
0.22102181610537014,
|
| 27 |
+
1.0424285269029514
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0424285269029514,
|
| 30 |
+
"required_z": 0.8565866862224999,
|
| 31 |
+
"initial_z": 0.7565866862224999,
|
| 32 |
+
"lift_margin": 0.1858418406804515,
|
| 33 |
+
"gripper_z": 1.0477304582717324,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.1826352973738367,
|
| 38 |
+
0.2163893196710312,
|
| 39 |
+
1.0477304582717324
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004674242509798643,
|
| 43 |
+
0.00463249643433894,
|
| 44 |
+
-0.005301931368780988
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006580924422493523,
|
| 47 |
+
"object_to_gripper_z": -0.005301931368780988,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.18730953988363536,
|
| 51 |
+
0.19677697689908427,
|
| 52 |
+
1.0424285269029514
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.17590661586041373,
|
| 56 |
+
0.22102181610537014,
|
| 57 |
+
1.0424285269029514
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.18160807787202454,
|
| 61 |
+
0.20889939650222722,
|
| 62 |
+
1.0424285269029514
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005701462011610814,
|
| 66 |
+
0.01212241960314292,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.02679251582845518,
|
| 70 |
+
"fingertip_max_gap": 0.0941469747893389,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013396257914227577,
|
| 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": 1.0424285269029514,
|
| 78 |
+
"object_top_z": 1.0890952787502775,
|
| 79 |
+
"finger_top_clearance": 0.04666675184732605,
|
| 80 |
+
"fingertip_min_top_clearance": 0.014000025554197814,
|
| 81 |
+
"object_projection_between_fingers": 0.818863709560598,
|
| 82 |
+
"object_to_finger_line_xy": 0.01031863006798653,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.04957348739466945,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 1.6490723154584208,
|
| 89 |
+
"object_max_tilt_deg": 15.0,
|
| 90 |
+
"object_upright_axis_local": [
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
1.0
|
| 94 |
+
],
|
| 95 |
+
"stable_success_frames": 208,
|
| 96 |
+
"max_stable_success_frames": 208,
|
| 97 |
+
"required_stable_lift_frames": 5
|
| 98 |
+
},
|
| 99 |
+
"failed_keys": [],
|
| 100 |
+
"failure_code": null,
|
| 101 |
+
"failure_messages": {},
|
| 102 |
+
"safety": {
|
| 103 |
+
"policy": {
|
| 104 |
+
"skill": "pick",
|
| 105 |
+
"target_object": "beaker_b",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_b"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/target_beaker"
|
| 112 |
+
],
|
| 113 |
+
"allowed_prim_substrings": [],
|
| 114 |
+
"robot_prim_substrings": [
|
| 115 |
+
"Robotiq2F85",
|
| 116 |
+
"Robotiq_2F_85",
|
| 117 |
+
"contact_sensor",
|
| 118 |
+
"dummy_base_prismatic_x_joint",
|
| 119 |
+
"dummy_base_prismatic_y_joint",
|
| 120 |
+
"dummy_base_revolute_z_joint",
|
| 121 |
+
"elbow_joint",
|
| 122 |
+
"festo",
|
| 123 |
+
"finger",
|
| 124 |
+
"fr3",
|
| 125 |
+
"fr3_duo_mobile",
|
| 126 |
+
"fr3_joint1",
|
| 127 |
+
"fr3_joint2",
|
| 128 |
+
"fr3_joint3",
|
| 129 |
+
"fr3_joint4",
|
| 130 |
+
"fr3_joint5",
|
| 131 |
+
"fr3_joint6",
|
| 132 |
+
"fr3_joint7",
|
| 133 |
+
"fr3_leftfinger",
|
| 134 |
+
"fr3_rightfinger",
|
| 135 |
+
"franka",
|
| 136 |
+
"geometry",
|
| 137 |
+
"gripper",
|
| 138 |
+
"gripper_center",
|
| 139 |
+
"joint1",
|
| 140 |
+
"joint2",
|
| 141 |
+
"joint3",
|
| 142 |
+
"joint4",
|
| 143 |
+
"joint5",
|
| 144 |
+
"joint6",
|
| 145 |
+
"joint7",
|
| 146 |
+
"left_inner_finger",
|
| 147 |
+
"lift2",
|
| 148 |
+
"mobile_rotate",
|
| 149 |
+
"mobile_translate_x",
|
| 150 |
+
"mobile_translate_y",
|
| 151 |
+
"panda_joint1",
|
| 152 |
+
"panda_joint2",
|
| 153 |
+
"panda_joint3",
|
| 154 |
+
"panda_joint4",
|
| 155 |
+
"panda_joint5",
|
| 156 |
+
"panda_joint6",
|
| 157 |
+
"panda_joint7",
|
| 158 |
+
"panda_leftfinger",
|
| 159 |
+
"panda_leftfingertip",
|
| 160 |
+
"panda_rightfinger",
|
| 161 |
+
"panda_rightfingertip",
|
| 162 |
+
"ridgebase",
|
| 163 |
+
"ridgebase_festo",
|
| 164 |
+
"ridgebase_fr3",
|
| 165 |
+
"ridgebase_rizon4",
|
| 166 |
+
"ridgebase_ur16e",
|
| 167 |
+
"ridgebase_ur5e",
|
| 168 |
+
"right_inner_finger",
|
| 169 |
+
"rizon4",
|
| 170 |
+
"robot",
|
| 171 |
+
"robotiq_2f85",
|
| 172 |
+
"shoulder_lift_joint",
|
| 173 |
+
"shoulder_pan_joint",
|
| 174 |
+
"split_aloha",
|
| 175 |
+
"tool_center",
|
| 176 |
+
"ur16e",
|
| 177 |
+
"ur5e",
|
| 178 |
+
"visuals",
|
| 179 |
+
"wrist",
|
| 180 |
+
"wrist_1_joint",
|
| 181 |
+
"wrist_2_joint",
|
| 182 |
+
"wrist_3_joint"
|
| 183 |
+
],
|
| 184 |
+
"ignored_prim_substrings": [
|
| 185 |
+
"base_link",
|
| 186 |
+
"caster",
|
| 187 |
+
"defaultgroundplane",
|
| 188 |
+
"desk",
|
| 189 |
+
"floor",
|
| 190 |
+
"ground",
|
| 191 |
+
"groundplane",
|
| 192 |
+
"link0",
|
| 193 |
+
"table",
|
| 194 |
+
"wheel",
|
| 195 |
+
"workbench"
|
| 196 |
+
],
|
| 197 |
+
"enabled": true
|
| 198 |
+
},
|
| 199 |
+
"status": "active",
|
| 200 |
+
"passed": true,
|
| 201 |
+
"source_missing": false,
|
| 202 |
+
"forbidden": [],
|
| 203 |
+
"disturbances": [],
|
| 204 |
+
"last_frame": {
|
| 205 |
+
"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/target_beaker/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/target_beaker/mesh"
|
| 216 |
+
}
|
| 217 |
+
],
|
| 218 |
+
"ignored": [],
|
| 219 |
+
"failed_keys": []
|
| 220 |
+
},
|
| 221 |
+
"failed_keys": []
|
| 222 |
+
}
|
| 223 |
+
},
|
| 224 |
+
"gripper": null,
|
| 225 |
+
"post_done_wait_frames": 0,
|
| 226 |
+
"post_done_wait_exhausted": false
|
| 227 |
+
},
|
| 228 |
+
"physical_semantics": {
|
| 229 |
+
"skill": "pick",
|
| 230 |
+
"target": "beaker_b",
|
| 231 |
+
"attach_used": false,
|
| 232 |
+
"attach_object": null,
|
| 233 |
+
"attach_object_path": null,
|
| 234 |
+
"attach_allowed": false,
|
| 235 |
+
"ordinary_object_physical_only": true
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
{
|
| 239 |
+
"step_index": 1,
|
| 240 |
+
"skill": "shake",
|
| 241 |
+
"target": "beaker_b",
|
| 242 |
+
"success": true,
|
| 243 |
+
"reason": "executed",
|
| 244 |
+
"debug": {
|
| 245 |
+
"arm": null,
|
| 246 |
+
"checker": {
|
| 247 |
+
"checker": "ShakeSuccessChecker",
|
| 248 |
+
"skill": "shake",
|
| 249 |
+
"target": "beaker_b",
|
| 250 |
+
"passed": true,
|
| 251 |
+
"metrics": {
|
| 252 |
+
"held": "beaker_b",
|
| 253 |
+
"force_virtual_attach": false,
|
| 254 |
+
"virtual_attach_allowed": false,
|
| 255 |
+
"gripper_position": [
|
| 256 |
+
0.18616741891016786,
|
| 257 |
+
0.22231341303590235,
|
| 258 |
+
1.2363347675509158
|
| 259 |
+
],
|
| 260 |
+
"held_position": [
|
| 261 |
+
0.1910147268536792,
|
| 262 |
+
0.22664337643179544,
|
| 263 |
+
1.230921686201688
|
| 264 |
+
],
|
| 265 |
+
"object_initial_z": 0.7730800627579277,
|
| 266 |
+
"required_gripper_z": 0.8930800627579277,
|
| 267 |
+
"shake_count": 5,
|
| 268 |
+
"held_shake_count": 5,
|
| 269 |
+
"effective_shake_count": 5,
|
| 270 |
+
"min_shake_count": 3,
|
| 271 |
+
"held_gripper_dist": 0.008458512103340567,
|
| 272 |
+
"max_held_gripper_dist": 0.008459663693779696,
|
| 273 |
+
"held_gripper_max_dist": 0.15,
|
| 274 |
+
"held_gripper_z_dist": 0.005413081349227689,
|
| 275 |
+
"max_held_gripper_z_dist": 0.005436804221743419,
|
| 276 |
+
"held_gripper_z_max_dist": 0.15,
|
| 277 |
+
"held_object_xy_range": 0.08638308772669023,
|
| 278 |
+
"held_object_min_xy_range": 0.04,
|
| 279 |
+
"held_motion_ok": true,
|
| 280 |
+
"held_grasp_geometry_checked": true,
|
| 281 |
+
"held_grasp_geometry_required": true,
|
| 282 |
+
"held_grasp_source": "active_contact_pad_positions",
|
| 283 |
+
"held_grasp_finger_a": [
|
| 284 |
+
0.1910147268536792,
|
| 285 |
+
0.20181467375848017,
|
| 286 |
+
1.230921686201688
|
| 287 |
+
],
|
| 288 |
+
"held_grasp_finger_b": [
|
| 289 |
+
0.18100147877515213,
|
| 290 |
+
0.22664337643179544,
|
| 291 |
+
1.230921686201688
|
| 292 |
+
],
|
| 293 |
+
"held_grasp_midpoint": [
|
| 294 |
+
0.18600810281441565,
|
| 295 |
+
0.2142290250951378,
|
| 296 |
+
1.230921686201688
|
| 297 |
+
],
|
| 298 |
+
"held_grasp_object_position": [
|
| 299 |
+
0.1910147268536792,
|
| 300 |
+
0.22664337643179544,
|
| 301 |
+
1.230921686201688
|
| 302 |
+
],
|
| 303 |
+
"held_grasp_finger_gap": 0.026771806317878875,
|
| 304 |
+
"held_grasp_max_gap": 0.1249237185716629,
|
| 305 |
+
"held_grasp_geometry_frame": "object_local",
|
| 306 |
+
"held_grasp_size_source": "beaker_b_local_size",
|
| 307 |
+
"held_grasp_z_skew": 0.02455144683235753,
|
| 308 |
+
"held_grasp_world_z_skew": 0.0,
|
| 309 |
+
"held_grasp_z_skew_max": 0.08,
|
| 310 |
+
"held_grasp_z_skew_frame": "object_local_up",
|
| 311 |
+
"held_grasp_local_up_axis": [
|
| 312 |
+
-0.025885875180615574,
|
| 313 |
+
-0.9992728516152455,
|
| 314 |
+
0.027994454644968296
|
| 315 |
+
],
|
| 316 |
+
"held_grasp_object_projection_between_fingers": 0.5,
|
| 317 |
+
"held_grasp_object_to_finger_line_xy": 0.004696600468974113,
|
| 318 |
+
"held_grasp_line_xy_max_dist": 0.04746185928583145,
|
| 319 |
+
"held_grasp_object_top_z": 0.045200224965810776,
|
| 320 |
+
"held_grasp_top_clearance": 0.032665299859718715,
|
| 321 |
+
"held_grasp_min_top_clearance": 0.013560067489743232
|
| 322 |
+
},
|
| 323 |
+
"failed_keys": [],
|
| 324 |
+
"failure_code": null,
|
| 325 |
+
"failure_messages": {},
|
| 326 |
+
"safety": {
|
| 327 |
+
"policy": {
|
| 328 |
+
"skill": "shake",
|
| 329 |
+
"target_object": "beaker_b",
|
| 330 |
+
"held_object": "beaker_b",
|
| 331 |
+
"allowed_objects": [
|
| 332 |
+
"beaker_b"
|
| 333 |
+
],
|
| 334 |
+
"allowed_object_paths": [
|
| 335 |
+
"/World/target_beaker"
|
| 336 |
+
],
|
| 337 |
+
"allowed_prim_substrings": [],
|
| 338 |
+
"robot_prim_substrings": [
|
| 339 |
+
"Robotiq2F85",
|
| 340 |
+
"Robotiq_2F_85",
|
| 341 |
+
"contact_sensor",
|
| 342 |
+
"dummy_base_prismatic_x_joint",
|
| 343 |
+
"dummy_base_prismatic_y_joint",
|
| 344 |
+
"dummy_base_revolute_z_joint",
|
| 345 |
+
"elbow_joint",
|
| 346 |
+
"festo",
|
| 347 |
+
"finger",
|
| 348 |
+
"fr3",
|
| 349 |
+
"fr3_duo_mobile",
|
| 350 |
+
"fr3_joint1",
|
| 351 |
+
"fr3_joint2",
|
| 352 |
+
"fr3_joint3",
|
| 353 |
+
"fr3_joint4",
|
| 354 |
+
"fr3_joint5",
|
| 355 |
+
"fr3_joint6",
|
| 356 |
+
"fr3_joint7",
|
| 357 |
+
"fr3_leftfinger",
|
| 358 |
+
"fr3_rightfinger",
|
| 359 |
+
"franka",
|
| 360 |
+
"geometry",
|
| 361 |
+
"gripper",
|
| 362 |
+
"gripper_center",
|
| 363 |
+
"joint1",
|
| 364 |
+
"joint2",
|
| 365 |
+
"joint3",
|
| 366 |
+
"joint4",
|
| 367 |
+
"joint5",
|
| 368 |
+
"joint6",
|
| 369 |
+
"joint7",
|
| 370 |
+
"left_inner_finger",
|
| 371 |
+
"lift2",
|
| 372 |
+
"mobile_rotate",
|
| 373 |
+
"mobile_translate_x",
|
| 374 |
+
"mobile_translate_y",
|
| 375 |
+
"panda_joint1",
|
| 376 |
+
"panda_joint2",
|
| 377 |
+
"panda_joint3",
|
| 378 |
+
"panda_joint4",
|
| 379 |
+
"panda_joint5",
|
| 380 |
+
"panda_joint6",
|
| 381 |
+
"panda_joint7",
|
| 382 |
+
"panda_leftfinger",
|
| 383 |
+
"panda_leftfingertip",
|
| 384 |
+
"panda_rightfinger",
|
| 385 |
+
"panda_rightfingertip",
|
| 386 |
+
"ridgebase",
|
| 387 |
+
"ridgebase_festo",
|
| 388 |
+
"ridgebase_fr3",
|
| 389 |
+
"ridgebase_rizon4",
|
| 390 |
+
"ridgebase_ur16e",
|
| 391 |
+
"ridgebase_ur5e",
|
| 392 |
+
"right_inner_finger",
|
| 393 |
+
"rizon4",
|
| 394 |
+
"robot",
|
| 395 |
+
"robotiq_2f85",
|
| 396 |
+
"shoulder_lift_joint",
|
| 397 |
+
"shoulder_pan_joint",
|
| 398 |
+
"split_aloha",
|
| 399 |
+
"tool_center",
|
| 400 |
+
"ur16e",
|
| 401 |
+
"ur5e",
|
| 402 |
+
"visuals",
|
| 403 |
+
"wrist",
|
| 404 |
+
"wrist_1_joint",
|
| 405 |
+
"wrist_2_joint",
|
| 406 |
+
"wrist_3_joint"
|
| 407 |
+
],
|
| 408 |
+
"ignored_prim_substrings": [
|
| 409 |
+
"base_link",
|
| 410 |
+
"caster",
|
| 411 |
+
"defaultgroundplane",
|
| 412 |
+
"desk",
|
| 413 |
+
"floor",
|
| 414 |
+
"ground",
|
| 415 |
+
"groundplane",
|
| 416 |
+
"link0",
|
| 417 |
+
"table",
|
| 418 |
+
"wheel",
|
| 419 |
+
"workbench"
|
| 420 |
+
],
|
| 421 |
+
"enabled": true
|
| 422 |
+
},
|
| 423 |
+
"status": "active",
|
| 424 |
+
"passed": true,
|
| 425 |
+
"source_missing": false,
|
| 426 |
+
"forbidden": [],
|
| 427 |
+
"disturbances": [],
|
| 428 |
+
"last_frame": {
|
| 429 |
+
"passed": true,
|
| 430 |
+
"source_missing": false,
|
| 431 |
+
"forbidden": [],
|
| 432 |
+
"allowed": [
|
| 433 |
+
{
|
| 434 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 435 |
+
"b": "/World/target_beaker/mesh"
|
| 436 |
+
},
|
| 437 |
+
{
|
| 438 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 439 |
+
"b": "/World/target_beaker/mesh"
|
| 440 |
+
}
|
| 441 |
+
],
|
| 442 |
+
"ignored": [],
|
| 443 |
+
"failed_keys": []
|
| 444 |
+
},
|
| 445 |
+
"failed_keys": []
|
| 446 |
+
}
|
| 447 |
+
},
|
| 448 |
+
"gripper": null,
|
| 449 |
+
"post_done_wait_frames": 0,
|
| 450 |
+
"post_done_wait_exhausted": false
|
| 451 |
+
},
|
| 452 |
+
"physical_semantics": {
|
| 453 |
+
"skill": "shake",
|
| 454 |
+
"target": "beaker_b",
|
| 455 |
+
"attach_used": false,
|
| 456 |
+
"attach_object": null,
|
| 457 |
+
"attach_object_path": null,
|
| 458 |
+
"attach_allowed": false,
|
| 459 |
+
"ordinary_object_physical_only": true
|
| 460 |
+
}
|
| 461 |
+
},
|
| 462 |
+
{
|
| 463 |
+
"step_index": 2,
|
| 464 |
+
"skill": "place",
|
| 465 |
+
"target": "heater_platform",
|
| 466 |
+
"success": true,
|
| 467 |
+
"reason": "executed",
|
| 468 |
+
"debug": {
|
| 469 |
+
"arm": null,
|
| 470 |
+
"checker": {
|
| 471 |
+
"checker": "PlaceSuccessChecker",
|
| 472 |
+
"skill": "place",
|
| 473 |
+
"target": "heater_platform",
|
| 474 |
+
"passed": true,
|
| 475 |
+
"metrics": {
|
| 476 |
+
"held": "beaker_b",
|
| 477 |
+
"target": "heater_platform",
|
| 478 |
+
"object_position": [
|
| 479 |
+
0.33583005190104376,
|
| 480 |
+
-0.3311423451832679,
|
| 481 |
+
0.8470195988926785
|
| 482 |
+
],
|
| 483 |
+
"target_position": [
|
| 484 |
+
0.32937781079081163,
|
| 485 |
+
-0.332934733310641,
|
| 486 |
+
0.8084375599031817
|
| 487 |
+
],
|
| 488 |
+
"target_position_source": "target_object:_xform_position",
|
| 489 |
+
"xy_dist": 0.006696571551452095,
|
| 490 |
+
"xy_threshold": 0.08,
|
| 491 |
+
"gripper_dist": 0.1856362267587491,
|
| 492 |
+
"gripper_away_threshold": 0.04,
|
| 493 |
+
"gripper_away_ok": true,
|
| 494 |
+
"object_z": 0.8470195988926785,
|
| 495 |
+
"min_z": 0.5730800627579278,
|
| 496 |
+
"min_z_margin": 0.2,
|
| 497 |
+
"require_object_upright": true,
|
| 498 |
+
"object_upright_reference_source": "scene_initial",
|
| 499 |
+
"release_fingertip_source": "active_contact_pad_positions",
|
| 500 |
+
"release_finger_gap": 0.07538951504255681,
|
| 501 |
+
"release_finger_gap_metric": "3d_contact_pad_distance",
|
| 502 |
+
"release_fingertip_min_gap": 0.08564411627645328,
|
| 503 |
+
"release_gap_margin": 0.02,
|
| 504 |
+
"release_gap_missing_size": false,
|
| 505 |
+
"release_min_pad_clearance": 0.1543212359265836,
|
| 506 |
+
"release_required_pad_clearance": 0.052822058138226644,
|
| 507 |
+
"release_pad_clearance_ok": true,
|
| 508 |
+
"release_gap_ok": false,
|
| 509 |
+
"force_virtual_attach": false,
|
| 510 |
+
"virtual_attach_allowed": false,
|
| 511 |
+
"max_z": 0.9084375599031816,
|
| 512 |
+
"max_z_margin": 0.1,
|
| 513 |
+
"object_tilt_deg": 0.6886991608794875,
|
| 514 |
+
"object_max_tilt_deg": 12.0,
|
| 515 |
+
"object_axis_flip_tolerance_deg": 3.0,
|
| 516 |
+
"object_upright_axis_local": null,
|
| 517 |
+
"required_placed_release_frames": 2,
|
| 518 |
+
"placed_release_frames": 154,
|
| 519 |
+
"max_placed_release_frames": 154
|
| 520 |
+
},
|
| 521 |
+
"failed_keys": [],
|
| 522 |
+
"failure_code": null,
|
| 523 |
+
"failure_messages": {},
|
| 524 |
+
"safety": {
|
| 525 |
+
"policy": {
|
| 526 |
+
"skill": "place",
|
| 527 |
+
"target_object": "heater_platform",
|
| 528 |
+
"held_object": "beaker_b",
|
| 529 |
+
"allowed_objects": [
|
| 530 |
+
"beaker_b",
|
| 531 |
+
"heater_platform"
|
| 532 |
+
],
|
| 533 |
+
"allowed_object_paths": [
|
| 534 |
+
"/World/heat_device/heat_device/heat_device/plat",
|
| 535 |
+
"/World/target_beaker"
|
| 536 |
+
],
|
| 537 |
+
"allowed_prim_substrings": [],
|
| 538 |
+
"robot_prim_substrings": [
|
| 539 |
+
"Robotiq2F85",
|
| 540 |
+
"Robotiq_2F_85",
|
| 541 |
+
"contact_sensor",
|
| 542 |
+
"dummy_base_prismatic_x_joint",
|
| 543 |
+
"dummy_base_prismatic_y_joint",
|
| 544 |
+
"dummy_base_revolute_z_joint",
|
| 545 |
+
"elbow_joint",
|
| 546 |
+
"festo",
|
| 547 |
+
"finger",
|
| 548 |
+
"fr3",
|
| 549 |
+
"fr3_duo_mobile",
|
| 550 |
+
"fr3_joint1",
|
| 551 |
+
"fr3_joint2",
|
| 552 |
+
"fr3_joint3",
|
| 553 |
+
"fr3_joint4",
|
| 554 |
+
"fr3_joint5",
|
| 555 |
+
"fr3_joint6",
|
| 556 |
+
"fr3_joint7",
|
| 557 |
+
"fr3_leftfinger",
|
| 558 |
+
"fr3_rightfinger",
|
| 559 |
+
"franka",
|
| 560 |
+
"geometry",
|
| 561 |
+
"gripper",
|
| 562 |
+
"gripper_center",
|
| 563 |
+
"joint1",
|
| 564 |
+
"joint2",
|
| 565 |
+
"joint3",
|
| 566 |
+
"joint4",
|
| 567 |
+
"joint5",
|
| 568 |
+
"joint6",
|
| 569 |
+
"joint7",
|
| 570 |
+
"left_inner_finger",
|
| 571 |
+
"lift2",
|
| 572 |
+
"mobile_rotate",
|
| 573 |
+
"mobile_translate_x",
|
| 574 |
+
"mobile_translate_y",
|
| 575 |
+
"panda_joint1",
|
| 576 |
+
"panda_joint2",
|
| 577 |
+
"panda_joint3",
|
| 578 |
+
"panda_joint4",
|
| 579 |
+
"panda_joint5",
|
| 580 |
+
"panda_joint6",
|
| 581 |
+
"panda_joint7",
|
| 582 |
+
"panda_leftfinger",
|
| 583 |
+
"panda_leftfingertip",
|
| 584 |
+
"panda_rightfinger",
|
| 585 |
+
"panda_rightfingertip",
|
| 586 |
+
"ridgebase",
|
| 587 |
+
"ridgebase_festo",
|
| 588 |
+
"ridgebase_fr3",
|
| 589 |
+
"ridgebase_rizon4",
|
| 590 |
+
"ridgebase_ur16e",
|
| 591 |
+
"ridgebase_ur5e",
|
| 592 |
+
"right_inner_finger",
|
| 593 |
+
"rizon4",
|
| 594 |
+
"robot",
|
| 595 |
+
"robotiq_2f85",
|
| 596 |
+
"shoulder_lift_joint",
|
| 597 |
+
"shoulder_pan_joint",
|
| 598 |
+
"split_aloha",
|
| 599 |
+
"tool_center",
|
| 600 |
+
"ur16e",
|
| 601 |
+
"ur5e",
|
| 602 |
+
"visuals",
|
| 603 |
+
"wrist",
|
| 604 |
+
"wrist_1_joint",
|
| 605 |
+
"wrist_2_joint",
|
| 606 |
+
"wrist_3_joint"
|
| 607 |
+
],
|
| 608 |
+
"ignored_prim_substrings": [
|
| 609 |
+
"base_link",
|
| 610 |
+
"caster",
|
| 611 |
+
"defaultgroundplane",
|
| 612 |
+
"desk",
|
| 613 |
+
"floor",
|
| 614 |
+
"ground",
|
| 615 |
+
"groundplane",
|
| 616 |
+
"link0",
|
| 617 |
+
"table",
|
| 618 |
+
"wheel",
|
| 619 |
+
"workbench"
|
| 620 |
+
],
|
| 621 |
+
"enabled": true
|
| 622 |
+
},
|
| 623 |
+
"status": "active",
|
| 624 |
+
"passed": true,
|
| 625 |
+
"source_missing": false,
|
| 626 |
+
"forbidden": [],
|
| 627 |
+
"disturbances": [],
|
| 628 |
+
"last_frame": {
|
| 629 |
+
"passed": true,
|
| 630 |
+
"source_missing": false,
|
| 631 |
+
"forbidden": [],
|
| 632 |
+
"allowed": [],
|
| 633 |
+
"ignored": [],
|
| 634 |
+
"failed_keys": []
|
| 635 |
+
},
|
| 636 |
+
"failed_keys": []
|
| 637 |
+
}
|
| 638 |
+
},
|
| 639 |
+
"gripper": null,
|
| 640 |
+
"post_done_wait_frames": 0,
|
| 641 |
+
"post_done_wait_exhausted": false
|
| 642 |
+
},
|
| 643 |
+
"physical_semantics": {
|
| 644 |
+
"skill": "place",
|
| 645 |
+
"target": "heater_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 |
+
"step_index": 3,
|
| 655 |
+
"skill": "press",
|
| 656 |
+
"target": "heat_button",
|
| 657 |
+
"success": true,
|
| 658 |
+
"reason": "executed",
|
| 659 |
+
"debug": {
|
| 660 |
+
"arm": null,
|
| 661 |
+
"checker": {
|
| 662 |
+
"checker": "PressSuccessChecker",
|
| 663 |
+
"skill": "press",
|
| 664 |
+
"target": "heat_button",
|
| 665 |
+
"passed": true,
|
| 666 |
+
"metrics": {
|
| 667 |
+
"target": "heat_button",
|
| 668 |
+
"z_decrease": 0.007858037948608398,
|
| 669 |
+
"max_z_decrease": 0.007858037948608398,
|
| 670 |
+
"final_z_decrease": 0.0,
|
| 671 |
+
"z_decrease_threshold": 0.0003,
|
| 672 |
+
"min_ee_to_button": 0.03506508160271109,
|
| 673 |
+
"contact_distance_threshold": 0.08,
|
| 674 |
+
"ee_contact_ok": true,
|
| 675 |
+
"max_z_decrease_with_ee_contact": 0.007858037948608398,
|
| 676 |
+
"ee_contacted_z_ok": true,
|
| 677 |
+
"physical_press_ok": true,
|
| 678 |
+
"required_contacted_press_frames": 2,
|
| 679 |
+
"contacted_z_stable_frames": 0,
|
| 680 |
+
"max_contacted_z_stable_frames": 77,
|
| 681 |
+
"contact_point_distance": 0.021148973058714677,
|
| 682 |
+
"contact_point_source": "active_contact_pad_positions",
|
| 683 |
+
"contact_point_distance_threshold": 0.04,
|
| 684 |
+
"contact_point_seen_ok": true,
|
| 685 |
+
"contact_point_ok": true,
|
| 686 |
+
"contact_point_stable_frames": 0,
|
| 687 |
+
"max_contact_point_stable_frames": 119,
|
| 688 |
+
"max_z_decrease_with_contact_point": 0.007858037948608398,
|
| 689 |
+
"contact_point_contacted_z_ok": true,
|
| 690 |
+
"contact_point_contacted_z_stable_frames": 0,
|
| 691 |
+
"max_contact_point_contacted_z_stable_frames": 77,
|
| 692 |
+
"contact_ok": true,
|
| 693 |
+
"button_final_displacement": 0.0,
|
| 694 |
+
"button_max_displacement": 0.007858060761089901,
|
| 695 |
+
"max_button_displacement": 0.12,
|
| 696 |
+
"button_start": [
|
| 697 |
+
0.1850777417421341,
|
| 698 |
+
-0.3891961872577667,
|
| 699 |
+
0.7768088579177856
|
| 700 |
+
],
|
| 701 |
+
"button_final": [
|
| 702 |
+
0.1850777417421341,
|
| 703 |
+
-0.3891961872577667,
|
| 704 |
+
0.7768088579177856
|
| 705 |
+
],
|
| 706 |
+
"closest_ee": [
|
| 707 |
+
0.18361794242394838,
|
| 708 |
+
-0.389653224859872,
|
| 709 |
+
0.8039833321775267
|
| 710 |
+
],
|
| 711 |
+
"closest_button": [
|
| 712 |
+
0.18505901098251343,
|
| 713 |
+
-0.3891989588737487,
|
| 714 |
+
0.7689508199691772
|
| 715 |
+
],
|
| 716 |
+
"closest_ee_minus_button": [
|
| 717 |
+
-0.0014410685585650451,
|
| 718 |
+
-0.0004542659861233034,
|
| 719 |
+
0.035032512208349464
|
| 720 |
+
],
|
| 721 |
+
"button_min_z_position": [
|
| 722 |
+
0.18505901098251343,
|
| 723 |
+
-0.3891989588737487,
|
| 724 |
+
0.7689508199691772
|
| 725 |
+
],
|
| 726 |
+
"min_active_finger_to_button": 0.14720294059118372,
|
| 727 |
+
"closest_active_finger": [
|
| 728 |
+
0.04264364391565323,
|
| 729 |
+
-0.37574246525764465,
|
| 730 |
+
0.8083324432373047
|
| 731 |
+
],
|
| 732 |
+
"closest_active_finger_button": [
|
| 733 |
+
0.18508534133434296,
|
| 734 |
+
-0.38920328021049494,
|
| 735 |
+
0.7737221121788025
|
| 736 |
+
],
|
| 737 |
+
"closest_active_finger_index": 0,
|
| 738 |
+
"closest_active_finger_minus_button": [
|
| 739 |
+
-0.14244169741868973,
|
| 740 |
+
0.013460814952850286,
|
| 741 |
+
0.0346103310585022
|
| 742 |
+
],
|
| 743 |
+
"min_contact_pad_to_button": 0.021148973058714677,
|
| 744 |
+
"closest_contact_pad": [
|
| 745 |
+
0.18505901098251343,
|
| 746 |
+
-0.39063843089341466,
|
| 747 |
+
0.7900507484463745
|
| 748 |
+
],
|
| 749 |
+
"closest_contact_pad_button": [
|
| 750 |
+
0.18505901098251343,
|
| 751 |
+
-0.3891989588737487,
|
| 752 |
+
0.7689508199691772
|
| 753 |
+
],
|
| 754 |
+
"closest_contact_pad_index": 0,
|
| 755 |
+
"closest_contact_pad_minus_button": [
|
| 756 |
+
0.0,
|
| 757 |
+
-0.0014394720196659327,
|
| 758 |
+
0.021099928477197216
|
| 759 |
+
]
|
| 760 |
+
},
|
| 761 |
+
"failed_keys": [],
|
| 762 |
+
"failure_code": null,
|
| 763 |
+
"failure_messages": {},
|
| 764 |
+
"safety": {
|
| 765 |
+
"policy": {
|
| 766 |
+
"skill": "press",
|
| 767 |
+
"target_object": "heat_button",
|
| 768 |
+
"held_object": null,
|
| 769 |
+
"allowed_objects": [
|
| 770 |
+
"heat_button"
|
| 771 |
+
],
|
| 772 |
+
"allowed_object_paths": [
|
| 773 |
+
"/World/heat_device/button"
|
| 774 |
+
],
|
| 775 |
+
"allowed_prim_substrings": [],
|
| 776 |
+
"robot_prim_substrings": [
|
| 777 |
+
"Robotiq2F85",
|
| 778 |
+
"Robotiq_2F_85",
|
| 779 |
+
"contact_sensor",
|
| 780 |
+
"dummy_base_prismatic_x_joint",
|
| 781 |
+
"dummy_base_prismatic_y_joint",
|
| 782 |
+
"dummy_base_revolute_z_joint",
|
| 783 |
+
"elbow_joint",
|
| 784 |
+
"festo",
|
| 785 |
+
"finger",
|
| 786 |
+
"fr3",
|
| 787 |
+
"fr3_duo_mobile",
|
| 788 |
+
"fr3_joint1",
|
| 789 |
+
"fr3_joint2",
|
| 790 |
+
"fr3_joint3",
|
| 791 |
+
"fr3_joint4",
|
| 792 |
+
"fr3_joint5",
|
| 793 |
+
"fr3_joint6",
|
| 794 |
+
"fr3_joint7",
|
| 795 |
+
"fr3_leftfinger",
|
| 796 |
+
"fr3_rightfinger",
|
| 797 |
+
"franka",
|
| 798 |
+
"geometry",
|
| 799 |
+
"gripper",
|
| 800 |
+
"gripper_center",
|
| 801 |
+
"joint1",
|
| 802 |
+
"joint2",
|
| 803 |
+
"joint3",
|
| 804 |
+
"joint4",
|
| 805 |
+
"joint5",
|
| 806 |
+
"joint6",
|
| 807 |
+
"joint7",
|
| 808 |
+
"left_inner_finger",
|
| 809 |
+
"lift2",
|
| 810 |
+
"mobile_rotate",
|
| 811 |
+
"mobile_translate_x",
|
| 812 |
+
"mobile_translate_y",
|
| 813 |
+
"panda_joint1",
|
| 814 |
+
"panda_joint2",
|
| 815 |
+
"panda_joint3",
|
| 816 |
+
"panda_joint4",
|
| 817 |
+
"panda_joint5",
|
| 818 |
+
"panda_joint6",
|
| 819 |
+
"panda_joint7",
|
| 820 |
+
"panda_leftfinger",
|
| 821 |
+
"panda_leftfingertip",
|
| 822 |
+
"panda_rightfinger",
|
| 823 |
+
"panda_rightfingertip",
|
| 824 |
+
"ridgebase",
|
| 825 |
+
"ridgebase_festo",
|
| 826 |
+
"ridgebase_fr3",
|
| 827 |
+
"ridgebase_rizon4",
|
| 828 |
+
"ridgebase_ur16e",
|
| 829 |
+
"ridgebase_ur5e",
|
| 830 |
+
"right_inner_finger",
|
| 831 |
+
"rizon4",
|
| 832 |
+
"robot",
|
| 833 |
+
"robotiq_2f85",
|
| 834 |
+
"shoulder_lift_joint",
|
| 835 |
+
"shoulder_pan_joint",
|
| 836 |
+
"split_aloha",
|
| 837 |
+
"tool_center",
|
| 838 |
+
"ur16e",
|
| 839 |
+
"ur5e",
|
| 840 |
+
"visuals",
|
| 841 |
+
"wrist",
|
| 842 |
+
"wrist_1_joint",
|
| 843 |
+
"wrist_2_joint",
|
| 844 |
+
"wrist_3_joint"
|
| 845 |
+
],
|
| 846 |
+
"ignored_prim_substrings": [
|
| 847 |
+
"base_link",
|
| 848 |
+
"caster",
|
| 849 |
+
"defaultgroundplane",
|
| 850 |
+
"desk",
|
| 851 |
+
"floor",
|
| 852 |
+
"ground",
|
| 853 |
+
"groundplane",
|
| 854 |
+
"link0",
|
| 855 |
+
"table",
|
| 856 |
+
"wheel",
|
| 857 |
+
"workbench"
|
| 858 |
+
],
|
| 859 |
+
"enabled": true
|
| 860 |
+
},
|
| 861 |
+
"status": "active",
|
| 862 |
+
"passed": true,
|
| 863 |
+
"source_missing": false,
|
| 864 |
+
"forbidden": [],
|
| 865 |
+
"disturbances": [],
|
| 866 |
+
"last_frame": {
|
| 867 |
+
"passed": true,
|
| 868 |
+
"source_missing": false,
|
| 869 |
+
"forbidden": [],
|
| 870 |
+
"allowed": [],
|
| 871 |
+
"ignored": [],
|
| 872 |
+
"failed_keys": []
|
| 873 |
+
},
|
| 874 |
+
"failed_keys": []
|
| 875 |
+
}
|
| 876 |
+
},
|
| 877 |
+
"gripper": null,
|
| 878 |
+
"post_done_wait_frames": 0,
|
| 879 |
+
"post_done_wait_exhausted": false
|
| 880 |
+
},
|
| 881 |
+
"physical_semantics": {
|
| 882 |
+
"skill": "press",
|
| 883 |
+
"target": "heat_button",
|
| 884 |
+
"attach_used": false,
|
| 885 |
+
"attach_object": null,
|
| 886 |
+
"attach_object_path": null,
|
| 887 |
+
"attach_allowed": false,
|
| 888 |
+
"ordinary_object_physical_only": true
|
| 889 |
+
}
|
| 890 |
+
}
|
| 891 |
+
],
|
| 892 |
+
"physical_semantics": {
|
| 893 |
+
"attach_records": [],
|
| 894 |
+
"ordinary_attach_violations": [],
|
| 895 |
+
"forbidden_shortcuts_absent": true
|
| 896 |
+
},
|
| 897 |
+
"h5_episode_index": 91,
|
| 898 |
+
"reproducibility": {
|
| 899 |
+
"enabled": true,
|
| 900 |
+
"action_seed": 6098556129387905517,
|
| 901 |
+
"physical_seed": 7490668268172140043,
|
| 902 |
+
"layout_id": "layout_00031",
|
| 903 |
+
"step_seeds": [
|
| 904 |
+
4567401361451441112,
|
| 905 |
+
7000790218311912638,
|
| 906 |
+
7522013946436761511,
|
| 907 |
+
7728913421038834906
|
| 908 |
+
],
|
| 909 |
+
"workflow_spec_digest": "bc4db0291f406fbd9c91f68a4c7f1acd36da9a03dd09cb73d832a7602138bc78",
|
| 910 |
+
"strict_task_state": false,
|
| 911 |
+
"allow_physical_randomization": true,
|
| 912 |
+
"seed_source": "workflow.reproducibility",
|
| 913 |
+
"task_island_state_digest": "bd1d0746afc3a575623dfa940c9c9c0cc92b365d70c22ee67ca1cbc8bae55631",
|
| 914 |
+
"visual_seed": 4819368157513327723,
|
| 915 |
+
"episode_index": 91,
|
| 916 |
+
"physical_randomization_enabled": true,
|
| 917 |
+
"motion_controller_type": "ik_servo",
|
| 918 |
+
"runtime_step_seeds": [
|
| 919 |
+
4567401361451441112,
|
| 920 |
+
7000790218311912638,
|
| 921 |
+
7522013946436761511,
|
| 922 |
+
7728913421038834906
|
| 923 |
+
],
|
| 924 |
+
"runtime_workflow_digest": "45388e27c653b4c58871f8eb0be862a6bfbe31c6d7d135b34c259a2497af3374"
|
| 925 |
+
}
|
| 926 |
+
}
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_92_success.json
ADDED
|
@@ -0,0 +1,926 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 92,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 4,
|
| 5 |
+
"total_steps": 4,
|
| 6 |
+
"step_accuracy": "4/4",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_b",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_b",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_b",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.1848361977434143,
|
| 26 |
+
0.21374318589753752,
|
| 27 |
+
1.0420291231727876
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0420291231727876,
|
| 30 |
+
"required_z": 0.8565866266178551,
|
| 31 |
+
"initial_z": 0.7565866266178551,
|
| 32 |
+
"lift_margin": 0.1854424965549325,
|
| 33 |
+
"gripper_z": 1.0477681145348126,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.18019141895700652,
|
| 38 |
+
0.20910291942744236,
|
| 39 |
+
1.0477681145348126
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004644778786407788,
|
| 43 |
+
0.004640266470095161,
|
| 44 |
+
-0.005738991362024937
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006565519239797658,
|
| 47 |
+
"object_to_gripper_z": -0.005738991362024937,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.1848361977434143,
|
| 51 |
+
0.18956417321982585,
|
| 52 |
+
1.0420291231727876
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.17335681218239413,
|
| 56 |
+
0.21374318589753752,
|
| 57 |
+
1.0420291231727876
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.17909650496290422,
|
| 61 |
+
0.2016536795586817,
|
| 62 |
+
1.0420291231727876
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005739692780510092,
|
| 66 |
+
0.012089506338855832,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.02676566731705937,
|
| 70 |
+
"fingertip_max_gap": 0.0929195801703808,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013382833658529684,
|
| 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": 1.0420291231727876,
|
| 78 |
+
"object_top_z": 1.0881515924482654,
|
| 79 |
+
"finger_top_clearance": 0.046122469275477807,
|
| 80 |
+
"fingertip_min_top_clearance": 0.013836740782643308,
|
| 81 |
+
"object_projection_between_fingers": 0.8160579024585036,
|
| 82 |
+
"object_to_finger_line_xy": 0.010370008926896481,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.0489597900851904,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 1.3306810525407025,
|
| 89 |
+
"object_max_tilt_deg": 15.0,
|
| 90 |
+
"object_upright_axis_local": [
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
1.0
|
| 94 |
+
],
|
| 95 |
+
"stable_success_frames": 208,
|
| 96 |
+
"max_stable_success_frames": 208,
|
| 97 |
+
"required_stable_lift_frames": 5
|
| 98 |
+
},
|
| 99 |
+
"failed_keys": [],
|
| 100 |
+
"failure_code": null,
|
| 101 |
+
"failure_messages": {},
|
| 102 |
+
"safety": {
|
| 103 |
+
"policy": {
|
| 104 |
+
"skill": "pick",
|
| 105 |
+
"target_object": "beaker_b",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_b"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/target_beaker"
|
| 112 |
+
],
|
| 113 |
+
"allowed_prim_substrings": [],
|
| 114 |
+
"robot_prim_substrings": [
|
| 115 |
+
"Robotiq2F85",
|
| 116 |
+
"Robotiq_2F_85",
|
| 117 |
+
"contact_sensor",
|
| 118 |
+
"dummy_base_prismatic_x_joint",
|
| 119 |
+
"dummy_base_prismatic_y_joint",
|
| 120 |
+
"dummy_base_revolute_z_joint",
|
| 121 |
+
"elbow_joint",
|
| 122 |
+
"festo",
|
| 123 |
+
"finger",
|
| 124 |
+
"fr3",
|
| 125 |
+
"fr3_duo_mobile",
|
| 126 |
+
"fr3_joint1",
|
| 127 |
+
"fr3_joint2",
|
| 128 |
+
"fr3_joint3",
|
| 129 |
+
"fr3_joint4",
|
| 130 |
+
"fr3_joint5",
|
| 131 |
+
"fr3_joint6",
|
| 132 |
+
"fr3_joint7",
|
| 133 |
+
"fr3_leftfinger",
|
| 134 |
+
"fr3_rightfinger",
|
| 135 |
+
"franka",
|
| 136 |
+
"geometry",
|
| 137 |
+
"gripper",
|
| 138 |
+
"gripper_center",
|
| 139 |
+
"joint1",
|
| 140 |
+
"joint2",
|
| 141 |
+
"joint3",
|
| 142 |
+
"joint4",
|
| 143 |
+
"joint5",
|
| 144 |
+
"joint6",
|
| 145 |
+
"joint7",
|
| 146 |
+
"left_inner_finger",
|
| 147 |
+
"lift2",
|
| 148 |
+
"mobile_rotate",
|
| 149 |
+
"mobile_translate_x",
|
| 150 |
+
"mobile_translate_y",
|
| 151 |
+
"panda_joint1",
|
| 152 |
+
"panda_joint2",
|
| 153 |
+
"panda_joint3",
|
| 154 |
+
"panda_joint4",
|
| 155 |
+
"panda_joint5",
|
| 156 |
+
"panda_joint6",
|
| 157 |
+
"panda_joint7",
|
| 158 |
+
"panda_leftfinger",
|
| 159 |
+
"panda_leftfingertip",
|
| 160 |
+
"panda_rightfinger",
|
| 161 |
+
"panda_rightfingertip",
|
| 162 |
+
"ridgebase",
|
| 163 |
+
"ridgebase_festo",
|
| 164 |
+
"ridgebase_fr3",
|
| 165 |
+
"ridgebase_rizon4",
|
| 166 |
+
"ridgebase_ur16e",
|
| 167 |
+
"ridgebase_ur5e",
|
| 168 |
+
"right_inner_finger",
|
| 169 |
+
"rizon4",
|
| 170 |
+
"robot",
|
| 171 |
+
"robotiq_2f85",
|
| 172 |
+
"shoulder_lift_joint",
|
| 173 |
+
"shoulder_pan_joint",
|
| 174 |
+
"split_aloha",
|
| 175 |
+
"tool_center",
|
| 176 |
+
"ur16e",
|
| 177 |
+
"ur5e",
|
| 178 |
+
"visuals",
|
| 179 |
+
"wrist",
|
| 180 |
+
"wrist_1_joint",
|
| 181 |
+
"wrist_2_joint",
|
| 182 |
+
"wrist_3_joint"
|
| 183 |
+
],
|
| 184 |
+
"ignored_prim_substrings": [
|
| 185 |
+
"base_link",
|
| 186 |
+
"caster",
|
| 187 |
+
"defaultgroundplane",
|
| 188 |
+
"desk",
|
| 189 |
+
"floor",
|
| 190 |
+
"ground",
|
| 191 |
+
"groundplane",
|
| 192 |
+
"link0",
|
| 193 |
+
"table",
|
| 194 |
+
"wheel",
|
| 195 |
+
"workbench"
|
| 196 |
+
],
|
| 197 |
+
"enabled": true
|
| 198 |
+
},
|
| 199 |
+
"status": "active",
|
| 200 |
+
"passed": true,
|
| 201 |
+
"source_missing": false,
|
| 202 |
+
"forbidden": [],
|
| 203 |
+
"disturbances": [],
|
| 204 |
+
"last_frame": {
|
| 205 |
+
"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/target_beaker/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/target_beaker/mesh"
|
| 216 |
+
}
|
| 217 |
+
],
|
| 218 |
+
"ignored": [],
|
| 219 |
+
"failed_keys": []
|
| 220 |
+
},
|
| 221 |
+
"failed_keys": []
|
| 222 |
+
}
|
| 223 |
+
},
|
| 224 |
+
"gripper": null,
|
| 225 |
+
"post_done_wait_frames": 0,
|
| 226 |
+
"post_done_wait_exhausted": false
|
| 227 |
+
},
|
| 228 |
+
"physical_semantics": {
|
| 229 |
+
"skill": "pick",
|
| 230 |
+
"target": "beaker_b",
|
| 231 |
+
"attach_used": false,
|
| 232 |
+
"attach_object": null,
|
| 233 |
+
"attach_object_path": null,
|
| 234 |
+
"attach_allowed": false,
|
| 235 |
+
"ordinary_object_physical_only": true
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
{
|
| 239 |
+
"step_index": 1,
|
| 240 |
+
"skill": "shake",
|
| 241 |
+
"target": "beaker_b",
|
| 242 |
+
"success": true,
|
| 243 |
+
"reason": "executed",
|
| 244 |
+
"debug": {
|
| 245 |
+
"arm": null,
|
| 246 |
+
"checker": {
|
| 247 |
+
"checker": "ShakeSuccessChecker",
|
| 248 |
+
"skill": "shake",
|
| 249 |
+
"target": "beaker_b",
|
| 250 |
+
"passed": true,
|
| 251 |
+
"metrics": {
|
| 252 |
+
"held": "beaker_b",
|
| 253 |
+
"force_virtual_attach": false,
|
| 254 |
+
"virtual_attach_allowed": false,
|
| 255 |
+
"gripper_position": [
|
| 256 |
+
0.18402976066259955,
|
| 257 |
+
0.2147123323217709,
|
| 258 |
+
1.2358668788726768
|
| 259 |
+
],
|
| 260 |
+
"held_position": [
|
| 261 |
+
0.188842419552643,
|
| 262 |
+
0.21897839860048032,
|
| 263 |
+
1.2299956479319867
|
| 264 |
+
],
|
| 265 |
+
"object_initial_z": 0.7730800627579277,
|
| 266 |
+
"required_gripper_z": 0.8930800627579277,
|
| 267 |
+
"shake_count": 5,
|
| 268 |
+
"held_shake_count": 5,
|
| 269 |
+
"effective_shake_count": 5,
|
| 270 |
+
"min_shake_count": 3,
|
| 271 |
+
"held_gripper_dist": 0.008708177756865818,
|
| 272 |
+
"max_held_gripper_dist": 0.008720571633322717,
|
| 273 |
+
"held_gripper_max_dist": 0.15,
|
| 274 |
+
"held_gripper_z_dist": 0.0058712309406900864,
|
| 275 |
+
"max_held_gripper_z_dist": 0.005892856901918764,
|
| 276 |
+
"held_gripper_z_max_dist": 0.15,
|
| 277 |
+
"held_object_xy_range": 0.08630442523096843,
|
| 278 |
+
"held_object_min_xy_range": 0.04,
|
| 279 |
+
"held_motion_ok": true,
|
| 280 |
+
"held_grasp_geometry_checked": true,
|
| 281 |
+
"held_grasp_geometry_required": true,
|
| 282 |
+
"held_grasp_source": "active_contact_pad_positions",
|
| 283 |
+
"held_grasp_finger_a": [
|
| 284 |
+
0.188842419552643,
|
| 285 |
+
0.19411355588078866,
|
| 286 |
+
1.2299956479319867
|
| 287 |
+
],
|
| 288 |
+
"held_grasp_finger_b": [
|
| 289 |
+
0.17906297860763998,
|
| 290 |
+
0.21897839860048032,
|
| 291 |
+
1.2299956479319867
|
| 292 |
+
],
|
| 293 |
+
"held_grasp_midpoint": [
|
| 294 |
+
0.1839526990801415,
|
| 295 |
+
0.2065459772406345,
|
| 296 |
+
1.2299956479319867
|
| 297 |
+
],
|
| 298 |
+
"held_grasp_object_position": [
|
| 299 |
+
0.188842419552643,
|
| 300 |
+
0.21897839860048032,
|
| 301 |
+
1.2299956479319867
|
| 302 |
+
],
|
| 303 |
+
"held_grasp_finger_gap": 0.026718867278981068,
|
| 304 |
+
"held_grasp_max_gap": 0.1249237185716629,
|
| 305 |
+
"held_grasp_geometry_frame": "object_local",
|
| 306 |
+
"held_grasp_size_source": "beaker_b_local_size",
|
| 307 |
+
"held_grasp_z_skew": 0.02446532967964749,
|
| 308 |
+
"held_grasp_world_z_skew": 0.0,
|
| 309 |
+
"held_grasp_z_skew_max": 0.08,
|
| 310 |
+
"held_grasp_z_skew_frame": "object_local_up",
|
| 311 |
+
"held_grasp_local_up_axis": [
|
| 312 |
+
-0.03819237428486354,
|
| 313 |
+
-0.9989538252274848,
|
| 314 |
+
0.025151493193462993
|
| 315 |
+
],
|
| 316 |
+
"held_grasp_object_projection_between_fingers": 0.5,
|
| 317 |
+
"held_grasp_object_to_finger_line_xy": 0.004422564127608919,
|
| 318 |
+
"held_grasp_line_xy_max_dist": 0.04746185928583145,
|
| 319 |
+
"held_grasp_object_top_z": 0.045200224965810776,
|
| 320 |
+
"held_grasp_top_clearance": 0.032594060057118755,
|
| 321 |
+
"held_grasp_min_top_clearance": 0.013560067489743232
|
| 322 |
+
},
|
| 323 |
+
"failed_keys": [],
|
| 324 |
+
"failure_code": null,
|
| 325 |
+
"failure_messages": {},
|
| 326 |
+
"safety": {
|
| 327 |
+
"policy": {
|
| 328 |
+
"skill": "shake",
|
| 329 |
+
"target_object": "beaker_b",
|
| 330 |
+
"held_object": "beaker_b",
|
| 331 |
+
"allowed_objects": [
|
| 332 |
+
"beaker_b"
|
| 333 |
+
],
|
| 334 |
+
"allowed_object_paths": [
|
| 335 |
+
"/World/target_beaker"
|
| 336 |
+
],
|
| 337 |
+
"allowed_prim_substrings": [],
|
| 338 |
+
"robot_prim_substrings": [
|
| 339 |
+
"Robotiq2F85",
|
| 340 |
+
"Robotiq_2F_85",
|
| 341 |
+
"contact_sensor",
|
| 342 |
+
"dummy_base_prismatic_x_joint",
|
| 343 |
+
"dummy_base_prismatic_y_joint",
|
| 344 |
+
"dummy_base_revolute_z_joint",
|
| 345 |
+
"elbow_joint",
|
| 346 |
+
"festo",
|
| 347 |
+
"finger",
|
| 348 |
+
"fr3",
|
| 349 |
+
"fr3_duo_mobile",
|
| 350 |
+
"fr3_joint1",
|
| 351 |
+
"fr3_joint2",
|
| 352 |
+
"fr3_joint3",
|
| 353 |
+
"fr3_joint4",
|
| 354 |
+
"fr3_joint5",
|
| 355 |
+
"fr3_joint6",
|
| 356 |
+
"fr3_joint7",
|
| 357 |
+
"fr3_leftfinger",
|
| 358 |
+
"fr3_rightfinger",
|
| 359 |
+
"franka",
|
| 360 |
+
"geometry",
|
| 361 |
+
"gripper",
|
| 362 |
+
"gripper_center",
|
| 363 |
+
"joint1",
|
| 364 |
+
"joint2",
|
| 365 |
+
"joint3",
|
| 366 |
+
"joint4",
|
| 367 |
+
"joint5",
|
| 368 |
+
"joint6",
|
| 369 |
+
"joint7",
|
| 370 |
+
"left_inner_finger",
|
| 371 |
+
"lift2",
|
| 372 |
+
"mobile_rotate",
|
| 373 |
+
"mobile_translate_x",
|
| 374 |
+
"mobile_translate_y",
|
| 375 |
+
"panda_joint1",
|
| 376 |
+
"panda_joint2",
|
| 377 |
+
"panda_joint3",
|
| 378 |
+
"panda_joint4",
|
| 379 |
+
"panda_joint5",
|
| 380 |
+
"panda_joint6",
|
| 381 |
+
"panda_joint7",
|
| 382 |
+
"panda_leftfinger",
|
| 383 |
+
"panda_leftfingertip",
|
| 384 |
+
"panda_rightfinger",
|
| 385 |
+
"panda_rightfingertip",
|
| 386 |
+
"ridgebase",
|
| 387 |
+
"ridgebase_festo",
|
| 388 |
+
"ridgebase_fr3",
|
| 389 |
+
"ridgebase_rizon4",
|
| 390 |
+
"ridgebase_ur16e",
|
| 391 |
+
"ridgebase_ur5e",
|
| 392 |
+
"right_inner_finger",
|
| 393 |
+
"rizon4",
|
| 394 |
+
"robot",
|
| 395 |
+
"robotiq_2f85",
|
| 396 |
+
"shoulder_lift_joint",
|
| 397 |
+
"shoulder_pan_joint",
|
| 398 |
+
"split_aloha",
|
| 399 |
+
"tool_center",
|
| 400 |
+
"ur16e",
|
| 401 |
+
"ur5e",
|
| 402 |
+
"visuals",
|
| 403 |
+
"wrist",
|
| 404 |
+
"wrist_1_joint",
|
| 405 |
+
"wrist_2_joint",
|
| 406 |
+
"wrist_3_joint"
|
| 407 |
+
],
|
| 408 |
+
"ignored_prim_substrings": [
|
| 409 |
+
"base_link",
|
| 410 |
+
"caster",
|
| 411 |
+
"defaultgroundplane",
|
| 412 |
+
"desk",
|
| 413 |
+
"floor",
|
| 414 |
+
"ground",
|
| 415 |
+
"groundplane",
|
| 416 |
+
"link0",
|
| 417 |
+
"table",
|
| 418 |
+
"wheel",
|
| 419 |
+
"workbench"
|
| 420 |
+
],
|
| 421 |
+
"enabled": true
|
| 422 |
+
},
|
| 423 |
+
"status": "active",
|
| 424 |
+
"passed": true,
|
| 425 |
+
"source_missing": false,
|
| 426 |
+
"forbidden": [],
|
| 427 |
+
"disturbances": [],
|
| 428 |
+
"last_frame": {
|
| 429 |
+
"passed": true,
|
| 430 |
+
"source_missing": false,
|
| 431 |
+
"forbidden": [],
|
| 432 |
+
"allowed": [
|
| 433 |
+
{
|
| 434 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 435 |
+
"b": "/World/target_beaker/mesh"
|
| 436 |
+
},
|
| 437 |
+
{
|
| 438 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 439 |
+
"b": "/World/target_beaker/mesh"
|
| 440 |
+
}
|
| 441 |
+
],
|
| 442 |
+
"ignored": [],
|
| 443 |
+
"failed_keys": []
|
| 444 |
+
},
|
| 445 |
+
"failed_keys": []
|
| 446 |
+
}
|
| 447 |
+
},
|
| 448 |
+
"gripper": null,
|
| 449 |
+
"post_done_wait_frames": 0,
|
| 450 |
+
"post_done_wait_exhausted": false
|
| 451 |
+
},
|
| 452 |
+
"physical_semantics": {
|
| 453 |
+
"skill": "shake",
|
| 454 |
+
"target": "beaker_b",
|
| 455 |
+
"attach_used": false,
|
| 456 |
+
"attach_object": null,
|
| 457 |
+
"attach_object_path": null,
|
| 458 |
+
"attach_allowed": false,
|
| 459 |
+
"ordinary_object_physical_only": true
|
| 460 |
+
}
|
| 461 |
+
},
|
| 462 |
+
{
|
| 463 |
+
"step_index": 2,
|
| 464 |
+
"skill": "place",
|
| 465 |
+
"target": "heater_platform",
|
| 466 |
+
"success": true,
|
| 467 |
+
"reason": "executed",
|
| 468 |
+
"debug": {
|
| 469 |
+
"arm": null,
|
| 470 |
+
"checker": {
|
| 471 |
+
"checker": "PlaceSuccessChecker",
|
| 472 |
+
"skill": "place",
|
| 473 |
+
"target": "heater_platform",
|
| 474 |
+
"passed": true,
|
| 475 |
+
"metrics": {
|
| 476 |
+
"held": "beaker_b",
|
| 477 |
+
"target": "heater_platform",
|
| 478 |
+
"object_position": [
|
| 479 |
+
0.3366955723701558,
|
| 480 |
+
-0.3297840866832339,
|
| 481 |
+
0.84701950379788
|
| 482 |
+
],
|
| 483 |
+
"target_position": [
|
| 484 |
+
0.3305204404959125,
|
| 485 |
+
-0.33131142852038403,
|
| 486 |
+
0.8084375599031817
|
| 487 |
+
],
|
| 488 |
+
"target_position_source": "target_object:_xform_position",
|
| 489 |
+
"xy_dist": 0.006361212679340679,
|
| 490 |
+
"xy_threshold": 0.08,
|
| 491 |
+
"gripper_dist": 0.18509099572891494,
|
| 492 |
+
"gripper_away_threshold": 0.04,
|
| 493 |
+
"gripper_away_ok": true,
|
| 494 |
+
"object_z": 0.84701950379788,
|
| 495 |
+
"min_z": 0.5730800627579278,
|
| 496 |
+
"min_z_margin": 0.2,
|
| 497 |
+
"require_object_upright": true,
|
| 498 |
+
"object_upright_reference_source": "scene_initial",
|
| 499 |
+
"release_fingertip_source": "active_contact_pad_positions",
|
| 500 |
+
"release_finger_gap": 0.07582677414675561,
|
| 501 |
+
"release_finger_gap_metric": "3d_contact_pad_distance",
|
| 502 |
+
"release_fingertip_min_gap": 0.08636545364357372,
|
| 503 |
+
"release_gap_margin": 0.02,
|
| 504 |
+
"release_gap_missing_size": false,
|
| 505 |
+
"release_min_pad_clearance": 0.15294085343555525,
|
| 506 |
+
"release_required_pad_clearance": 0.05318272682178686,
|
| 507 |
+
"release_pad_clearance_ok": true,
|
| 508 |
+
"release_gap_ok": false,
|
| 509 |
+
"force_virtual_attach": false,
|
| 510 |
+
"virtual_attach_allowed": false,
|
| 511 |
+
"max_z": 0.9084375599031816,
|
| 512 |
+
"max_z_margin": 0.1,
|
| 513 |
+
"object_tilt_deg": 1.3887231868885062,
|
| 514 |
+
"object_max_tilt_deg": 12.0,
|
| 515 |
+
"object_axis_flip_tolerance_deg": 3.0,
|
| 516 |
+
"object_upright_axis_local": null,
|
| 517 |
+
"required_placed_release_frames": 2,
|
| 518 |
+
"placed_release_frames": 153,
|
| 519 |
+
"max_placed_release_frames": 153
|
| 520 |
+
},
|
| 521 |
+
"failed_keys": [],
|
| 522 |
+
"failure_code": null,
|
| 523 |
+
"failure_messages": {},
|
| 524 |
+
"safety": {
|
| 525 |
+
"policy": {
|
| 526 |
+
"skill": "place",
|
| 527 |
+
"target_object": "heater_platform",
|
| 528 |
+
"held_object": "beaker_b",
|
| 529 |
+
"allowed_objects": [
|
| 530 |
+
"beaker_b",
|
| 531 |
+
"heater_platform"
|
| 532 |
+
],
|
| 533 |
+
"allowed_object_paths": [
|
| 534 |
+
"/World/heat_device/heat_device/heat_device/plat",
|
| 535 |
+
"/World/target_beaker"
|
| 536 |
+
],
|
| 537 |
+
"allowed_prim_substrings": [],
|
| 538 |
+
"robot_prim_substrings": [
|
| 539 |
+
"Robotiq2F85",
|
| 540 |
+
"Robotiq_2F_85",
|
| 541 |
+
"contact_sensor",
|
| 542 |
+
"dummy_base_prismatic_x_joint",
|
| 543 |
+
"dummy_base_prismatic_y_joint",
|
| 544 |
+
"dummy_base_revolute_z_joint",
|
| 545 |
+
"elbow_joint",
|
| 546 |
+
"festo",
|
| 547 |
+
"finger",
|
| 548 |
+
"fr3",
|
| 549 |
+
"fr3_duo_mobile",
|
| 550 |
+
"fr3_joint1",
|
| 551 |
+
"fr3_joint2",
|
| 552 |
+
"fr3_joint3",
|
| 553 |
+
"fr3_joint4",
|
| 554 |
+
"fr3_joint5",
|
| 555 |
+
"fr3_joint6",
|
| 556 |
+
"fr3_joint7",
|
| 557 |
+
"fr3_leftfinger",
|
| 558 |
+
"fr3_rightfinger",
|
| 559 |
+
"franka",
|
| 560 |
+
"geometry",
|
| 561 |
+
"gripper",
|
| 562 |
+
"gripper_center",
|
| 563 |
+
"joint1",
|
| 564 |
+
"joint2",
|
| 565 |
+
"joint3",
|
| 566 |
+
"joint4",
|
| 567 |
+
"joint5",
|
| 568 |
+
"joint6",
|
| 569 |
+
"joint7",
|
| 570 |
+
"left_inner_finger",
|
| 571 |
+
"lift2",
|
| 572 |
+
"mobile_rotate",
|
| 573 |
+
"mobile_translate_x",
|
| 574 |
+
"mobile_translate_y",
|
| 575 |
+
"panda_joint1",
|
| 576 |
+
"panda_joint2",
|
| 577 |
+
"panda_joint3",
|
| 578 |
+
"panda_joint4",
|
| 579 |
+
"panda_joint5",
|
| 580 |
+
"panda_joint6",
|
| 581 |
+
"panda_joint7",
|
| 582 |
+
"panda_leftfinger",
|
| 583 |
+
"panda_leftfingertip",
|
| 584 |
+
"panda_rightfinger",
|
| 585 |
+
"panda_rightfingertip",
|
| 586 |
+
"ridgebase",
|
| 587 |
+
"ridgebase_festo",
|
| 588 |
+
"ridgebase_fr3",
|
| 589 |
+
"ridgebase_rizon4",
|
| 590 |
+
"ridgebase_ur16e",
|
| 591 |
+
"ridgebase_ur5e",
|
| 592 |
+
"right_inner_finger",
|
| 593 |
+
"rizon4",
|
| 594 |
+
"robot",
|
| 595 |
+
"robotiq_2f85",
|
| 596 |
+
"shoulder_lift_joint",
|
| 597 |
+
"shoulder_pan_joint",
|
| 598 |
+
"split_aloha",
|
| 599 |
+
"tool_center",
|
| 600 |
+
"ur16e",
|
| 601 |
+
"ur5e",
|
| 602 |
+
"visuals",
|
| 603 |
+
"wrist",
|
| 604 |
+
"wrist_1_joint",
|
| 605 |
+
"wrist_2_joint",
|
| 606 |
+
"wrist_3_joint"
|
| 607 |
+
],
|
| 608 |
+
"ignored_prim_substrings": [
|
| 609 |
+
"base_link",
|
| 610 |
+
"caster",
|
| 611 |
+
"defaultgroundplane",
|
| 612 |
+
"desk",
|
| 613 |
+
"floor",
|
| 614 |
+
"ground",
|
| 615 |
+
"groundplane",
|
| 616 |
+
"link0",
|
| 617 |
+
"table",
|
| 618 |
+
"wheel",
|
| 619 |
+
"workbench"
|
| 620 |
+
],
|
| 621 |
+
"enabled": true
|
| 622 |
+
},
|
| 623 |
+
"status": "active",
|
| 624 |
+
"passed": true,
|
| 625 |
+
"source_missing": false,
|
| 626 |
+
"forbidden": [],
|
| 627 |
+
"disturbances": [],
|
| 628 |
+
"last_frame": {
|
| 629 |
+
"passed": true,
|
| 630 |
+
"source_missing": false,
|
| 631 |
+
"forbidden": [],
|
| 632 |
+
"allowed": [],
|
| 633 |
+
"ignored": [],
|
| 634 |
+
"failed_keys": []
|
| 635 |
+
},
|
| 636 |
+
"failed_keys": []
|
| 637 |
+
}
|
| 638 |
+
},
|
| 639 |
+
"gripper": null,
|
| 640 |
+
"post_done_wait_frames": 0,
|
| 641 |
+
"post_done_wait_exhausted": false
|
| 642 |
+
},
|
| 643 |
+
"physical_semantics": {
|
| 644 |
+
"skill": "place",
|
| 645 |
+
"target": "heater_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 |
+
"step_index": 3,
|
| 655 |
+
"skill": "press",
|
| 656 |
+
"target": "heat_button",
|
| 657 |
+
"success": true,
|
| 658 |
+
"reason": "executed",
|
| 659 |
+
"debug": {
|
| 660 |
+
"arm": null,
|
| 661 |
+
"checker": {
|
| 662 |
+
"checker": "PressSuccessChecker",
|
| 663 |
+
"skill": "press",
|
| 664 |
+
"target": "heat_button",
|
| 665 |
+
"passed": true,
|
| 666 |
+
"metrics": {
|
| 667 |
+
"target": "heat_button",
|
| 668 |
+
"z_decrease": 0.008024871349334717,
|
| 669 |
+
"max_z_decrease": 0.008024871349334717,
|
| 670 |
+
"final_z_decrease": 0.0,
|
| 671 |
+
"z_decrease_threshold": 0.0003,
|
| 672 |
+
"min_ee_to_button": 0.035062509138932885,
|
| 673 |
+
"contact_distance_threshold": 0.08,
|
| 674 |
+
"ee_contact_ok": true,
|
| 675 |
+
"max_z_decrease_with_ee_contact": 0.008024871349334717,
|
| 676 |
+
"ee_contacted_z_ok": true,
|
| 677 |
+
"physical_press_ok": true,
|
| 678 |
+
"required_contacted_press_frames": 2,
|
| 679 |
+
"contacted_z_stable_frames": 0,
|
| 680 |
+
"max_contacted_z_stable_frames": 78,
|
| 681 |
+
"contact_point_distance": 0.02123065790726897,
|
| 682 |
+
"contact_point_source": "active_contact_pad_positions",
|
| 683 |
+
"contact_point_distance_threshold": 0.04,
|
| 684 |
+
"contact_point_seen_ok": true,
|
| 685 |
+
"contact_point_ok": true,
|
| 686 |
+
"contact_point_stable_frames": 0,
|
| 687 |
+
"max_contact_point_stable_frames": 120,
|
| 688 |
+
"max_z_decrease_with_contact_point": 0.008024871349334717,
|
| 689 |
+
"contact_point_contacted_z_ok": true,
|
| 690 |
+
"contact_point_contacted_z_stable_frames": 0,
|
| 691 |
+
"max_contact_point_contacted_z_stable_frames": 78,
|
| 692 |
+
"contact_ok": true,
|
| 693 |
+
"button_final_displacement": 0.0,
|
| 694 |
+
"button_max_displacement": 0.008024890681751573,
|
| 695 |
+
"max_button_displacement": 0.12,
|
| 696 |
+
"button_start": [
|
| 697 |
+
0.18622036278247833,
|
| 698 |
+
-0.3875728845596313,
|
| 699 |
+
0.7768088579177856
|
| 700 |
+
],
|
| 701 |
+
"button_final": [
|
| 702 |
+
0.18622036278247833,
|
| 703 |
+
-0.3875728845596313,
|
| 704 |
+
0.7768088579177856
|
| 705 |
+
],
|
| 706 |
+
"closest_ee": [
|
| 707 |
+
0.18505829989879574,
|
| 708 |
+
-0.38568573437919235,
|
| 709 |
+
0.8048753671736423
|
| 710 |
+
],
|
| 711 |
+
"closest_button": [
|
| 712 |
+
0.18620453774929047,
|
| 713 |
+
-0.38757273554801935,
|
| 714 |
+
0.7698824405670166
|
| 715 |
+
],
|
| 716 |
+
"closest_ee_minus_button": [
|
| 717 |
+
-0.0011462378504947246,
|
| 718 |
+
0.0018870011688270072,
|
| 719 |
+
0.034992926606625674
|
| 720 |
+
],
|
| 721 |
+
"button_min_z_position": [
|
| 722 |
+
0.1862027496099472,
|
| 723 |
+
-0.38757264614105225,
|
| 724 |
+
0.7687839865684509
|
| 725 |
+
],
|
| 726 |
+
"min_active_finger_to_button": 0.14632301096097533,
|
| 727 |
+
"closest_active_finger": [
|
| 728 |
+
0.05737952142953873,
|
| 729 |
+
-0.44731390476226807,
|
| 730 |
+
0.8081187605857849
|
| 731 |
+
],
|
| 732 |
+
"closest_active_finger_button": [
|
| 733 |
+
0.18623340129852295,
|
| 734 |
+
-0.3875805139541626,
|
| 735 |
+
0.7729189991950989
|
| 736 |
+
],
|
| 737 |
+
"closest_active_finger_index": 1,
|
| 738 |
+
"closest_active_finger_minus_button": [
|
| 739 |
+
-0.12885387986898422,
|
| 740 |
+
-0.05973339080810547,
|
| 741 |
+
0.035199761390686035
|
| 742 |
+
],
|
| 743 |
+
"min_contact_pad_to_button": 0.02123065790726897,
|
| 744 |
+
"closest_contact_pad": [
|
| 745 |
+
0.1862027496099472,
|
| 746 |
+
-0.38757264614105225,
|
| 747 |
+
0.7900146444757199
|
| 748 |
+
],
|
| 749 |
+
"closest_contact_pad_button": [
|
| 750 |
+
0.1862027496099472,
|
| 751 |
+
-0.38757264614105225,
|
| 752 |
+
0.7687839865684509
|
| 753 |
+
],
|
| 754 |
+
"closest_contact_pad_index": 0,
|
| 755 |
+
"closest_contact_pad_minus_button": [
|
| 756 |
+
0.0,
|
| 757 |
+
0.0,
|
| 758 |
+
0.02123065790726897
|
| 759 |
+
]
|
| 760 |
+
},
|
| 761 |
+
"failed_keys": [],
|
| 762 |
+
"failure_code": null,
|
| 763 |
+
"failure_messages": {},
|
| 764 |
+
"safety": {
|
| 765 |
+
"policy": {
|
| 766 |
+
"skill": "press",
|
| 767 |
+
"target_object": "heat_button",
|
| 768 |
+
"held_object": null,
|
| 769 |
+
"allowed_objects": [
|
| 770 |
+
"heat_button"
|
| 771 |
+
],
|
| 772 |
+
"allowed_object_paths": [
|
| 773 |
+
"/World/heat_device/button"
|
| 774 |
+
],
|
| 775 |
+
"allowed_prim_substrings": [],
|
| 776 |
+
"robot_prim_substrings": [
|
| 777 |
+
"Robotiq2F85",
|
| 778 |
+
"Robotiq_2F_85",
|
| 779 |
+
"contact_sensor",
|
| 780 |
+
"dummy_base_prismatic_x_joint",
|
| 781 |
+
"dummy_base_prismatic_y_joint",
|
| 782 |
+
"dummy_base_revolute_z_joint",
|
| 783 |
+
"elbow_joint",
|
| 784 |
+
"festo",
|
| 785 |
+
"finger",
|
| 786 |
+
"fr3",
|
| 787 |
+
"fr3_duo_mobile",
|
| 788 |
+
"fr3_joint1",
|
| 789 |
+
"fr3_joint2",
|
| 790 |
+
"fr3_joint3",
|
| 791 |
+
"fr3_joint4",
|
| 792 |
+
"fr3_joint5",
|
| 793 |
+
"fr3_joint6",
|
| 794 |
+
"fr3_joint7",
|
| 795 |
+
"fr3_leftfinger",
|
| 796 |
+
"fr3_rightfinger",
|
| 797 |
+
"franka",
|
| 798 |
+
"geometry",
|
| 799 |
+
"gripper",
|
| 800 |
+
"gripper_center",
|
| 801 |
+
"joint1",
|
| 802 |
+
"joint2",
|
| 803 |
+
"joint3",
|
| 804 |
+
"joint4",
|
| 805 |
+
"joint5",
|
| 806 |
+
"joint6",
|
| 807 |
+
"joint7",
|
| 808 |
+
"left_inner_finger",
|
| 809 |
+
"lift2",
|
| 810 |
+
"mobile_rotate",
|
| 811 |
+
"mobile_translate_x",
|
| 812 |
+
"mobile_translate_y",
|
| 813 |
+
"panda_joint1",
|
| 814 |
+
"panda_joint2",
|
| 815 |
+
"panda_joint3",
|
| 816 |
+
"panda_joint4",
|
| 817 |
+
"panda_joint5",
|
| 818 |
+
"panda_joint6",
|
| 819 |
+
"panda_joint7",
|
| 820 |
+
"panda_leftfinger",
|
| 821 |
+
"panda_leftfingertip",
|
| 822 |
+
"panda_rightfinger",
|
| 823 |
+
"panda_rightfingertip",
|
| 824 |
+
"ridgebase",
|
| 825 |
+
"ridgebase_festo",
|
| 826 |
+
"ridgebase_fr3",
|
| 827 |
+
"ridgebase_rizon4",
|
| 828 |
+
"ridgebase_ur16e",
|
| 829 |
+
"ridgebase_ur5e",
|
| 830 |
+
"right_inner_finger",
|
| 831 |
+
"rizon4",
|
| 832 |
+
"robot",
|
| 833 |
+
"robotiq_2f85",
|
| 834 |
+
"shoulder_lift_joint",
|
| 835 |
+
"shoulder_pan_joint",
|
| 836 |
+
"split_aloha",
|
| 837 |
+
"tool_center",
|
| 838 |
+
"ur16e",
|
| 839 |
+
"ur5e",
|
| 840 |
+
"visuals",
|
| 841 |
+
"wrist",
|
| 842 |
+
"wrist_1_joint",
|
| 843 |
+
"wrist_2_joint",
|
| 844 |
+
"wrist_3_joint"
|
| 845 |
+
],
|
| 846 |
+
"ignored_prim_substrings": [
|
| 847 |
+
"base_link",
|
| 848 |
+
"caster",
|
| 849 |
+
"defaultgroundplane",
|
| 850 |
+
"desk",
|
| 851 |
+
"floor",
|
| 852 |
+
"ground",
|
| 853 |
+
"groundplane",
|
| 854 |
+
"link0",
|
| 855 |
+
"table",
|
| 856 |
+
"wheel",
|
| 857 |
+
"workbench"
|
| 858 |
+
],
|
| 859 |
+
"enabled": true
|
| 860 |
+
},
|
| 861 |
+
"status": "active",
|
| 862 |
+
"passed": true,
|
| 863 |
+
"source_missing": false,
|
| 864 |
+
"forbidden": [],
|
| 865 |
+
"disturbances": [],
|
| 866 |
+
"last_frame": {
|
| 867 |
+
"passed": true,
|
| 868 |
+
"source_missing": false,
|
| 869 |
+
"forbidden": [],
|
| 870 |
+
"allowed": [],
|
| 871 |
+
"ignored": [],
|
| 872 |
+
"failed_keys": []
|
| 873 |
+
},
|
| 874 |
+
"failed_keys": []
|
| 875 |
+
}
|
| 876 |
+
},
|
| 877 |
+
"gripper": null,
|
| 878 |
+
"post_done_wait_frames": 0,
|
| 879 |
+
"post_done_wait_exhausted": false
|
| 880 |
+
},
|
| 881 |
+
"physical_semantics": {
|
| 882 |
+
"skill": "press",
|
| 883 |
+
"target": "heat_button",
|
| 884 |
+
"attach_used": false,
|
| 885 |
+
"attach_object": null,
|
| 886 |
+
"attach_object_path": null,
|
| 887 |
+
"attach_allowed": false,
|
| 888 |
+
"ordinary_object_physical_only": true
|
| 889 |
+
}
|
| 890 |
+
}
|
| 891 |
+
],
|
| 892 |
+
"physical_semantics": {
|
| 893 |
+
"attach_records": [],
|
| 894 |
+
"ordinary_attach_violations": [],
|
| 895 |
+
"forbidden_shortcuts_absent": true
|
| 896 |
+
},
|
| 897 |
+
"h5_episode_index": 92,
|
| 898 |
+
"reproducibility": {
|
| 899 |
+
"enabled": true,
|
| 900 |
+
"action_seed": 6098556129387905517,
|
| 901 |
+
"physical_seed": 7490668268172140043,
|
| 902 |
+
"layout_id": "layout_00031",
|
| 903 |
+
"step_seeds": [
|
| 904 |
+
4567401361451441112,
|
| 905 |
+
7000790218311912638,
|
| 906 |
+
7522013946436761511,
|
| 907 |
+
7728913421038834906
|
| 908 |
+
],
|
| 909 |
+
"workflow_spec_digest": "bc4db0291f406fbd9c91f68a4c7f1acd36da9a03dd09cb73d832a7602138bc78",
|
| 910 |
+
"strict_task_state": false,
|
| 911 |
+
"allow_physical_randomization": true,
|
| 912 |
+
"seed_source": "workflow.reproducibility",
|
| 913 |
+
"task_island_state_digest": "02949596ebf13509a95cfdb5ef24fe6389619b62c04408504069a4b2da46b60c",
|
| 914 |
+
"visual_seed": 1583187615645521471,
|
| 915 |
+
"episode_index": 92,
|
| 916 |
+
"physical_randomization_enabled": true,
|
| 917 |
+
"motion_controller_type": "ik_servo",
|
| 918 |
+
"runtime_step_seeds": [
|
| 919 |
+
4567401361451441112,
|
| 920 |
+
7000790218311912638,
|
| 921 |
+
7522013946436761511,
|
| 922 |
+
7728913421038834906
|
| 923 |
+
],
|
| 924 |
+
"runtime_workflow_digest": "45388e27c653b4c58871f8eb0be862a6bfbe31c6d7d135b34c259a2497af3374"
|
| 925 |
+
}
|
| 926 |
+
}
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_93_success.json
ADDED
|
@@ -0,0 +1,926 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 93,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 4,
|
| 5 |
+
"total_steps": 4,
|
| 6 |
+
"step_accuracy": "4/4",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_b",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_b",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_b",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.18930515904777975,
|
| 26 |
+
0.2151348262543995,
|
| 27 |
+
1.0418731824777492
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0418731824777492,
|
| 30 |
+
"required_z": 0.8565865670132105,
|
| 31 |
+
"initial_z": 0.7565865670132105,
|
| 32 |
+
"lift_margin": 0.18528661546453873,
|
| 33 |
+
"gripper_z": 1.047279861194864,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.18462729103529887,
|
| 38 |
+
0.21051076720602246,
|
| 39 |
+
1.047279861194864
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004677868012480879,
|
| 43 |
+
0.004624059048377038,
|
| 44 |
+
-0.0054066787171147546
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.00657756575224219,
|
| 47 |
+
"object_to_gripper_z": -0.0054066787171147546,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.18930515904777975,
|
| 51 |
+
0.19086781103382047,
|
| 52 |
+
1.0418731824777492
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.17793622685907978,
|
| 56 |
+
0.2151348262543995,
|
| 57 |
+
1.0418731824777492
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.18362069295342975,
|
| 61 |
+
0.20300131864410997,
|
| 62 |
+
1.0418731824777492
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005684466094349999,
|
| 66 |
+
0.012133507610289529,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.026798146331921405,
|
| 70 |
+
"fingertip_max_gap": 0.09425490918329535,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.01339907316596072,
|
| 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": 1.0418731824777492,
|
| 78 |
+
"object_top_z": 1.088597373467059,
|
| 79 |
+
"finger_top_clearance": 0.04672419098930991,
|
| 80 |
+
"fingertip_min_top_clearance": 0.014017257296793007,
|
| 81 |
+
"object_projection_between_fingers": 0.8200176808229291,
|
| 82 |
+
"object_to_finger_line_xy": 0.010295116947558356,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.04962745459164768,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 1.667851400666037,
|
| 89 |
+
"object_max_tilt_deg": 15.0,
|
| 90 |
+
"object_upright_axis_local": [
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
1.0
|
| 94 |
+
],
|
| 95 |
+
"stable_success_frames": 207,
|
| 96 |
+
"max_stable_success_frames": 207,
|
| 97 |
+
"required_stable_lift_frames": 5
|
| 98 |
+
},
|
| 99 |
+
"failed_keys": [],
|
| 100 |
+
"failure_code": null,
|
| 101 |
+
"failure_messages": {},
|
| 102 |
+
"safety": {
|
| 103 |
+
"policy": {
|
| 104 |
+
"skill": "pick",
|
| 105 |
+
"target_object": "beaker_b",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_b"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/target_beaker"
|
| 112 |
+
],
|
| 113 |
+
"allowed_prim_substrings": [],
|
| 114 |
+
"robot_prim_substrings": [
|
| 115 |
+
"Robotiq2F85",
|
| 116 |
+
"Robotiq_2F_85",
|
| 117 |
+
"contact_sensor",
|
| 118 |
+
"dummy_base_prismatic_x_joint",
|
| 119 |
+
"dummy_base_prismatic_y_joint",
|
| 120 |
+
"dummy_base_revolute_z_joint",
|
| 121 |
+
"elbow_joint",
|
| 122 |
+
"festo",
|
| 123 |
+
"finger",
|
| 124 |
+
"fr3",
|
| 125 |
+
"fr3_duo_mobile",
|
| 126 |
+
"fr3_joint1",
|
| 127 |
+
"fr3_joint2",
|
| 128 |
+
"fr3_joint3",
|
| 129 |
+
"fr3_joint4",
|
| 130 |
+
"fr3_joint5",
|
| 131 |
+
"fr3_joint6",
|
| 132 |
+
"fr3_joint7",
|
| 133 |
+
"fr3_leftfinger",
|
| 134 |
+
"fr3_rightfinger",
|
| 135 |
+
"franka",
|
| 136 |
+
"geometry",
|
| 137 |
+
"gripper",
|
| 138 |
+
"gripper_center",
|
| 139 |
+
"joint1",
|
| 140 |
+
"joint2",
|
| 141 |
+
"joint3",
|
| 142 |
+
"joint4",
|
| 143 |
+
"joint5",
|
| 144 |
+
"joint6",
|
| 145 |
+
"joint7",
|
| 146 |
+
"left_inner_finger",
|
| 147 |
+
"lift2",
|
| 148 |
+
"mobile_rotate",
|
| 149 |
+
"mobile_translate_x",
|
| 150 |
+
"mobile_translate_y",
|
| 151 |
+
"panda_joint1",
|
| 152 |
+
"panda_joint2",
|
| 153 |
+
"panda_joint3",
|
| 154 |
+
"panda_joint4",
|
| 155 |
+
"panda_joint5",
|
| 156 |
+
"panda_joint6",
|
| 157 |
+
"panda_joint7",
|
| 158 |
+
"panda_leftfinger",
|
| 159 |
+
"panda_leftfingertip",
|
| 160 |
+
"panda_rightfinger",
|
| 161 |
+
"panda_rightfingertip",
|
| 162 |
+
"ridgebase",
|
| 163 |
+
"ridgebase_festo",
|
| 164 |
+
"ridgebase_fr3",
|
| 165 |
+
"ridgebase_rizon4",
|
| 166 |
+
"ridgebase_ur16e",
|
| 167 |
+
"ridgebase_ur5e",
|
| 168 |
+
"right_inner_finger",
|
| 169 |
+
"rizon4",
|
| 170 |
+
"robot",
|
| 171 |
+
"robotiq_2f85",
|
| 172 |
+
"shoulder_lift_joint",
|
| 173 |
+
"shoulder_pan_joint",
|
| 174 |
+
"split_aloha",
|
| 175 |
+
"tool_center",
|
| 176 |
+
"ur16e",
|
| 177 |
+
"ur5e",
|
| 178 |
+
"visuals",
|
| 179 |
+
"wrist",
|
| 180 |
+
"wrist_1_joint",
|
| 181 |
+
"wrist_2_joint",
|
| 182 |
+
"wrist_3_joint"
|
| 183 |
+
],
|
| 184 |
+
"ignored_prim_substrings": [
|
| 185 |
+
"base_link",
|
| 186 |
+
"caster",
|
| 187 |
+
"defaultgroundplane",
|
| 188 |
+
"desk",
|
| 189 |
+
"floor",
|
| 190 |
+
"ground",
|
| 191 |
+
"groundplane",
|
| 192 |
+
"link0",
|
| 193 |
+
"table",
|
| 194 |
+
"wheel",
|
| 195 |
+
"workbench"
|
| 196 |
+
],
|
| 197 |
+
"enabled": true
|
| 198 |
+
},
|
| 199 |
+
"status": "active",
|
| 200 |
+
"passed": true,
|
| 201 |
+
"source_missing": false,
|
| 202 |
+
"forbidden": [],
|
| 203 |
+
"disturbances": [],
|
| 204 |
+
"last_frame": {
|
| 205 |
+
"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/target_beaker/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/target_beaker/mesh"
|
| 216 |
+
}
|
| 217 |
+
],
|
| 218 |
+
"ignored": [],
|
| 219 |
+
"failed_keys": []
|
| 220 |
+
},
|
| 221 |
+
"failed_keys": []
|
| 222 |
+
}
|
| 223 |
+
},
|
| 224 |
+
"gripper": null,
|
| 225 |
+
"post_done_wait_frames": 0,
|
| 226 |
+
"post_done_wait_exhausted": false
|
| 227 |
+
},
|
| 228 |
+
"physical_semantics": {
|
| 229 |
+
"skill": "pick",
|
| 230 |
+
"target": "beaker_b",
|
| 231 |
+
"attach_used": false,
|
| 232 |
+
"attach_object": null,
|
| 233 |
+
"attach_object_path": null,
|
| 234 |
+
"attach_allowed": false,
|
| 235 |
+
"ordinary_object_physical_only": true
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
{
|
| 239 |
+
"step_index": 1,
|
| 240 |
+
"skill": "shake",
|
| 241 |
+
"target": "beaker_b",
|
| 242 |
+
"success": true,
|
| 243 |
+
"reason": "executed",
|
| 244 |
+
"debug": {
|
| 245 |
+
"arm": null,
|
| 246 |
+
"checker": {
|
| 247 |
+
"checker": "ShakeSuccessChecker",
|
| 248 |
+
"skill": "shake",
|
| 249 |
+
"target": "beaker_b",
|
| 250 |
+
"passed": true,
|
| 251 |
+
"metrics": {
|
| 252 |
+
"held": "beaker_b",
|
| 253 |
+
"force_virtual_attach": false,
|
| 254 |
+
"virtual_attach_allowed": false,
|
| 255 |
+
"gripper_position": [
|
| 256 |
+
0.1884080714211647,
|
| 257 |
+
0.21618410242926317,
|
| 258 |
+
1.2359647858463452
|
| 259 |
+
],
|
| 260 |
+
"held_position": [
|
| 261 |
+
0.19325941649363484,
|
| 262 |
+
0.22047710389815048,
|
| 263 |
+
1.2304414155381047
|
| 264 |
+
],
|
| 265 |
+
"object_initial_z": 0.7730800627579277,
|
| 266 |
+
"required_gripper_z": 0.8930800627579277,
|
| 267 |
+
"shake_count": 5,
|
| 268 |
+
"held_shake_count": 5,
|
| 269 |
+
"effective_shake_count": 5,
|
| 270 |
+
"min_shake_count": 3,
|
| 271 |
+
"held_gripper_dist": 0.008513109313641009,
|
| 272 |
+
"max_held_gripper_dist": 0.008517386777404438,
|
| 273 |
+
"held_gripper_max_dist": 0.15,
|
| 274 |
+
"held_gripper_z_dist": 0.005523370308240461,
|
| 275 |
+
"max_held_gripper_z_dist": 0.005545094493485392,
|
| 276 |
+
"held_gripper_z_max_dist": 0.15,
|
| 277 |
+
"held_object_xy_range": 0.08516779769620292,
|
| 278 |
+
"held_object_min_xy_range": 0.04,
|
| 279 |
+
"held_motion_ok": true,
|
| 280 |
+
"held_grasp_geometry_checked": true,
|
| 281 |
+
"held_grasp_geometry_required": true,
|
| 282 |
+
"held_grasp_source": "active_contact_pad_positions",
|
| 283 |
+
"held_grasp_finger_a": [
|
| 284 |
+
0.19325941649363484,
|
| 285 |
+
0.1956057200098348,
|
| 286 |
+
1.2304414155381047
|
| 287 |
+
],
|
| 288 |
+
"held_grasp_finger_b": [
|
| 289 |
+
0.18338085094460677,
|
| 290 |
+
0.22047710389815048,
|
| 291 |
+
1.2304414155381047
|
| 292 |
+
],
|
| 293 |
+
"held_grasp_midpoint": [
|
| 294 |
+
0.18832013371912082,
|
| 295 |
+
0.20804141195399264,
|
| 296 |
+
1.2304414155381047
|
| 297 |
+
],
|
| 298 |
+
"held_grasp_object_position": [
|
| 299 |
+
0.19325941649363484,
|
| 300 |
+
0.22047710389815048,
|
| 301 |
+
1.2304414155381047
|
| 302 |
+
],
|
| 303 |
+
"held_grasp_finger_gap": 0.026761386246351528,
|
| 304 |
+
"held_grasp_max_gap": 0.1249237185716629,
|
| 305 |
+
"held_grasp_geometry_frame": "object_local",
|
| 306 |
+
"held_grasp_size_source": "beaker_b_local_size",
|
| 307 |
+
"held_grasp_z_skew": 0.02456153280092605,
|
| 308 |
+
"held_grasp_world_z_skew": 0.0,
|
| 309 |
+
"held_grasp_z_skew_max": 0.08,
|
| 310 |
+
"held_grasp_z_skew_frame": "object_local_up",
|
| 311 |
+
"held_grasp_local_up_axis": [
|
| 312 |
+
-0.029170585009874114,
|
| 313 |
+
-0.9991280118805023,
|
| 314 |
+
0.029871271246744817
|
| 315 |
+
],
|
| 316 |
+
"held_grasp_object_projection_between_fingers": 0.5,
|
| 317 |
+
"held_grasp_object_to_finger_line_xy": 0.004589656708925106,
|
| 318 |
+
"held_grasp_line_xy_max_dist": 0.04746185928583145,
|
| 319 |
+
"held_grasp_object_top_z": 0.045200224965810776,
|
| 320 |
+
"held_grasp_top_clearance": 0.03263129502922421,
|
| 321 |
+
"held_grasp_min_top_clearance": 0.013560067489743232
|
| 322 |
+
},
|
| 323 |
+
"failed_keys": [],
|
| 324 |
+
"failure_code": null,
|
| 325 |
+
"failure_messages": {},
|
| 326 |
+
"safety": {
|
| 327 |
+
"policy": {
|
| 328 |
+
"skill": "shake",
|
| 329 |
+
"target_object": "beaker_b",
|
| 330 |
+
"held_object": "beaker_b",
|
| 331 |
+
"allowed_objects": [
|
| 332 |
+
"beaker_b"
|
| 333 |
+
],
|
| 334 |
+
"allowed_object_paths": [
|
| 335 |
+
"/World/target_beaker"
|
| 336 |
+
],
|
| 337 |
+
"allowed_prim_substrings": [],
|
| 338 |
+
"robot_prim_substrings": [
|
| 339 |
+
"Robotiq2F85",
|
| 340 |
+
"Robotiq_2F_85",
|
| 341 |
+
"contact_sensor",
|
| 342 |
+
"dummy_base_prismatic_x_joint",
|
| 343 |
+
"dummy_base_prismatic_y_joint",
|
| 344 |
+
"dummy_base_revolute_z_joint",
|
| 345 |
+
"elbow_joint",
|
| 346 |
+
"festo",
|
| 347 |
+
"finger",
|
| 348 |
+
"fr3",
|
| 349 |
+
"fr3_duo_mobile",
|
| 350 |
+
"fr3_joint1",
|
| 351 |
+
"fr3_joint2",
|
| 352 |
+
"fr3_joint3",
|
| 353 |
+
"fr3_joint4",
|
| 354 |
+
"fr3_joint5",
|
| 355 |
+
"fr3_joint6",
|
| 356 |
+
"fr3_joint7",
|
| 357 |
+
"fr3_leftfinger",
|
| 358 |
+
"fr3_rightfinger",
|
| 359 |
+
"franka",
|
| 360 |
+
"geometry",
|
| 361 |
+
"gripper",
|
| 362 |
+
"gripper_center",
|
| 363 |
+
"joint1",
|
| 364 |
+
"joint2",
|
| 365 |
+
"joint3",
|
| 366 |
+
"joint4",
|
| 367 |
+
"joint5",
|
| 368 |
+
"joint6",
|
| 369 |
+
"joint7",
|
| 370 |
+
"left_inner_finger",
|
| 371 |
+
"lift2",
|
| 372 |
+
"mobile_rotate",
|
| 373 |
+
"mobile_translate_x",
|
| 374 |
+
"mobile_translate_y",
|
| 375 |
+
"panda_joint1",
|
| 376 |
+
"panda_joint2",
|
| 377 |
+
"panda_joint3",
|
| 378 |
+
"panda_joint4",
|
| 379 |
+
"panda_joint5",
|
| 380 |
+
"panda_joint6",
|
| 381 |
+
"panda_joint7",
|
| 382 |
+
"panda_leftfinger",
|
| 383 |
+
"panda_leftfingertip",
|
| 384 |
+
"panda_rightfinger",
|
| 385 |
+
"panda_rightfingertip",
|
| 386 |
+
"ridgebase",
|
| 387 |
+
"ridgebase_festo",
|
| 388 |
+
"ridgebase_fr3",
|
| 389 |
+
"ridgebase_rizon4",
|
| 390 |
+
"ridgebase_ur16e",
|
| 391 |
+
"ridgebase_ur5e",
|
| 392 |
+
"right_inner_finger",
|
| 393 |
+
"rizon4",
|
| 394 |
+
"robot",
|
| 395 |
+
"robotiq_2f85",
|
| 396 |
+
"shoulder_lift_joint",
|
| 397 |
+
"shoulder_pan_joint",
|
| 398 |
+
"split_aloha",
|
| 399 |
+
"tool_center",
|
| 400 |
+
"ur16e",
|
| 401 |
+
"ur5e",
|
| 402 |
+
"visuals",
|
| 403 |
+
"wrist",
|
| 404 |
+
"wrist_1_joint",
|
| 405 |
+
"wrist_2_joint",
|
| 406 |
+
"wrist_3_joint"
|
| 407 |
+
],
|
| 408 |
+
"ignored_prim_substrings": [
|
| 409 |
+
"base_link",
|
| 410 |
+
"caster",
|
| 411 |
+
"defaultgroundplane",
|
| 412 |
+
"desk",
|
| 413 |
+
"floor",
|
| 414 |
+
"ground",
|
| 415 |
+
"groundplane",
|
| 416 |
+
"link0",
|
| 417 |
+
"table",
|
| 418 |
+
"wheel",
|
| 419 |
+
"workbench"
|
| 420 |
+
],
|
| 421 |
+
"enabled": true
|
| 422 |
+
},
|
| 423 |
+
"status": "active",
|
| 424 |
+
"passed": true,
|
| 425 |
+
"source_missing": false,
|
| 426 |
+
"forbidden": [],
|
| 427 |
+
"disturbances": [],
|
| 428 |
+
"last_frame": {
|
| 429 |
+
"passed": true,
|
| 430 |
+
"source_missing": false,
|
| 431 |
+
"forbidden": [],
|
| 432 |
+
"allowed": [
|
| 433 |
+
{
|
| 434 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 435 |
+
"b": "/World/target_beaker/mesh"
|
| 436 |
+
},
|
| 437 |
+
{
|
| 438 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 439 |
+
"b": "/World/target_beaker/mesh"
|
| 440 |
+
}
|
| 441 |
+
],
|
| 442 |
+
"ignored": [],
|
| 443 |
+
"failed_keys": []
|
| 444 |
+
},
|
| 445 |
+
"failed_keys": []
|
| 446 |
+
}
|
| 447 |
+
},
|
| 448 |
+
"gripper": null,
|
| 449 |
+
"post_done_wait_frames": 0,
|
| 450 |
+
"post_done_wait_exhausted": false
|
| 451 |
+
},
|
| 452 |
+
"physical_semantics": {
|
| 453 |
+
"skill": "shake",
|
| 454 |
+
"target": "beaker_b",
|
| 455 |
+
"attach_used": false,
|
| 456 |
+
"attach_object": null,
|
| 457 |
+
"attach_object_path": null,
|
| 458 |
+
"attach_allowed": false,
|
| 459 |
+
"ordinary_object_physical_only": true
|
| 460 |
+
}
|
| 461 |
+
},
|
| 462 |
+
{
|
| 463 |
+
"step_index": 2,
|
| 464 |
+
"skill": "place",
|
| 465 |
+
"target": "heater_platform",
|
| 466 |
+
"success": true,
|
| 467 |
+
"reason": "executed",
|
| 468 |
+
"debug": {
|
| 469 |
+
"arm": null,
|
| 470 |
+
"checker": {
|
| 471 |
+
"checker": "PlaceSuccessChecker",
|
| 472 |
+
"skill": "place",
|
| 473 |
+
"target": "heater_platform",
|
| 474 |
+
"passed": true,
|
| 475 |
+
"metrics": {
|
| 476 |
+
"held": "beaker_b",
|
| 477 |
+
"target": "heater_platform",
|
| 478 |
+
"object_position": [
|
| 479 |
+
0.3368949103029079,
|
| 480 |
+
-0.3329884654811864,
|
| 481 |
+
0.8470194007070864
|
| 482 |
+
],
|
| 483 |
+
"target_position": [
|
| 484 |
+
0.3306420846207223,
|
| 485 |
+
-0.3346197774178969,
|
| 486 |
+
0.8084375599031817
|
| 487 |
+
],
|
| 488 |
+
"target_position_source": "target_object:_xform_position",
|
| 489 |
+
"xy_dist": 0.006462120986692686,
|
| 490 |
+
"xy_threshold": 0.08,
|
| 491 |
+
"gripper_dist": 0.18479381008441184,
|
| 492 |
+
"gripper_away_threshold": 0.04,
|
| 493 |
+
"gripper_away_ok": true,
|
| 494 |
+
"object_z": 0.8470194007070864,
|
| 495 |
+
"min_z": 0.5730800627579278,
|
| 496 |
+
"min_z_margin": 0.2,
|
| 497 |
+
"require_object_upright": true,
|
| 498 |
+
"object_upright_reference_source": "scene_initial",
|
| 499 |
+
"release_fingertip_source": "active_contact_pad_positions",
|
| 500 |
+
"release_finger_gap": 0.07567432942039247,
|
| 501 |
+
"release_finger_gap_metric": "3d_contact_pad_distance",
|
| 502 |
+
"release_fingertip_min_gap": 0.08661754495949324,
|
| 503 |
+
"release_gap_margin": 0.02,
|
| 504 |
+
"release_gap_missing_size": false,
|
| 505 |
+
"release_min_pad_clearance": 0.15280801727495658,
|
| 506 |
+
"release_required_pad_clearance": 0.05330877247974662,
|
| 507 |
+
"release_pad_clearance_ok": true,
|
| 508 |
+
"release_gap_ok": false,
|
| 509 |
+
"force_virtual_attach": false,
|
| 510 |
+
"virtual_attach_allowed": false,
|
| 511 |
+
"max_z": 0.9084375599031816,
|
| 512 |
+
"max_z_margin": 0.1,
|
| 513 |
+
"object_tilt_deg": 1.6346624358788577,
|
| 514 |
+
"object_max_tilt_deg": 12.0,
|
| 515 |
+
"object_axis_flip_tolerance_deg": 3.0,
|
| 516 |
+
"object_upright_axis_local": null,
|
| 517 |
+
"required_placed_release_frames": 2,
|
| 518 |
+
"placed_release_frames": 153,
|
| 519 |
+
"max_placed_release_frames": 153
|
| 520 |
+
},
|
| 521 |
+
"failed_keys": [],
|
| 522 |
+
"failure_code": null,
|
| 523 |
+
"failure_messages": {},
|
| 524 |
+
"safety": {
|
| 525 |
+
"policy": {
|
| 526 |
+
"skill": "place",
|
| 527 |
+
"target_object": "heater_platform",
|
| 528 |
+
"held_object": "beaker_b",
|
| 529 |
+
"allowed_objects": [
|
| 530 |
+
"beaker_b",
|
| 531 |
+
"heater_platform"
|
| 532 |
+
],
|
| 533 |
+
"allowed_object_paths": [
|
| 534 |
+
"/World/heat_device/heat_device/heat_device/plat",
|
| 535 |
+
"/World/target_beaker"
|
| 536 |
+
],
|
| 537 |
+
"allowed_prim_substrings": [],
|
| 538 |
+
"robot_prim_substrings": [
|
| 539 |
+
"Robotiq2F85",
|
| 540 |
+
"Robotiq_2F_85",
|
| 541 |
+
"contact_sensor",
|
| 542 |
+
"dummy_base_prismatic_x_joint",
|
| 543 |
+
"dummy_base_prismatic_y_joint",
|
| 544 |
+
"dummy_base_revolute_z_joint",
|
| 545 |
+
"elbow_joint",
|
| 546 |
+
"festo",
|
| 547 |
+
"finger",
|
| 548 |
+
"fr3",
|
| 549 |
+
"fr3_duo_mobile",
|
| 550 |
+
"fr3_joint1",
|
| 551 |
+
"fr3_joint2",
|
| 552 |
+
"fr3_joint3",
|
| 553 |
+
"fr3_joint4",
|
| 554 |
+
"fr3_joint5",
|
| 555 |
+
"fr3_joint6",
|
| 556 |
+
"fr3_joint7",
|
| 557 |
+
"fr3_leftfinger",
|
| 558 |
+
"fr3_rightfinger",
|
| 559 |
+
"franka",
|
| 560 |
+
"geometry",
|
| 561 |
+
"gripper",
|
| 562 |
+
"gripper_center",
|
| 563 |
+
"joint1",
|
| 564 |
+
"joint2",
|
| 565 |
+
"joint3",
|
| 566 |
+
"joint4",
|
| 567 |
+
"joint5",
|
| 568 |
+
"joint6",
|
| 569 |
+
"joint7",
|
| 570 |
+
"left_inner_finger",
|
| 571 |
+
"lift2",
|
| 572 |
+
"mobile_rotate",
|
| 573 |
+
"mobile_translate_x",
|
| 574 |
+
"mobile_translate_y",
|
| 575 |
+
"panda_joint1",
|
| 576 |
+
"panda_joint2",
|
| 577 |
+
"panda_joint3",
|
| 578 |
+
"panda_joint4",
|
| 579 |
+
"panda_joint5",
|
| 580 |
+
"panda_joint6",
|
| 581 |
+
"panda_joint7",
|
| 582 |
+
"panda_leftfinger",
|
| 583 |
+
"panda_leftfingertip",
|
| 584 |
+
"panda_rightfinger",
|
| 585 |
+
"panda_rightfingertip",
|
| 586 |
+
"ridgebase",
|
| 587 |
+
"ridgebase_festo",
|
| 588 |
+
"ridgebase_fr3",
|
| 589 |
+
"ridgebase_rizon4",
|
| 590 |
+
"ridgebase_ur16e",
|
| 591 |
+
"ridgebase_ur5e",
|
| 592 |
+
"right_inner_finger",
|
| 593 |
+
"rizon4",
|
| 594 |
+
"robot",
|
| 595 |
+
"robotiq_2f85",
|
| 596 |
+
"shoulder_lift_joint",
|
| 597 |
+
"shoulder_pan_joint",
|
| 598 |
+
"split_aloha",
|
| 599 |
+
"tool_center",
|
| 600 |
+
"ur16e",
|
| 601 |
+
"ur5e",
|
| 602 |
+
"visuals",
|
| 603 |
+
"wrist",
|
| 604 |
+
"wrist_1_joint",
|
| 605 |
+
"wrist_2_joint",
|
| 606 |
+
"wrist_3_joint"
|
| 607 |
+
],
|
| 608 |
+
"ignored_prim_substrings": [
|
| 609 |
+
"base_link",
|
| 610 |
+
"caster",
|
| 611 |
+
"defaultgroundplane",
|
| 612 |
+
"desk",
|
| 613 |
+
"floor",
|
| 614 |
+
"ground",
|
| 615 |
+
"groundplane",
|
| 616 |
+
"link0",
|
| 617 |
+
"table",
|
| 618 |
+
"wheel",
|
| 619 |
+
"workbench"
|
| 620 |
+
],
|
| 621 |
+
"enabled": true
|
| 622 |
+
},
|
| 623 |
+
"status": "active",
|
| 624 |
+
"passed": true,
|
| 625 |
+
"source_missing": false,
|
| 626 |
+
"forbidden": [],
|
| 627 |
+
"disturbances": [],
|
| 628 |
+
"last_frame": {
|
| 629 |
+
"passed": true,
|
| 630 |
+
"source_missing": false,
|
| 631 |
+
"forbidden": [],
|
| 632 |
+
"allowed": [],
|
| 633 |
+
"ignored": [],
|
| 634 |
+
"failed_keys": []
|
| 635 |
+
},
|
| 636 |
+
"failed_keys": []
|
| 637 |
+
}
|
| 638 |
+
},
|
| 639 |
+
"gripper": null,
|
| 640 |
+
"post_done_wait_frames": 0,
|
| 641 |
+
"post_done_wait_exhausted": false
|
| 642 |
+
},
|
| 643 |
+
"physical_semantics": {
|
| 644 |
+
"skill": "place",
|
| 645 |
+
"target": "heater_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 |
+
"step_index": 3,
|
| 655 |
+
"skill": "press",
|
| 656 |
+
"target": "heat_button",
|
| 657 |
+
"success": true,
|
| 658 |
+
"reason": "executed",
|
| 659 |
+
"debug": {
|
| 660 |
+
"arm": null,
|
| 661 |
+
"checker": {
|
| 662 |
+
"checker": "PressSuccessChecker",
|
| 663 |
+
"skill": "press",
|
| 664 |
+
"target": "heat_button",
|
| 665 |
+
"passed": true,
|
| 666 |
+
"metrics": {
|
| 667 |
+
"target": "heat_button",
|
| 668 |
+
"z_decrease": 0.007966816425323486,
|
| 669 |
+
"max_z_decrease": 0.007966816425323486,
|
| 670 |
+
"final_z_decrease": 0.0,
|
| 671 |
+
"z_decrease_threshold": 0.0003,
|
| 672 |
+
"min_ee_to_button": 0.03499723576840958,
|
| 673 |
+
"contact_distance_threshold": 0.08,
|
| 674 |
+
"ee_contact_ok": true,
|
| 675 |
+
"max_z_decrease_with_ee_contact": 0.007966816425323486,
|
| 676 |
+
"ee_contacted_z_ok": true,
|
| 677 |
+
"physical_press_ok": true,
|
| 678 |
+
"required_contacted_press_frames": 2,
|
| 679 |
+
"contacted_z_stable_frames": 0,
|
| 680 |
+
"max_contacted_z_stable_frames": 77,
|
| 681 |
+
"contact_point_distance": 0.021280506184079423,
|
| 682 |
+
"contact_point_source": "active_contact_pad_positions",
|
| 683 |
+
"contact_point_distance_threshold": 0.04,
|
| 684 |
+
"contact_point_seen_ok": true,
|
| 685 |
+
"contact_point_ok": true,
|
| 686 |
+
"contact_point_stable_frames": 0,
|
| 687 |
+
"max_contact_point_stable_frames": 119,
|
| 688 |
+
"max_z_decrease_with_contact_point": 0.007966816425323486,
|
| 689 |
+
"contact_point_contacted_z_ok": true,
|
| 690 |
+
"contact_point_contacted_z_stable_frames": 0,
|
| 691 |
+
"max_contact_point_contacted_z_stable_frames": 77,
|
| 692 |
+
"contact_ok": true,
|
| 693 |
+
"button_final_displacement": 0.0,
|
| 694 |
+
"button_max_displacement": 0.007966842554849907,
|
| 695 |
+
"max_button_displacement": 0.12,
|
| 696 |
+
"button_start": [
|
| 697 |
+
0.1863420158624649,
|
| 698 |
+
-0.39088124036788935,
|
| 699 |
+
0.7768088579177856
|
| 700 |
+
],
|
| 701 |
+
"button_final": [
|
| 702 |
+
0.1863420158624649,
|
| 703 |
+
-0.39088124036788935,
|
| 704 |
+
0.7768088579177856
|
| 705 |
+
],
|
| 706 |
+
"closest_ee": [
|
| 707 |
+
0.18593153714202507,
|
| 708 |
+
-0.3908682836588787,
|
| 709 |
+
0.8067200418634934
|
| 710 |
+
],
|
| 711 |
+
"closest_button": [
|
| 712 |
+
0.18632838129997253,
|
| 713 |
+
-0.3908812999725341,
|
| 714 |
+
0.771725058555603
|
| 715 |
+
],
|
| 716 |
+
"closest_ee_minus_button": [
|
| 717 |
+
-0.00039684415794746797,
|
| 718 |
+
1.3016313655411782e-05,
|
| 719 |
+
0.034994983307890415
|
| 720 |
+
],
|
| 721 |
+
"button_min_z_position": [
|
| 722 |
+
0.18632163107395172,
|
| 723 |
+
-0.39088213443756104,
|
| 724 |
+
0.7688420414924622
|
| 725 |
+
],
|
| 726 |
+
"min_active_finger_to_button": 0.14659736979337415,
|
| 727 |
+
"closest_active_finger": [
|
| 728 |
+
0.058455243706703186,
|
| 729 |
+
-0.45339640974998474,
|
| 730 |
+
0.8081173896789551
|
| 731 |
+
],
|
| 732 |
+
"closest_active_finger_button": [
|
| 733 |
+
0.1863541156053543,
|
| 734 |
+
-0.39088702201843256,
|
| 735 |
+
0.7731139063835144
|
| 736 |
+
],
|
| 737 |
+
"closest_active_finger_index": 1,
|
| 738 |
+
"closest_active_finger_minus_button": [
|
| 739 |
+
-0.12789887189865112,
|
| 740 |
+
-0.06250938773155218,
|
| 741 |
+
0.035003483295440674
|
| 742 |
+
],
|
| 743 |
+
"min_contact_pad_to_button": 0.021280506184079423,
|
| 744 |
+
"closest_contact_pad": [
|
| 745 |
+
0.18632163107395172,
|
| 746 |
+
-0.3921318025996202,
|
| 747 |
+
0.7900858234753243
|
| 748 |
+
],
|
| 749 |
+
"closest_contact_pad_button": [
|
| 750 |
+
0.18632163107395172,
|
| 751 |
+
-0.39088213443756104,
|
| 752 |
+
0.7688420414924622
|
| 753 |
+
],
|
| 754 |
+
"closest_contact_pad_index": 0,
|
| 755 |
+
"closest_contact_pad_minus_button": [
|
| 756 |
+
0.0,
|
| 757 |
+
-0.001249668162059181,
|
| 758 |
+
0.021243781982862142
|
| 759 |
+
]
|
| 760 |
+
},
|
| 761 |
+
"failed_keys": [],
|
| 762 |
+
"failure_code": null,
|
| 763 |
+
"failure_messages": {},
|
| 764 |
+
"safety": {
|
| 765 |
+
"policy": {
|
| 766 |
+
"skill": "press",
|
| 767 |
+
"target_object": "heat_button",
|
| 768 |
+
"held_object": null,
|
| 769 |
+
"allowed_objects": [
|
| 770 |
+
"heat_button"
|
| 771 |
+
],
|
| 772 |
+
"allowed_object_paths": [
|
| 773 |
+
"/World/heat_device/button"
|
| 774 |
+
],
|
| 775 |
+
"allowed_prim_substrings": [],
|
| 776 |
+
"robot_prim_substrings": [
|
| 777 |
+
"Robotiq2F85",
|
| 778 |
+
"Robotiq_2F_85",
|
| 779 |
+
"contact_sensor",
|
| 780 |
+
"dummy_base_prismatic_x_joint",
|
| 781 |
+
"dummy_base_prismatic_y_joint",
|
| 782 |
+
"dummy_base_revolute_z_joint",
|
| 783 |
+
"elbow_joint",
|
| 784 |
+
"festo",
|
| 785 |
+
"finger",
|
| 786 |
+
"fr3",
|
| 787 |
+
"fr3_duo_mobile",
|
| 788 |
+
"fr3_joint1",
|
| 789 |
+
"fr3_joint2",
|
| 790 |
+
"fr3_joint3",
|
| 791 |
+
"fr3_joint4",
|
| 792 |
+
"fr3_joint5",
|
| 793 |
+
"fr3_joint6",
|
| 794 |
+
"fr3_joint7",
|
| 795 |
+
"fr3_leftfinger",
|
| 796 |
+
"fr3_rightfinger",
|
| 797 |
+
"franka",
|
| 798 |
+
"geometry",
|
| 799 |
+
"gripper",
|
| 800 |
+
"gripper_center",
|
| 801 |
+
"joint1",
|
| 802 |
+
"joint2",
|
| 803 |
+
"joint3",
|
| 804 |
+
"joint4",
|
| 805 |
+
"joint5",
|
| 806 |
+
"joint6",
|
| 807 |
+
"joint7",
|
| 808 |
+
"left_inner_finger",
|
| 809 |
+
"lift2",
|
| 810 |
+
"mobile_rotate",
|
| 811 |
+
"mobile_translate_x",
|
| 812 |
+
"mobile_translate_y",
|
| 813 |
+
"panda_joint1",
|
| 814 |
+
"panda_joint2",
|
| 815 |
+
"panda_joint3",
|
| 816 |
+
"panda_joint4",
|
| 817 |
+
"panda_joint5",
|
| 818 |
+
"panda_joint6",
|
| 819 |
+
"panda_joint7",
|
| 820 |
+
"panda_leftfinger",
|
| 821 |
+
"panda_leftfingertip",
|
| 822 |
+
"panda_rightfinger",
|
| 823 |
+
"panda_rightfingertip",
|
| 824 |
+
"ridgebase",
|
| 825 |
+
"ridgebase_festo",
|
| 826 |
+
"ridgebase_fr3",
|
| 827 |
+
"ridgebase_rizon4",
|
| 828 |
+
"ridgebase_ur16e",
|
| 829 |
+
"ridgebase_ur5e",
|
| 830 |
+
"right_inner_finger",
|
| 831 |
+
"rizon4",
|
| 832 |
+
"robot",
|
| 833 |
+
"robotiq_2f85",
|
| 834 |
+
"shoulder_lift_joint",
|
| 835 |
+
"shoulder_pan_joint",
|
| 836 |
+
"split_aloha",
|
| 837 |
+
"tool_center",
|
| 838 |
+
"ur16e",
|
| 839 |
+
"ur5e",
|
| 840 |
+
"visuals",
|
| 841 |
+
"wrist",
|
| 842 |
+
"wrist_1_joint",
|
| 843 |
+
"wrist_2_joint",
|
| 844 |
+
"wrist_3_joint"
|
| 845 |
+
],
|
| 846 |
+
"ignored_prim_substrings": [
|
| 847 |
+
"base_link",
|
| 848 |
+
"caster",
|
| 849 |
+
"defaultgroundplane",
|
| 850 |
+
"desk",
|
| 851 |
+
"floor",
|
| 852 |
+
"ground",
|
| 853 |
+
"groundplane",
|
| 854 |
+
"link0",
|
| 855 |
+
"table",
|
| 856 |
+
"wheel",
|
| 857 |
+
"workbench"
|
| 858 |
+
],
|
| 859 |
+
"enabled": true
|
| 860 |
+
},
|
| 861 |
+
"status": "active",
|
| 862 |
+
"passed": true,
|
| 863 |
+
"source_missing": false,
|
| 864 |
+
"forbidden": [],
|
| 865 |
+
"disturbances": [],
|
| 866 |
+
"last_frame": {
|
| 867 |
+
"passed": true,
|
| 868 |
+
"source_missing": false,
|
| 869 |
+
"forbidden": [],
|
| 870 |
+
"allowed": [],
|
| 871 |
+
"ignored": [],
|
| 872 |
+
"failed_keys": []
|
| 873 |
+
},
|
| 874 |
+
"failed_keys": []
|
| 875 |
+
}
|
| 876 |
+
},
|
| 877 |
+
"gripper": null,
|
| 878 |
+
"post_done_wait_frames": 0,
|
| 879 |
+
"post_done_wait_exhausted": false
|
| 880 |
+
},
|
| 881 |
+
"physical_semantics": {
|
| 882 |
+
"skill": "press",
|
| 883 |
+
"target": "heat_button",
|
| 884 |
+
"attach_used": false,
|
| 885 |
+
"attach_object": null,
|
| 886 |
+
"attach_object_path": null,
|
| 887 |
+
"attach_allowed": false,
|
| 888 |
+
"ordinary_object_physical_only": true
|
| 889 |
+
}
|
| 890 |
+
}
|
| 891 |
+
],
|
| 892 |
+
"physical_semantics": {
|
| 893 |
+
"attach_records": [],
|
| 894 |
+
"ordinary_attach_violations": [],
|
| 895 |
+
"forbidden_shortcuts_absent": true
|
| 896 |
+
},
|
| 897 |
+
"h5_episode_index": 93,
|
| 898 |
+
"reproducibility": {
|
| 899 |
+
"enabled": true,
|
| 900 |
+
"action_seed": 6098556129387905517,
|
| 901 |
+
"physical_seed": 7490668268172140043,
|
| 902 |
+
"layout_id": "layout_00031",
|
| 903 |
+
"step_seeds": [
|
| 904 |
+
4567401361451441112,
|
| 905 |
+
7000790218311912638,
|
| 906 |
+
7522013946436761511,
|
| 907 |
+
7728913421038834906
|
| 908 |
+
],
|
| 909 |
+
"workflow_spec_digest": "bc4db0291f406fbd9c91f68a4c7f1acd36da9a03dd09cb73d832a7602138bc78",
|
| 910 |
+
"strict_task_state": false,
|
| 911 |
+
"allow_physical_randomization": true,
|
| 912 |
+
"seed_source": "workflow.reproducibility",
|
| 913 |
+
"task_island_state_digest": "83bd56c0919cd50651ecec2c1ff1b564ac0d348eb604c4796a618be473e67742",
|
| 914 |
+
"visual_seed": 8313369204901742558,
|
| 915 |
+
"episode_index": 93,
|
| 916 |
+
"physical_randomization_enabled": true,
|
| 917 |
+
"motion_controller_type": "ik_servo",
|
| 918 |
+
"runtime_step_seeds": [
|
| 919 |
+
4567401361451441112,
|
| 920 |
+
7000790218311912638,
|
| 921 |
+
7522013946436761511,
|
| 922 |
+
7728913421038834906
|
| 923 |
+
],
|
| 924 |
+
"runtime_workflow_digest": "45388e27c653b4c58871f8eb0be862a6bfbe31c6d7d135b34c259a2497af3374"
|
| 925 |
+
}
|
| 926 |
+
}
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_94_success.json
ADDED
|
@@ -0,0 +1,926 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 94,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 4,
|
| 5 |
+
"total_steps": 4,
|
| 6 |
+
"step_accuracy": "4/4",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_b",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_b",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_b",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.1886026806475424,
|
| 26 |
+
0.21882699484849902,
|
| 27 |
+
1.0421315028412674
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0421315028412674,
|
| 30 |
+
"required_z": 0.8565865670132103,
|
| 31 |
+
"initial_z": 0.7565865670132104,
|
| 32 |
+
"lift_margin": 0.1855449358280571,
|
| 33 |
+
"gripper_z": 1.0475238629602255,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.18375026640925946,
|
| 38 |
+
0.21404689695068024,
|
| 39 |
+
1.0475238629602255
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004852414238282948,
|
| 43 |
+
0.004780097897818775,
|
| 44 |
+
-0.0053923601189580506
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006811406598685954,
|
| 47 |
+
"object_to_gripper_z": -0.0053923601189580506,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.1886026806475424,
|
| 51 |
+
0.19454848738105965,
|
| 52 |
+
1.0421315028412674
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.17686592793176592,
|
| 56 |
+
0.21882699484849902,
|
| 57 |
+
1.0421315028412674
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.18273430428965415,
|
| 61 |
+
0.20668774111477933,
|
| 62 |
+
1.0421315028412674
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005868376357888255,
|
| 66 |
+
0.012139253733719685,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.026966595802173397,
|
| 70 |
+
"fingertip_max_gap": 0.09274761630912873,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013483297901086705,
|
| 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": 1.0421315028412674,
|
| 78 |
+
"object_top_z": 1.0882190563894354,
|
| 79 |
+
"finger_top_clearance": 0.04608755354816796,
|
| 80 |
+
"fingertip_min_top_clearance": 0.013826266064450421,
|
| 81 |
+
"object_projection_between_fingers": 0.8105722252198939,
|
| 82 |
+
"object_to_finger_line_xy": 0.010566807933187589,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.048873808154564366,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 1.1693878904017125,
|
| 89 |
+
"object_max_tilt_deg": 15.0,
|
| 90 |
+
"object_upright_axis_local": [
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
1.0
|
| 94 |
+
],
|
| 95 |
+
"stable_success_frames": 208,
|
| 96 |
+
"max_stable_success_frames": 208,
|
| 97 |
+
"required_stable_lift_frames": 5
|
| 98 |
+
},
|
| 99 |
+
"failed_keys": [],
|
| 100 |
+
"failure_code": null,
|
| 101 |
+
"failure_messages": {},
|
| 102 |
+
"safety": {
|
| 103 |
+
"policy": {
|
| 104 |
+
"skill": "pick",
|
| 105 |
+
"target_object": "beaker_b",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_b"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/target_beaker"
|
| 112 |
+
],
|
| 113 |
+
"allowed_prim_substrings": [],
|
| 114 |
+
"robot_prim_substrings": [
|
| 115 |
+
"Robotiq2F85",
|
| 116 |
+
"Robotiq_2F_85",
|
| 117 |
+
"contact_sensor",
|
| 118 |
+
"dummy_base_prismatic_x_joint",
|
| 119 |
+
"dummy_base_prismatic_y_joint",
|
| 120 |
+
"dummy_base_revolute_z_joint",
|
| 121 |
+
"elbow_joint",
|
| 122 |
+
"festo",
|
| 123 |
+
"finger",
|
| 124 |
+
"fr3",
|
| 125 |
+
"fr3_duo_mobile",
|
| 126 |
+
"fr3_joint1",
|
| 127 |
+
"fr3_joint2",
|
| 128 |
+
"fr3_joint3",
|
| 129 |
+
"fr3_joint4",
|
| 130 |
+
"fr3_joint5",
|
| 131 |
+
"fr3_joint6",
|
| 132 |
+
"fr3_joint7",
|
| 133 |
+
"fr3_leftfinger",
|
| 134 |
+
"fr3_rightfinger",
|
| 135 |
+
"franka",
|
| 136 |
+
"geometry",
|
| 137 |
+
"gripper",
|
| 138 |
+
"gripper_center",
|
| 139 |
+
"joint1",
|
| 140 |
+
"joint2",
|
| 141 |
+
"joint3",
|
| 142 |
+
"joint4",
|
| 143 |
+
"joint5",
|
| 144 |
+
"joint6",
|
| 145 |
+
"joint7",
|
| 146 |
+
"left_inner_finger",
|
| 147 |
+
"lift2",
|
| 148 |
+
"mobile_rotate",
|
| 149 |
+
"mobile_translate_x",
|
| 150 |
+
"mobile_translate_y",
|
| 151 |
+
"panda_joint1",
|
| 152 |
+
"panda_joint2",
|
| 153 |
+
"panda_joint3",
|
| 154 |
+
"panda_joint4",
|
| 155 |
+
"panda_joint5",
|
| 156 |
+
"panda_joint6",
|
| 157 |
+
"panda_joint7",
|
| 158 |
+
"panda_leftfinger",
|
| 159 |
+
"panda_leftfingertip",
|
| 160 |
+
"panda_rightfinger",
|
| 161 |
+
"panda_rightfingertip",
|
| 162 |
+
"ridgebase",
|
| 163 |
+
"ridgebase_festo",
|
| 164 |
+
"ridgebase_fr3",
|
| 165 |
+
"ridgebase_rizon4",
|
| 166 |
+
"ridgebase_ur16e",
|
| 167 |
+
"ridgebase_ur5e",
|
| 168 |
+
"right_inner_finger",
|
| 169 |
+
"rizon4",
|
| 170 |
+
"robot",
|
| 171 |
+
"robotiq_2f85",
|
| 172 |
+
"shoulder_lift_joint",
|
| 173 |
+
"shoulder_pan_joint",
|
| 174 |
+
"split_aloha",
|
| 175 |
+
"tool_center",
|
| 176 |
+
"ur16e",
|
| 177 |
+
"ur5e",
|
| 178 |
+
"visuals",
|
| 179 |
+
"wrist",
|
| 180 |
+
"wrist_1_joint",
|
| 181 |
+
"wrist_2_joint",
|
| 182 |
+
"wrist_3_joint"
|
| 183 |
+
],
|
| 184 |
+
"ignored_prim_substrings": [
|
| 185 |
+
"base_link",
|
| 186 |
+
"caster",
|
| 187 |
+
"defaultgroundplane",
|
| 188 |
+
"desk",
|
| 189 |
+
"floor",
|
| 190 |
+
"ground",
|
| 191 |
+
"groundplane",
|
| 192 |
+
"link0",
|
| 193 |
+
"table",
|
| 194 |
+
"wheel",
|
| 195 |
+
"workbench"
|
| 196 |
+
],
|
| 197 |
+
"enabled": true
|
| 198 |
+
},
|
| 199 |
+
"status": "active",
|
| 200 |
+
"passed": true,
|
| 201 |
+
"source_missing": false,
|
| 202 |
+
"forbidden": [],
|
| 203 |
+
"disturbances": [],
|
| 204 |
+
"last_frame": {
|
| 205 |
+
"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/target_beaker/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/target_beaker/mesh"
|
| 216 |
+
}
|
| 217 |
+
],
|
| 218 |
+
"ignored": [],
|
| 219 |
+
"failed_keys": []
|
| 220 |
+
},
|
| 221 |
+
"failed_keys": []
|
| 222 |
+
}
|
| 223 |
+
},
|
| 224 |
+
"gripper": null,
|
| 225 |
+
"post_done_wait_frames": 0,
|
| 226 |
+
"post_done_wait_exhausted": false
|
| 227 |
+
},
|
| 228 |
+
"physical_semantics": {
|
| 229 |
+
"skill": "pick",
|
| 230 |
+
"target": "beaker_b",
|
| 231 |
+
"attach_used": false,
|
| 232 |
+
"attach_object": null,
|
| 233 |
+
"attach_object_path": null,
|
| 234 |
+
"attach_allowed": false,
|
| 235 |
+
"ordinary_object_physical_only": true
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
{
|
| 239 |
+
"step_index": 1,
|
| 240 |
+
"skill": "shake",
|
| 241 |
+
"target": "beaker_b",
|
| 242 |
+
"success": true,
|
| 243 |
+
"reason": "executed",
|
| 244 |
+
"debug": {
|
| 245 |
+
"arm": null,
|
| 246 |
+
"checker": {
|
| 247 |
+
"checker": "ShakeSuccessChecker",
|
| 248 |
+
"skill": "shake",
|
| 249 |
+
"target": "beaker_b",
|
| 250 |
+
"passed": true,
|
| 251 |
+
"metrics": {
|
| 252 |
+
"held": "beaker_b",
|
| 253 |
+
"force_virtual_attach": false,
|
| 254 |
+
"virtual_attach_allowed": false,
|
| 255 |
+
"gripper_position": [
|
| 256 |
+
0.18748685036502466,
|
| 257 |
+
0.2196025604971932,
|
| 258 |
+
1.2361391395855903
|
| 259 |
+
],
|
| 260 |
+
"held_position": [
|
| 261 |
+
0.1925514708390091,
|
| 262 |
+
0.22400995438812235,
|
| 263 |
+
1.2306295062812767
|
| 264 |
+
],
|
| 265 |
+
"object_initial_z": 0.7730800627579277,
|
| 266 |
+
"required_gripper_z": 0.8930800627579277,
|
| 267 |
+
"shake_count": 5,
|
| 268 |
+
"held_shake_count": 5,
|
| 269 |
+
"effective_shake_count": 5,
|
| 270 |
+
"min_shake_count": 3,
|
| 271 |
+
"held_gripper_dist": 0.008685134460864948,
|
| 272 |
+
"max_held_gripper_dist": 0.008689448676648623,
|
| 273 |
+
"held_gripper_max_dist": 0.15,
|
| 274 |
+
"held_gripper_z_dist": 0.005509633304313644,
|
| 275 |
+
"max_held_gripper_z_dist": 0.005533386294407361,
|
| 276 |
+
"held_gripper_z_max_dist": 0.15,
|
| 277 |
+
"held_object_xy_range": 0.0851653250571979,
|
| 278 |
+
"held_object_min_xy_range": 0.04,
|
| 279 |
+
"held_motion_ok": true,
|
| 280 |
+
"held_grasp_geometry_checked": true,
|
| 281 |
+
"held_grasp_geometry_required": true,
|
| 282 |
+
"held_grasp_source": "active_contact_pad_positions",
|
| 283 |
+
"held_grasp_finger_a": [
|
| 284 |
+
0.1925514708390091,
|
| 285 |
+
0.19903133297496414,
|
| 286 |
+
1.2306295062812767
|
| 287 |
+
],
|
| 288 |
+
"held_grasp_finger_b": [
|
| 289 |
+
0.18244172663964894,
|
| 290 |
+
0.22400995438812235,
|
| 291 |
+
1.2306295062812767
|
| 292 |
+
],
|
| 293 |
+
"held_grasp_midpoint": [
|
| 294 |
+
0.187496598739329,
|
| 295 |
+
0.21152064368154325,
|
| 296 |
+
1.2306295062812767
|
| 297 |
+
],
|
| 298 |
+
"held_grasp_object_position": [
|
| 299 |
+
0.1925514708390091,
|
| 300 |
+
0.22400995438812235,
|
| 301 |
+
1.2306295062812767
|
| 302 |
+
],
|
| 303 |
+
"held_grasp_finger_gap": 0.026946956330509423,
|
| 304 |
+
"held_grasp_max_gap": 0.1249237185716629,
|
| 305 |
+
"held_grasp_geometry_frame": "object_local",
|
| 306 |
+
"held_grasp_size_source": "beaker_b_local_size",
|
| 307 |
+
"held_grasp_z_skew": 0.024531509727329575,
|
| 308 |
+
"held_grasp_world_z_skew": 0.0,
|
| 309 |
+
"held_grasp_z_skew_max": 0.08,
|
| 310 |
+
"held_grasp_z_skew_frame": "object_local_up",
|
| 311 |
+
"held_grasp_local_up_axis": [
|
| 312 |
+
-0.04147429662898443,
|
| 313 |
+
-0.998886361436802,
|
| 314 |
+
0.022492657794883075
|
| 315 |
+
],
|
| 316 |
+
"held_grasp_object_projection_between_fingers": 0.5,
|
| 317 |
+
"held_grasp_object_to_finger_line_xy": 0.00454138037999249,
|
| 318 |
+
"held_grasp_line_xy_max_dist": 0.04746185928583145,
|
| 319 |
+
"held_grasp_object_top_z": 0.045200224965810776,
|
| 320 |
+
"held_grasp_top_clearance": 0.03251517557237857,
|
| 321 |
+
"held_grasp_min_top_clearance": 0.013560067489743232
|
| 322 |
+
},
|
| 323 |
+
"failed_keys": [],
|
| 324 |
+
"failure_code": null,
|
| 325 |
+
"failure_messages": {},
|
| 326 |
+
"safety": {
|
| 327 |
+
"policy": {
|
| 328 |
+
"skill": "shake",
|
| 329 |
+
"target_object": "beaker_b",
|
| 330 |
+
"held_object": "beaker_b",
|
| 331 |
+
"allowed_objects": [
|
| 332 |
+
"beaker_b"
|
| 333 |
+
],
|
| 334 |
+
"allowed_object_paths": [
|
| 335 |
+
"/World/target_beaker"
|
| 336 |
+
],
|
| 337 |
+
"allowed_prim_substrings": [],
|
| 338 |
+
"robot_prim_substrings": [
|
| 339 |
+
"Robotiq2F85",
|
| 340 |
+
"Robotiq_2F_85",
|
| 341 |
+
"contact_sensor",
|
| 342 |
+
"dummy_base_prismatic_x_joint",
|
| 343 |
+
"dummy_base_prismatic_y_joint",
|
| 344 |
+
"dummy_base_revolute_z_joint",
|
| 345 |
+
"elbow_joint",
|
| 346 |
+
"festo",
|
| 347 |
+
"finger",
|
| 348 |
+
"fr3",
|
| 349 |
+
"fr3_duo_mobile",
|
| 350 |
+
"fr3_joint1",
|
| 351 |
+
"fr3_joint2",
|
| 352 |
+
"fr3_joint3",
|
| 353 |
+
"fr3_joint4",
|
| 354 |
+
"fr3_joint5",
|
| 355 |
+
"fr3_joint6",
|
| 356 |
+
"fr3_joint7",
|
| 357 |
+
"fr3_leftfinger",
|
| 358 |
+
"fr3_rightfinger",
|
| 359 |
+
"franka",
|
| 360 |
+
"geometry",
|
| 361 |
+
"gripper",
|
| 362 |
+
"gripper_center",
|
| 363 |
+
"joint1",
|
| 364 |
+
"joint2",
|
| 365 |
+
"joint3",
|
| 366 |
+
"joint4",
|
| 367 |
+
"joint5",
|
| 368 |
+
"joint6",
|
| 369 |
+
"joint7",
|
| 370 |
+
"left_inner_finger",
|
| 371 |
+
"lift2",
|
| 372 |
+
"mobile_rotate",
|
| 373 |
+
"mobile_translate_x",
|
| 374 |
+
"mobile_translate_y",
|
| 375 |
+
"panda_joint1",
|
| 376 |
+
"panda_joint2",
|
| 377 |
+
"panda_joint3",
|
| 378 |
+
"panda_joint4",
|
| 379 |
+
"panda_joint5",
|
| 380 |
+
"panda_joint6",
|
| 381 |
+
"panda_joint7",
|
| 382 |
+
"panda_leftfinger",
|
| 383 |
+
"panda_leftfingertip",
|
| 384 |
+
"panda_rightfinger",
|
| 385 |
+
"panda_rightfingertip",
|
| 386 |
+
"ridgebase",
|
| 387 |
+
"ridgebase_festo",
|
| 388 |
+
"ridgebase_fr3",
|
| 389 |
+
"ridgebase_rizon4",
|
| 390 |
+
"ridgebase_ur16e",
|
| 391 |
+
"ridgebase_ur5e",
|
| 392 |
+
"right_inner_finger",
|
| 393 |
+
"rizon4",
|
| 394 |
+
"robot",
|
| 395 |
+
"robotiq_2f85",
|
| 396 |
+
"shoulder_lift_joint",
|
| 397 |
+
"shoulder_pan_joint",
|
| 398 |
+
"split_aloha",
|
| 399 |
+
"tool_center",
|
| 400 |
+
"ur16e",
|
| 401 |
+
"ur5e",
|
| 402 |
+
"visuals",
|
| 403 |
+
"wrist",
|
| 404 |
+
"wrist_1_joint",
|
| 405 |
+
"wrist_2_joint",
|
| 406 |
+
"wrist_3_joint"
|
| 407 |
+
],
|
| 408 |
+
"ignored_prim_substrings": [
|
| 409 |
+
"base_link",
|
| 410 |
+
"caster",
|
| 411 |
+
"defaultgroundplane",
|
| 412 |
+
"desk",
|
| 413 |
+
"floor",
|
| 414 |
+
"ground",
|
| 415 |
+
"groundplane",
|
| 416 |
+
"link0",
|
| 417 |
+
"table",
|
| 418 |
+
"wheel",
|
| 419 |
+
"workbench"
|
| 420 |
+
],
|
| 421 |
+
"enabled": true
|
| 422 |
+
},
|
| 423 |
+
"status": "active",
|
| 424 |
+
"passed": true,
|
| 425 |
+
"source_missing": false,
|
| 426 |
+
"forbidden": [],
|
| 427 |
+
"disturbances": [],
|
| 428 |
+
"last_frame": {
|
| 429 |
+
"passed": true,
|
| 430 |
+
"source_missing": false,
|
| 431 |
+
"forbidden": [],
|
| 432 |
+
"allowed": [
|
| 433 |
+
{
|
| 434 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 435 |
+
"b": "/World/target_beaker/mesh"
|
| 436 |
+
},
|
| 437 |
+
{
|
| 438 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 439 |
+
"b": "/World/target_beaker/mesh"
|
| 440 |
+
}
|
| 441 |
+
],
|
| 442 |
+
"ignored": [],
|
| 443 |
+
"failed_keys": []
|
| 444 |
+
},
|
| 445 |
+
"failed_keys": []
|
| 446 |
+
}
|
| 447 |
+
},
|
| 448 |
+
"gripper": null,
|
| 449 |
+
"post_done_wait_frames": 0,
|
| 450 |
+
"post_done_wait_exhausted": false
|
| 451 |
+
},
|
| 452 |
+
"physical_semantics": {
|
| 453 |
+
"skill": "shake",
|
| 454 |
+
"target": "beaker_b",
|
| 455 |
+
"attach_used": false,
|
| 456 |
+
"attach_object": null,
|
| 457 |
+
"attach_object_path": null,
|
| 458 |
+
"attach_allowed": false,
|
| 459 |
+
"ordinary_object_physical_only": true
|
| 460 |
+
}
|
| 461 |
+
},
|
| 462 |
+
{
|
| 463 |
+
"step_index": 2,
|
| 464 |
+
"skill": "place",
|
| 465 |
+
"target": "heater_platform",
|
| 466 |
+
"success": true,
|
| 467 |
+
"reason": "executed",
|
| 468 |
+
"debug": {
|
| 469 |
+
"arm": null,
|
| 470 |
+
"checker": {
|
| 471 |
+
"checker": "PlaceSuccessChecker",
|
| 472 |
+
"skill": "place",
|
| 473 |
+
"target": "heater_platform",
|
| 474 |
+
"passed": true,
|
| 475 |
+
"metrics": {
|
| 476 |
+
"held": "beaker_b",
|
| 477 |
+
"target": "heater_platform",
|
| 478 |
+
"object_position": [
|
| 479 |
+
0.3325477557600964,
|
| 480 |
+
-0.3283704799003725,
|
| 481 |
+
0.8470196765987086
|
| 482 |
+
],
|
| 483 |
+
"target_position": [
|
| 484 |
+
0.32549009896282016,
|
| 485 |
+
-0.33048837061374803,
|
| 486 |
+
0.8084375599031817
|
| 487 |
+
],
|
| 488 |
+
"target_position_source": "target_object:_xform_position",
|
| 489 |
+
"xy_dist": 0.0073685806327909225,
|
| 490 |
+
"xy_threshold": 0.08,
|
| 491 |
+
"gripper_dist": 0.18598701427157457,
|
| 492 |
+
"gripper_away_threshold": 0.04,
|
| 493 |
+
"gripper_away_ok": true,
|
| 494 |
+
"object_z": 0.8470196765987086,
|
| 495 |
+
"min_z": 0.5730800627579278,
|
| 496 |
+
"min_z_margin": 0.2,
|
| 497 |
+
"require_object_upright": true,
|
| 498 |
+
"object_upright_reference_source": "scene_initial",
|
| 499 |
+
"release_fingertip_source": "active_contact_pad_positions",
|
| 500 |
+
"release_finger_gap": 0.07518611640934215,
|
| 501 |
+
"release_finger_gap_metric": "3d_contact_pad_distance",
|
| 502 |
+
"release_fingertip_min_gap": 0.08527379035009518,
|
| 503 |
+
"release_gap_margin": 0.02,
|
| 504 |
+
"release_gap_missing_size": false,
|
| 505 |
+
"release_min_pad_clearance": 0.15523597204533496,
|
| 506 |
+
"release_required_pad_clearance": 0.05263689517504759,
|
| 507 |
+
"release_pad_clearance_ok": true,
|
| 508 |
+
"release_gap_ok": false,
|
| 509 |
+
"force_virtual_attach": false,
|
| 510 |
+
"virtual_attach_allowed": false,
|
| 511 |
+
"max_z": 0.9084375599031816,
|
| 512 |
+
"max_z_margin": 0.1,
|
| 513 |
+
"object_tilt_deg": 0.3333778941732003,
|
| 514 |
+
"object_max_tilt_deg": 12.0,
|
| 515 |
+
"object_axis_flip_tolerance_deg": 3.0,
|
| 516 |
+
"object_upright_axis_local": null,
|
| 517 |
+
"required_placed_release_frames": 2,
|
| 518 |
+
"placed_release_frames": 156,
|
| 519 |
+
"max_placed_release_frames": 156
|
| 520 |
+
},
|
| 521 |
+
"failed_keys": [],
|
| 522 |
+
"failure_code": null,
|
| 523 |
+
"failure_messages": {},
|
| 524 |
+
"safety": {
|
| 525 |
+
"policy": {
|
| 526 |
+
"skill": "place",
|
| 527 |
+
"target_object": "heater_platform",
|
| 528 |
+
"held_object": "beaker_b",
|
| 529 |
+
"allowed_objects": [
|
| 530 |
+
"beaker_b",
|
| 531 |
+
"heater_platform"
|
| 532 |
+
],
|
| 533 |
+
"allowed_object_paths": [
|
| 534 |
+
"/World/heat_device/heat_device/heat_device/plat",
|
| 535 |
+
"/World/target_beaker"
|
| 536 |
+
],
|
| 537 |
+
"allowed_prim_substrings": [],
|
| 538 |
+
"robot_prim_substrings": [
|
| 539 |
+
"Robotiq2F85",
|
| 540 |
+
"Robotiq_2F_85",
|
| 541 |
+
"contact_sensor",
|
| 542 |
+
"dummy_base_prismatic_x_joint",
|
| 543 |
+
"dummy_base_prismatic_y_joint",
|
| 544 |
+
"dummy_base_revolute_z_joint",
|
| 545 |
+
"elbow_joint",
|
| 546 |
+
"festo",
|
| 547 |
+
"finger",
|
| 548 |
+
"fr3",
|
| 549 |
+
"fr3_duo_mobile",
|
| 550 |
+
"fr3_joint1",
|
| 551 |
+
"fr3_joint2",
|
| 552 |
+
"fr3_joint3",
|
| 553 |
+
"fr3_joint4",
|
| 554 |
+
"fr3_joint5",
|
| 555 |
+
"fr3_joint6",
|
| 556 |
+
"fr3_joint7",
|
| 557 |
+
"fr3_leftfinger",
|
| 558 |
+
"fr3_rightfinger",
|
| 559 |
+
"franka",
|
| 560 |
+
"geometry",
|
| 561 |
+
"gripper",
|
| 562 |
+
"gripper_center",
|
| 563 |
+
"joint1",
|
| 564 |
+
"joint2",
|
| 565 |
+
"joint3",
|
| 566 |
+
"joint4",
|
| 567 |
+
"joint5",
|
| 568 |
+
"joint6",
|
| 569 |
+
"joint7",
|
| 570 |
+
"left_inner_finger",
|
| 571 |
+
"lift2",
|
| 572 |
+
"mobile_rotate",
|
| 573 |
+
"mobile_translate_x",
|
| 574 |
+
"mobile_translate_y",
|
| 575 |
+
"panda_joint1",
|
| 576 |
+
"panda_joint2",
|
| 577 |
+
"panda_joint3",
|
| 578 |
+
"panda_joint4",
|
| 579 |
+
"panda_joint5",
|
| 580 |
+
"panda_joint6",
|
| 581 |
+
"panda_joint7",
|
| 582 |
+
"panda_leftfinger",
|
| 583 |
+
"panda_leftfingertip",
|
| 584 |
+
"panda_rightfinger",
|
| 585 |
+
"panda_rightfingertip",
|
| 586 |
+
"ridgebase",
|
| 587 |
+
"ridgebase_festo",
|
| 588 |
+
"ridgebase_fr3",
|
| 589 |
+
"ridgebase_rizon4",
|
| 590 |
+
"ridgebase_ur16e",
|
| 591 |
+
"ridgebase_ur5e",
|
| 592 |
+
"right_inner_finger",
|
| 593 |
+
"rizon4",
|
| 594 |
+
"robot",
|
| 595 |
+
"robotiq_2f85",
|
| 596 |
+
"shoulder_lift_joint",
|
| 597 |
+
"shoulder_pan_joint",
|
| 598 |
+
"split_aloha",
|
| 599 |
+
"tool_center",
|
| 600 |
+
"ur16e",
|
| 601 |
+
"ur5e",
|
| 602 |
+
"visuals",
|
| 603 |
+
"wrist",
|
| 604 |
+
"wrist_1_joint",
|
| 605 |
+
"wrist_2_joint",
|
| 606 |
+
"wrist_3_joint"
|
| 607 |
+
],
|
| 608 |
+
"ignored_prim_substrings": [
|
| 609 |
+
"base_link",
|
| 610 |
+
"caster",
|
| 611 |
+
"defaultgroundplane",
|
| 612 |
+
"desk",
|
| 613 |
+
"floor",
|
| 614 |
+
"ground",
|
| 615 |
+
"groundplane",
|
| 616 |
+
"link0",
|
| 617 |
+
"table",
|
| 618 |
+
"wheel",
|
| 619 |
+
"workbench"
|
| 620 |
+
],
|
| 621 |
+
"enabled": true
|
| 622 |
+
},
|
| 623 |
+
"status": "active",
|
| 624 |
+
"passed": true,
|
| 625 |
+
"source_missing": false,
|
| 626 |
+
"forbidden": [],
|
| 627 |
+
"disturbances": [],
|
| 628 |
+
"last_frame": {
|
| 629 |
+
"passed": true,
|
| 630 |
+
"source_missing": false,
|
| 631 |
+
"forbidden": [],
|
| 632 |
+
"allowed": [],
|
| 633 |
+
"ignored": [],
|
| 634 |
+
"failed_keys": []
|
| 635 |
+
},
|
| 636 |
+
"failed_keys": []
|
| 637 |
+
}
|
| 638 |
+
},
|
| 639 |
+
"gripper": null,
|
| 640 |
+
"post_done_wait_frames": 0,
|
| 641 |
+
"post_done_wait_exhausted": false
|
| 642 |
+
},
|
| 643 |
+
"physical_semantics": {
|
| 644 |
+
"skill": "place",
|
| 645 |
+
"target": "heater_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 |
+
"step_index": 3,
|
| 655 |
+
"skill": "press",
|
| 656 |
+
"target": "heat_button",
|
| 657 |
+
"success": true,
|
| 658 |
+
"reason": "executed",
|
| 659 |
+
"debug": {
|
| 660 |
+
"arm": null,
|
| 661 |
+
"checker": {
|
| 662 |
+
"checker": "PressSuccessChecker",
|
| 663 |
+
"skill": "press",
|
| 664 |
+
"target": "heat_button",
|
| 665 |
+
"passed": true,
|
| 666 |
+
"metrics": {
|
| 667 |
+
"target": "heat_button",
|
| 668 |
+
"z_decrease": 0.007875502109527588,
|
| 669 |
+
"max_z_decrease": 0.007875502109527588,
|
| 670 |
+
"final_z_decrease": 0.0,
|
| 671 |
+
"z_decrease_threshold": 0.0003,
|
| 672 |
+
"min_ee_to_button": 0.035037706042456346,
|
| 673 |
+
"contact_distance_threshold": 0.08,
|
| 674 |
+
"ee_contact_ok": true,
|
| 675 |
+
"max_z_decrease_with_ee_contact": 0.007875502109527588,
|
| 676 |
+
"ee_contacted_z_ok": true,
|
| 677 |
+
"physical_press_ok": true,
|
| 678 |
+
"required_contacted_press_frames": 2,
|
| 679 |
+
"contacted_z_stable_frames": 0,
|
| 680 |
+
"max_contacted_z_stable_frames": 78,
|
| 681 |
+
"contact_point_distance": 0.02125548251897702,
|
| 682 |
+
"contact_point_source": "active_contact_pad_positions",
|
| 683 |
+
"contact_point_distance_threshold": 0.04,
|
| 684 |
+
"contact_point_seen_ok": true,
|
| 685 |
+
"contact_point_ok": true,
|
| 686 |
+
"contact_point_stable_frames": 0,
|
| 687 |
+
"max_contact_point_stable_frames": 120,
|
| 688 |
+
"max_z_decrease_with_contact_point": 0.007875502109527588,
|
| 689 |
+
"contact_point_contacted_z_ok": true,
|
| 690 |
+
"contact_point_contacted_z_stable_frames": 0,
|
| 691 |
+
"max_contact_point_contacted_z_stable_frames": 78,
|
| 692 |
+
"contact_ok": true,
|
| 693 |
+
"button_final_displacement": 0.0,
|
| 694 |
+
"button_max_displacement": 0.007875523913930616,
|
| 695 |
+
"max_button_displacement": 0.12,
|
| 696 |
+
"button_start": [
|
| 697 |
+
0.18119002878665924,
|
| 698 |
+
-0.38674983382225037,
|
| 699 |
+
0.7768088579177856
|
| 700 |
+
],
|
| 701 |
+
"button_final": [
|
| 702 |
+
0.18119002878665924,
|
| 703 |
+
-0.38674983382225037,
|
| 704 |
+
0.7768088579177856
|
| 705 |
+
],
|
| 706 |
+
"closest_ee": [
|
| 707 |
+
0.18166927732615673,
|
| 708 |
+
-0.38517738852473765,
|
| 709 |
+
0.8039321082854607
|
| 710 |
+
],
|
| 711 |
+
"closest_button": [
|
| 712 |
+
0.1811716705560684,
|
| 713 |
+
-0.38675236701965326,
|
| 714 |
+
0.7689333558082581
|
| 715 |
+
],
|
| 716 |
+
"closest_ee_minus_button": [
|
| 717 |
+
0.000497606770088338,
|
| 718 |
+
0.0015749784949156131,
|
| 719 |
+
0.03499875247720263
|
| 720 |
+
],
|
| 721 |
+
"button_min_z_position": [
|
| 722 |
+
0.1811716705560684,
|
| 723 |
+
-0.38675236701965326,
|
| 724 |
+
0.7689333558082581
|
| 725 |
+
],
|
| 726 |
+
"min_active_finger_to_button": 0.14484170018374695,
|
| 727 |
+
"closest_active_finger": [
|
| 728 |
+
0.0542534664273262,
|
| 729 |
+
-0.4470997154712677,
|
| 730 |
+
0.8079699277877808
|
| 731 |
+
],
|
| 732 |
+
"closest_active_finger_button": [
|
| 733 |
+
0.18120178580284116,
|
| 734 |
+
-0.3867546916007995,
|
| 735 |
+
0.7730168104171753
|
| 736 |
+
],
|
| 737 |
+
"closest_active_finger_index": 1,
|
| 738 |
+
"closest_active_finger_minus_button": [
|
| 739 |
+
-0.12694831937551496,
|
| 740 |
+
-0.060345023870468195,
|
| 741 |
+
0.03495311737060547
|
| 742 |
+
],
|
| 743 |
+
"min_contact_pad_to_button": 0.02125548251897702,
|
| 744 |
+
"closest_contact_pad": [
|
| 745 |
+
0.1811716705560684,
|
| 746 |
+
-0.38675236701965326,
|
| 747 |
+
0.7901888383272351
|
| 748 |
+
],
|
| 749 |
+
"closest_contact_pad_button": [
|
| 750 |
+
0.1811716705560684,
|
| 751 |
+
-0.38675236701965326,
|
| 752 |
+
0.7689333558082581
|
| 753 |
+
],
|
| 754 |
+
"closest_contact_pad_index": 0,
|
| 755 |
+
"closest_contact_pad_minus_button": [
|
| 756 |
+
0.0,
|
| 757 |
+
0.0,
|
| 758 |
+
0.02125548251897702
|
| 759 |
+
]
|
| 760 |
+
},
|
| 761 |
+
"failed_keys": [],
|
| 762 |
+
"failure_code": null,
|
| 763 |
+
"failure_messages": {},
|
| 764 |
+
"safety": {
|
| 765 |
+
"policy": {
|
| 766 |
+
"skill": "press",
|
| 767 |
+
"target_object": "heat_button",
|
| 768 |
+
"held_object": null,
|
| 769 |
+
"allowed_objects": [
|
| 770 |
+
"heat_button"
|
| 771 |
+
],
|
| 772 |
+
"allowed_object_paths": [
|
| 773 |
+
"/World/heat_device/button"
|
| 774 |
+
],
|
| 775 |
+
"allowed_prim_substrings": [],
|
| 776 |
+
"robot_prim_substrings": [
|
| 777 |
+
"Robotiq2F85",
|
| 778 |
+
"Robotiq_2F_85",
|
| 779 |
+
"contact_sensor",
|
| 780 |
+
"dummy_base_prismatic_x_joint",
|
| 781 |
+
"dummy_base_prismatic_y_joint",
|
| 782 |
+
"dummy_base_revolute_z_joint",
|
| 783 |
+
"elbow_joint",
|
| 784 |
+
"festo",
|
| 785 |
+
"finger",
|
| 786 |
+
"fr3",
|
| 787 |
+
"fr3_duo_mobile",
|
| 788 |
+
"fr3_joint1",
|
| 789 |
+
"fr3_joint2",
|
| 790 |
+
"fr3_joint3",
|
| 791 |
+
"fr3_joint4",
|
| 792 |
+
"fr3_joint5",
|
| 793 |
+
"fr3_joint6",
|
| 794 |
+
"fr3_joint7",
|
| 795 |
+
"fr3_leftfinger",
|
| 796 |
+
"fr3_rightfinger",
|
| 797 |
+
"franka",
|
| 798 |
+
"geometry",
|
| 799 |
+
"gripper",
|
| 800 |
+
"gripper_center",
|
| 801 |
+
"joint1",
|
| 802 |
+
"joint2",
|
| 803 |
+
"joint3",
|
| 804 |
+
"joint4",
|
| 805 |
+
"joint5",
|
| 806 |
+
"joint6",
|
| 807 |
+
"joint7",
|
| 808 |
+
"left_inner_finger",
|
| 809 |
+
"lift2",
|
| 810 |
+
"mobile_rotate",
|
| 811 |
+
"mobile_translate_x",
|
| 812 |
+
"mobile_translate_y",
|
| 813 |
+
"panda_joint1",
|
| 814 |
+
"panda_joint2",
|
| 815 |
+
"panda_joint3",
|
| 816 |
+
"panda_joint4",
|
| 817 |
+
"panda_joint5",
|
| 818 |
+
"panda_joint6",
|
| 819 |
+
"panda_joint7",
|
| 820 |
+
"panda_leftfinger",
|
| 821 |
+
"panda_leftfingertip",
|
| 822 |
+
"panda_rightfinger",
|
| 823 |
+
"panda_rightfingertip",
|
| 824 |
+
"ridgebase",
|
| 825 |
+
"ridgebase_festo",
|
| 826 |
+
"ridgebase_fr3",
|
| 827 |
+
"ridgebase_rizon4",
|
| 828 |
+
"ridgebase_ur16e",
|
| 829 |
+
"ridgebase_ur5e",
|
| 830 |
+
"right_inner_finger",
|
| 831 |
+
"rizon4",
|
| 832 |
+
"robot",
|
| 833 |
+
"robotiq_2f85",
|
| 834 |
+
"shoulder_lift_joint",
|
| 835 |
+
"shoulder_pan_joint",
|
| 836 |
+
"split_aloha",
|
| 837 |
+
"tool_center",
|
| 838 |
+
"ur16e",
|
| 839 |
+
"ur5e",
|
| 840 |
+
"visuals",
|
| 841 |
+
"wrist",
|
| 842 |
+
"wrist_1_joint",
|
| 843 |
+
"wrist_2_joint",
|
| 844 |
+
"wrist_3_joint"
|
| 845 |
+
],
|
| 846 |
+
"ignored_prim_substrings": [
|
| 847 |
+
"base_link",
|
| 848 |
+
"caster",
|
| 849 |
+
"defaultgroundplane",
|
| 850 |
+
"desk",
|
| 851 |
+
"floor",
|
| 852 |
+
"ground",
|
| 853 |
+
"groundplane",
|
| 854 |
+
"link0",
|
| 855 |
+
"table",
|
| 856 |
+
"wheel",
|
| 857 |
+
"workbench"
|
| 858 |
+
],
|
| 859 |
+
"enabled": true
|
| 860 |
+
},
|
| 861 |
+
"status": "active",
|
| 862 |
+
"passed": true,
|
| 863 |
+
"source_missing": false,
|
| 864 |
+
"forbidden": [],
|
| 865 |
+
"disturbances": [],
|
| 866 |
+
"last_frame": {
|
| 867 |
+
"passed": true,
|
| 868 |
+
"source_missing": false,
|
| 869 |
+
"forbidden": [],
|
| 870 |
+
"allowed": [],
|
| 871 |
+
"ignored": [],
|
| 872 |
+
"failed_keys": []
|
| 873 |
+
},
|
| 874 |
+
"failed_keys": []
|
| 875 |
+
}
|
| 876 |
+
},
|
| 877 |
+
"gripper": null,
|
| 878 |
+
"post_done_wait_frames": 0,
|
| 879 |
+
"post_done_wait_exhausted": false
|
| 880 |
+
},
|
| 881 |
+
"physical_semantics": {
|
| 882 |
+
"skill": "press",
|
| 883 |
+
"target": "heat_button",
|
| 884 |
+
"attach_used": false,
|
| 885 |
+
"attach_object": null,
|
| 886 |
+
"attach_object_path": null,
|
| 887 |
+
"attach_allowed": false,
|
| 888 |
+
"ordinary_object_physical_only": true
|
| 889 |
+
}
|
| 890 |
+
}
|
| 891 |
+
],
|
| 892 |
+
"physical_semantics": {
|
| 893 |
+
"attach_records": [],
|
| 894 |
+
"ordinary_attach_violations": [],
|
| 895 |
+
"forbidden_shortcuts_absent": true
|
| 896 |
+
},
|
| 897 |
+
"h5_episode_index": 94,
|
| 898 |
+
"reproducibility": {
|
| 899 |
+
"enabled": true,
|
| 900 |
+
"action_seed": 6098556129387905517,
|
| 901 |
+
"physical_seed": 7490668268172140043,
|
| 902 |
+
"layout_id": "layout_00031",
|
| 903 |
+
"step_seeds": [
|
| 904 |
+
4567401361451441112,
|
| 905 |
+
7000790218311912638,
|
| 906 |
+
7522013946436761511,
|
| 907 |
+
7728913421038834906
|
| 908 |
+
],
|
| 909 |
+
"workflow_spec_digest": "bc4db0291f406fbd9c91f68a4c7f1acd36da9a03dd09cb73d832a7602138bc78",
|
| 910 |
+
"strict_task_state": false,
|
| 911 |
+
"allow_physical_randomization": true,
|
| 912 |
+
"seed_source": "workflow.reproducibility",
|
| 913 |
+
"task_island_state_digest": "589f1460227e8f8f66894d8e7813cb3d589493ebfb5d6c6b9018c3be7c44f256",
|
| 914 |
+
"visual_seed": 4180862093739473905,
|
| 915 |
+
"episode_index": 94,
|
| 916 |
+
"physical_randomization_enabled": true,
|
| 917 |
+
"motion_controller_type": "ik_servo",
|
| 918 |
+
"runtime_step_seeds": [
|
| 919 |
+
4567401361451441112,
|
| 920 |
+
7000790218311912638,
|
| 921 |
+
7522013946436761511,
|
| 922 |
+
7728913421038834906
|
| 923 |
+
],
|
| 924 |
+
"runtime_workflow_digest": "45388e27c653b4c58871f8eb0be862a6bfbe31c6d7d135b34c259a2497af3374"
|
| 925 |
+
}
|
| 926 |
+
}
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_95_success.json
ADDED
|
@@ -0,0 +1,926 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 95,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 4,
|
| 5 |
+
"total_steps": 4,
|
| 6 |
+
"step_accuracy": "4/4",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_b",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_b",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_b",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.18258030074491166,
|
| 26 |
+
0.2201366115766616,
|
| 27 |
+
1.0426294665052942
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0426294665052942,
|
| 30 |
+
"required_z": 0.8565865074085656,
|
| 31 |
+
"initial_z": 0.7565865074085656,
|
| 32 |
+
"lift_margin": 0.18604295909672863,
|
| 33 |
+
"gripper_z": 1.0484885912155304,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.17771560454522856,
|
| 38 |
+
0.21544565198574733,
|
| 39 |
+
1.0484885912155304
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004864696199683105,
|
| 43 |
+
0.0046909595909142565,
|
| 44 |
+
-0.0058591247102361965
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.00675798572052366,
|
| 47 |
+
"object_to_gripper_z": -0.0058591247102361965,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.18258030074491166,
|
| 51 |
+
0.1956340945133255,
|
| 52 |
+
1.0426294665052942
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.17126107767901033,
|
| 56 |
+
0.2201366115766616,
|
| 57 |
+
1.0426294665052942
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.176920689211961,
|
| 61 |
+
0.20788535304499356,
|
| 62 |
+
1.0426294665052942
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005659611532950665,
|
| 66 |
+
0.01225125853166803,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.026990704941788922,
|
| 70 |
+
"fingertip_max_gap": 0.09427088786895987,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013495352470894447,
|
| 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": 1.0426294665052942,
|
| 78 |
+
"object_top_z": 1.0889543072244223,
|
| 79 |
+
"finger_top_clearance": 0.046324840719128124,
|
| 80 |
+
"fingertip_min_top_clearance": 0.01389745221573842,
|
| 81 |
+
"object_projection_between_fingers": 0.8241247280542718,
|
| 82 |
+
"object_to_finger_line_xy": 0.01027573962644238,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.04963544393447994,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 2.1816024349492853,
|
| 89 |
+
"object_max_tilt_deg": 15.0,
|
| 90 |
+
"object_upright_axis_local": [
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
1.0
|
| 94 |
+
],
|
| 95 |
+
"stable_success_frames": 207,
|
| 96 |
+
"max_stable_success_frames": 207,
|
| 97 |
+
"required_stable_lift_frames": 5
|
| 98 |
+
},
|
| 99 |
+
"failed_keys": [],
|
| 100 |
+
"failure_code": null,
|
| 101 |
+
"failure_messages": {},
|
| 102 |
+
"safety": {
|
| 103 |
+
"policy": {
|
| 104 |
+
"skill": "pick",
|
| 105 |
+
"target_object": "beaker_b",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_b"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/target_beaker"
|
| 112 |
+
],
|
| 113 |
+
"allowed_prim_substrings": [],
|
| 114 |
+
"robot_prim_substrings": [
|
| 115 |
+
"Robotiq2F85",
|
| 116 |
+
"Robotiq_2F_85",
|
| 117 |
+
"contact_sensor",
|
| 118 |
+
"dummy_base_prismatic_x_joint",
|
| 119 |
+
"dummy_base_prismatic_y_joint",
|
| 120 |
+
"dummy_base_revolute_z_joint",
|
| 121 |
+
"elbow_joint",
|
| 122 |
+
"festo",
|
| 123 |
+
"finger",
|
| 124 |
+
"fr3",
|
| 125 |
+
"fr3_duo_mobile",
|
| 126 |
+
"fr3_joint1",
|
| 127 |
+
"fr3_joint2",
|
| 128 |
+
"fr3_joint3",
|
| 129 |
+
"fr3_joint4",
|
| 130 |
+
"fr3_joint5",
|
| 131 |
+
"fr3_joint6",
|
| 132 |
+
"fr3_joint7",
|
| 133 |
+
"fr3_leftfinger",
|
| 134 |
+
"fr3_rightfinger",
|
| 135 |
+
"franka",
|
| 136 |
+
"geometry",
|
| 137 |
+
"gripper",
|
| 138 |
+
"gripper_center",
|
| 139 |
+
"joint1",
|
| 140 |
+
"joint2",
|
| 141 |
+
"joint3",
|
| 142 |
+
"joint4",
|
| 143 |
+
"joint5",
|
| 144 |
+
"joint6",
|
| 145 |
+
"joint7",
|
| 146 |
+
"left_inner_finger",
|
| 147 |
+
"lift2",
|
| 148 |
+
"mobile_rotate",
|
| 149 |
+
"mobile_translate_x",
|
| 150 |
+
"mobile_translate_y",
|
| 151 |
+
"panda_joint1",
|
| 152 |
+
"panda_joint2",
|
| 153 |
+
"panda_joint3",
|
| 154 |
+
"panda_joint4",
|
| 155 |
+
"panda_joint5",
|
| 156 |
+
"panda_joint6",
|
| 157 |
+
"panda_joint7",
|
| 158 |
+
"panda_leftfinger",
|
| 159 |
+
"panda_leftfingertip",
|
| 160 |
+
"panda_rightfinger",
|
| 161 |
+
"panda_rightfingertip",
|
| 162 |
+
"ridgebase",
|
| 163 |
+
"ridgebase_festo",
|
| 164 |
+
"ridgebase_fr3",
|
| 165 |
+
"ridgebase_rizon4",
|
| 166 |
+
"ridgebase_ur16e",
|
| 167 |
+
"ridgebase_ur5e",
|
| 168 |
+
"right_inner_finger",
|
| 169 |
+
"rizon4",
|
| 170 |
+
"robot",
|
| 171 |
+
"robotiq_2f85",
|
| 172 |
+
"shoulder_lift_joint",
|
| 173 |
+
"shoulder_pan_joint",
|
| 174 |
+
"split_aloha",
|
| 175 |
+
"tool_center",
|
| 176 |
+
"ur16e",
|
| 177 |
+
"ur5e",
|
| 178 |
+
"visuals",
|
| 179 |
+
"wrist",
|
| 180 |
+
"wrist_1_joint",
|
| 181 |
+
"wrist_2_joint",
|
| 182 |
+
"wrist_3_joint"
|
| 183 |
+
],
|
| 184 |
+
"ignored_prim_substrings": [
|
| 185 |
+
"base_link",
|
| 186 |
+
"caster",
|
| 187 |
+
"defaultgroundplane",
|
| 188 |
+
"desk",
|
| 189 |
+
"floor",
|
| 190 |
+
"ground",
|
| 191 |
+
"groundplane",
|
| 192 |
+
"link0",
|
| 193 |
+
"table",
|
| 194 |
+
"wheel",
|
| 195 |
+
"workbench"
|
| 196 |
+
],
|
| 197 |
+
"enabled": true
|
| 198 |
+
},
|
| 199 |
+
"status": "active",
|
| 200 |
+
"passed": true,
|
| 201 |
+
"source_missing": false,
|
| 202 |
+
"forbidden": [],
|
| 203 |
+
"disturbances": [],
|
| 204 |
+
"last_frame": {
|
| 205 |
+
"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/target_beaker/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/target_beaker/mesh"
|
| 216 |
+
}
|
| 217 |
+
],
|
| 218 |
+
"ignored": [],
|
| 219 |
+
"failed_keys": []
|
| 220 |
+
},
|
| 221 |
+
"failed_keys": []
|
| 222 |
+
}
|
| 223 |
+
},
|
| 224 |
+
"gripper": null,
|
| 225 |
+
"post_done_wait_frames": 0,
|
| 226 |
+
"post_done_wait_exhausted": false
|
| 227 |
+
},
|
| 228 |
+
"physical_semantics": {
|
| 229 |
+
"skill": "pick",
|
| 230 |
+
"target": "beaker_b",
|
| 231 |
+
"attach_used": false,
|
| 232 |
+
"attach_object": null,
|
| 233 |
+
"attach_object_path": null,
|
| 234 |
+
"attach_allowed": false,
|
| 235 |
+
"ordinary_object_physical_only": true
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
{
|
| 239 |
+
"step_index": 1,
|
| 240 |
+
"skill": "shake",
|
| 241 |
+
"target": "beaker_b",
|
| 242 |
+
"success": true,
|
| 243 |
+
"reason": "executed",
|
| 244 |
+
"debug": {
|
| 245 |
+
"arm": null,
|
| 246 |
+
"checker": {
|
| 247 |
+
"checker": "ShakeSuccessChecker",
|
| 248 |
+
"skill": "shake",
|
| 249 |
+
"target": "beaker_b",
|
| 250 |
+
"passed": true,
|
| 251 |
+
"metrics": {
|
| 252 |
+
"held": "beaker_b",
|
| 253 |
+
"force_virtual_attach": false,
|
| 254 |
+
"virtual_attach_allowed": false,
|
| 255 |
+
"gripper_position": [
|
| 256 |
+
0.18117919404475807,
|
| 257 |
+
0.22170397805452333,
|
| 258 |
+
1.2368844603949007
|
| 259 |
+
],
|
| 260 |
+
"held_position": [
|
| 261 |
+
0.18613439282683497,
|
| 262 |
+
0.22611916145256278,
|
| 263 |
+
1.2309021508810034
|
| 264 |
+
],
|
| 265 |
+
"object_initial_z": 0.7730800627579277,
|
| 266 |
+
"required_gripper_z": 0.8930800627579277,
|
| 267 |
+
"shake_count": 5,
|
| 268 |
+
"held_shake_count": 5,
|
| 269 |
+
"effective_shake_count": 5,
|
| 270 |
+
"min_shake_count": 3,
|
| 271 |
+
"held_gripper_dist": 0.008935091858973029,
|
| 272 |
+
"max_held_gripper_dist": 0.008945187151737331,
|
| 273 |
+
"held_gripper_max_dist": 0.15,
|
| 274 |
+
"held_gripper_z_dist": 0.0059823095138973326,
|
| 275 |
+
"max_held_gripper_z_dist": 0.006002979026169308,
|
| 276 |
+
"held_gripper_z_max_dist": 0.15,
|
| 277 |
+
"held_object_xy_range": 0.08654635657394213,
|
| 278 |
+
"held_object_min_xy_range": 0.04,
|
| 279 |
+
"held_motion_ok": true,
|
| 280 |
+
"held_grasp_geometry_checked": true,
|
| 281 |
+
"held_grasp_geometry_required": true,
|
| 282 |
+
"held_grasp_source": "active_contact_pad_positions",
|
| 283 |
+
"held_grasp_finger_a": [
|
| 284 |
+
0.18613439282683497,
|
| 285 |
+
0.20123773884297688,
|
| 286 |
+
1.2309021508810034
|
| 287 |
+
],
|
| 288 |
+
"held_grasp_finger_b": [
|
| 289 |
+
0.1759814654888212,
|
| 290 |
+
0.22611916145256278,
|
| 291 |
+
1.2309021508810034
|
| 292 |
+
],
|
| 293 |
+
"held_grasp_midpoint": [
|
| 294 |
+
0.1810579291578281,
|
| 295 |
+
0.21367845014776982,
|
| 296 |
+
1.2309021508810034
|
| 297 |
+
],
|
| 298 |
+
"held_grasp_object_position": [
|
| 299 |
+
0.18613439282683497,
|
| 300 |
+
0.22611916145256278,
|
| 301 |
+
1.2309021508810034
|
| 302 |
+
],
|
| 303 |
+
"held_grasp_finger_gap": 0.026873167372079523,
|
| 304 |
+
"held_grasp_max_gap": 0.1249237185716629,
|
| 305 |
+
"held_grasp_geometry_frame": "object_local",
|
| 306 |
+
"held_grasp_size_source": "beaker_b_local_size",
|
| 307 |
+
"held_grasp_z_skew": 0.024851273465926655,
|
| 308 |
+
"held_grasp_world_z_skew": 0.0,
|
| 309 |
+
"held_grasp_z_skew_max": 0.08,
|
| 310 |
+
"held_grasp_z_skew_frame": "object_local_up",
|
| 311 |
+
"held_grasp_local_up_axis": [
|
| 312 |
+
-0.0022414180019410396,
|
| 313 |
+
-0.9997029032596967,
|
| 314 |
+
0.02427099626044238
|
| 315 |
+
],
|
| 316 |
+
"held_grasp_object_projection_between_fingers": 0.5,
|
| 317 |
+
"held_grasp_object_to_finger_line_xy": 0.0050575958481908195,
|
| 318 |
+
"held_grasp_line_xy_max_dist": 0.04746185928583145,
|
| 319 |
+
"held_grasp_object_top_z": 0.045200224965810776,
|
| 320 |
+
"held_grasp_top_clearance": 0.032751831278739624,
|
| 321 |
+
"held_grasp_min_top_clearance": 0.013560067489743232
|
| 322 |
+
},
|
| 323 |
+
"failed_keys": [],
|
| 324 |
+
"failure_code": null,
|
| 325 |
+
"failure_messages": {},
|
| 326 |
+
"safety": {
|
| 327 |
+
"policy": {
|
| 328 |
+
"skill": "shake",
|
| 329 |
+
"target_object": "beaker_b",
|
| 330 |
+
"held_object": "beaker_b",
|
| 331 |
+
"allowed_objects": [
|
| 332 |
+
"beaker_b"
|
| 333 |
+
],
|
| 334 |
+
"allowed_object_paths": [
|
| 335 |
+
"/World/target_beaker"
|
| 336 |
+
],
|
| 337 |
+
"allowed_prim_substrings": [],
|
| 338 |
+
"robot_prim_substrings": [
|
| 339 |
+
"Robotiq2F85",
|
| 340 |
+
"Robotiq_2F_85",
|
| 341 |
+
"contact_sensor",
|
| 342 |
+
"dummy_base_prismatic_x_joint",
|
| 343 |
+
"dummy_base_prismatic_y_joint",
|
| 344 |
+
"dummy_base_revolute_z_joint",
|
| 345 |
+
"elbow_joint",
|
| 346 |
+
"festo",
|
| 347 |
+
"finger",
|
| 348 |
+
"fr3",
|
| 349 |
+
"fr3_duo_mobile",
|
| 350 |
+
"fr3_joint1",
|
| 351 |
+
"fr3_joint2",
|
| 352 |
+
"fr3_joint3",
|
| 353 |
+
"fr3_joint4",
|
| 354 |
+
"fr3_joint5",
|
| 355 |
+
"fr3_joint6",
|
| 356 |
+
"fr3_joint7",
|
| 357 |
+
"fr3_leftfinger",
|
| 358 |
+
"fr3_rightfinger",
|
| 359 |
+
"franka",
|
| 360 |
+
"geometry",
|
| 361 |
+
"gripper",
|
| 362 |
+
"gripper_center",
|
| 363 |
+
"joint1",
|
| 364 |
+
"joint2",
|
| 365 |
+
"joint3",
|
| 366 |
+
"joint4",
|
| 367 |
+
"joint5",
|
| 368 |
+
"joint6",
|
| 369 |
+
"joint7",
|
| 370 |
+
"left_inner_finger",
|
| 371 |
+
"lift2",
|
| 372 |
+
"mobile_rotate",
|
| 373 |
+
"mobile_translate_x",
|
| 374 |
+
"mobile_translate_y",
|
| 375 |
+
"panda_joint1",
|
| 376 |
+
"panda_joint2",
|
| 377 |
+
"panda_joint3",
|
| 378 |
+
"panda_joint4",
|
| 379 |
+
"panda_joint5",
|
| 380 |
+
"panda_joint6",
|
| 381 |
+
"panda_joint7",
|
| 382 |
+
"panda_leftfinger",
|
| 383 |
+
"panda_leftfingertip",
|
| 384 |
+
"panda_rightfinger",
|
| 385 |
+
"panda_rightfingertip",
|
| 386 |
+
"ridgebase",
|
| 387 |
+
"ridgebase_festo",
|
| 388 |
+
"ridgebase_fr3",
|
| 389 |
+
"ridgebase_rizon4",
|
| 390 |
+
"ridgebase_ur16e",
|
| 391 |
+
"ridgebase_ur5e",
|
| 392 |
+
"right_inner_finger",
|
| 393 |
+
"rizon4",
|
| 394 |
+
"robot",
|
| 395 |
+
"robotiq_2f85",
|
| 396 |
+
"shoulder_lift_joint",
|
| 397 |
+
"shoulder_pan_joint",
|
| 398 |
+
"split_aloha",
|
| 399 |
+
"tool_center",
|
| 400 |
+
"ur16e",
|
| 401 |
+
"ur5e",
|
| 402 |
+
"visuals",
|
| 403 |
+
"wrist",
|
| 404 |
+
"wrist_1_joint",
|
| 405 |
+
"wrist_2_joint",
|
| 406 |
+
"wrist_3_joint"
|
| 407 |
+
],
|
| 408 |
+
"ignored_prim_substrings": [
|
| 409 |
+
"base_link",
|
| 410 |
+
"caster",
|
| 411 |
+
"defaultgroundplane",
|
| 412 |
+
"desk",
|
| 413 |
+
"floor",
|
| 414 |
+
"ground",
|
| 415 |
+
"groundplane",
|
| 416 |
+
"link0",
|
| 417 |
+
"table",
|
| 418 |
+
"wheel",
|
| 419 |
+
"workbench"
|
| 420 |
+
],
|
| 421 |
+
"enabled": true
|
| 422 |
+
},
|
| 423 |
+
"status": "active",
|
| 424 |
+
"passed": true,
|
| 425 |
+
"source_missing": false,
|
| 426 |
+
"forbidden": [],
|
| 427 |
+
"disturbances": [],
|
| 428 |
+
"last_frame": {
|
| 429 |
+
"passed": true,
|
| 430 |
+
"source_missing": false,
|
| 431 |
+
"forbidden": [],
|
| 432 |
+
"allowed": [
|
| 433 |
+
{
|
| 434 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 435 |
+
"b": "/World/target_beaker/mesh"
|
| 436 |
+
},
|
| 437 |
+
{
|
| 438 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 439 |
+
"b": "/World/target_beaker/mesh"
|
| 440 |
+
}
|
| 441 |
+
],
|
| 442 |
+
"ignored": [],
|
| 443 |
+
"failed_keys": []
|
| 444 |
+
},
|
| 445 |
+
"failed_keys": []
|
| 446 |
+
}
|
| 447 |
+
},
|
| 448 |
+
"gripper": null,
|
| 449 |
+
"post_done_wait_frames": 0,
|
| 450 |
+
"post_done_wait_exhausted": false
|
| 451 |
+
},
|
| 452 |
+
"physical_semantics": {
|
| 453 |
+
"skill": "shake",
|
| 454 |
+
"target": "beaker_b",
|
| 455 |
+
"attach_used": false,
|
| 456 |
+
"attach_object": null,
|
| 457 |
+
"attach_object_path": null,
|
| 458 |
+
"attach_allowed": false,
|
| 459 |
+
"ordinary_object_physical_only": true
|
| 460 |
+
}
|
| 461 |
+
},
|
| 462 |
+
{
|
| 463 |
+
"step_index": 2,
|
| 464 |
+
"skill": "place",
|
| 465 |
+
"target": "heater_platform",
|
| 466 |
+
"success": true,
|
| 467 |
+
"reason": "executed",
|
| 468 |
+
"debug": {
|
| 469 |
+
"arm": null,
|
| 470 |
+
"checker": {
|
| 471 |
+
"checker": "PlaceSuccessChecker",
|
| 472 |
+
"skill": "place",
|
| 473 |
+
"target": "heater_platform",
|
| 474 |
+
"passed": true,
|
| 475 |
+
"metrics": {
|
| 476 |
+
"held": "beaker_b",
|
| 477 |
+
"target": "heater_platform",
|
| 478 |
+
"object_position": [
|
| 479 |
+
0.33334782758580217,
|
| 480 |
+
-0.3274167937801753,
|
| 481 |
+
0.8470195682637405
|
| 482 |
+
],
|
| 483 |
+
"target_position": [
|
| 484 |
+
0.3256174002680183,
|
| 485 |
+
-0.3301196924347032,
|
| 486 |
+
0.8084375599031817
|
| 487 |
+
],
|
| 488 |
+
"target_position_source": "target_object:_xform_position",
|
| 489 |
+
"xy_dist": 0.008189332552301693,
|
| 490 |
+
"xy_threshold": 0.08,
|
| 491 |
+
"gripper_dist": 0.1884034914693532,
|
| 492 |
+
"gripper_away_threshold": 0.04,
|
| 493 |
+
"gripper_away_ok": true,
|
| 494 |
+
"object_z": 0.8470195682637405,
|
| 495 |
+
"min_z": 0.5730800627579278,
|
| 496 |
+
"min_z_margin": 0.2,
|
| 497 |
+
"require_object_upright": true,
|
| 498 |
+
"object_upright_reference_source": "scene_initial",
|
| 499 |
+
"release_fingertip_source": "active_contact_pad_positions",
|
| 500 |
+
"release_finger_gap": 0.07542729390287303,
|
| 501 |
+
"release_finger_gap_metric": "3d_contact_pad_distance",
|
| 502 |
+
"release_fingertip_min_gap": 0.0876225657116566,
|
| 503 |
+
"release_gap_margin": 0.02,
|
| 504 |
+
"release_gap_missing_size": false,
|
| 505 |
+
"release_min_pad_clearance": 0.15718790861733914,
|
| 506 |
+
"release_required_pad_clearance": 0.0538112828558283,
|
| 507 |
+
"release_pad_clearance_ok": true,
|
| 508 |
+
"release_gap_ok": false,
|
| 509 |
+
"force_virtual_attach": false,
|
| 510 |
+
"virtual_attach_allowed": false,
|
| 511 |
+
"max_z": 0.9084375599031816,
|
| 512 |
+
"max_z_margin": 0.1,
|
| 513 |
+
"object_tilt_deg": 2.631332230852575,
|
| 514 |
+
"object_max_tilt_deg": 12.0,
|
| 515 |
+
"object_axis_flip_tolerance_deg": 3.0,
|
| 516 |
+
"object_upright_axis_local": null,
|
| 517 |
+
"required_placed_release_frames": 2,
|
| 518 |
+
"placed_release_frames": 157,
|
| 519 |
+
"max_placed_release_frames": 157
|
| 520 |
+
},
|
| 521 |
+
"failed_keys": [],
|
| 522 |
+
"failure_code": null,
|
| 523 |
+
"failure_messages": {},
|
| 524 |
+
"safety": {
|
| 525 |
+
"policy": {
|
| 526 |
+
"skill": "place",
|
| 527 |
+
"target_object": "heater_platform",
|
| 528 |
+
"held_object": "beaker_b",
|
| 529 |
+
"allowed_objects": [
|
| 530 |
+
"beaker_b",
|
| 531 |
+
"heater_platform"
|
| 532 |
+
],
|
| 533 |
+
"allowed_object_paths": [
|
| 534 |
+
"/World/heat_device/heat_device/heat_device/plat",
|
| 535 |
+
"/World/target_beaker"
|
| 536 |
+
],
|
| 537 |
+
"allowed_prim_substrings": [],
|
| 538 |
+
"robot_prim_substrings": [
|
| 539 |
+
"Robotiq2F85",
|
| 540 |
+
"Robotiq_2F_85",
|
| 541 |
+
"contact_sensor",
|
| 542 |
+
"dummy_base_prismatic_x_joint",
|
| 543 |
+
"dummy_base_prismatic_y_joint",
|
| 544 |
+
"dummy_base_revolute_z_joint",
|
| 545 |
+
"elbow_joint",
|
| 546 |
+
"festo",
|
| 547 |
+
"finger",
|
| 548 |
+
"fr3",
|
| 549 |
+
"fr3_duo_mobile",
|
| 550 |
+
"fr3_joint1",
|
| 551 |
+
"fr3_joint2",
|
| 552 |
+
"fr3_joint3",
|
| 553 |
+
"fr3_joint4",
|
| 554 |
+
"fr3_joint5",
|
| 555 |
+
"fr3_joint6",
|
| 556 |
+
"fr3_joint7",
|
| 557 |
+
"fr3_leftfinger",
|
| 558 |
+
"fr3_rightfinger",
|
| 559 |
+
"franka",
|
| 560 |
+
"geometry",
|
| 561 |
+
"gripper",
|
| 562 |
+
"gripper_center",
|
| 563 |
+
"joint1",
|
| 564 |
+
"joint2",
|
| 565 |
+
"joint3",
|
| 566 |
+
"joint4",
|
| 567 |
+
"joint5",
|
| 568 |
+
"joint6",
|
| 569 |
+
"joint7",
|
| 570 |
+
"left_inner_finger",
|
| 571 |
+
"lift2",
|
| 572 |
+
"mobile_rotate",
|
| 573 |
+
"mobile_translate_x",
|
| 574 |
+
"mobile_translate_y",
|
| 575 |
+
"panda_joint1",
|
| 576 |
+
"panda_joint2",
|
| 577 |
+
"panda_joint3",
|
| 578 |
+
"panda_joint4",
|
| 579 |
+
"panda_joint5",
|
| 580 |
+
"panda_joint6",
|
| 581 |
+
"panda_joint7",
|
| 582 |
+
"panda_leftfinger",
|
| 583 |
+
"panda_leftfingertip",
|
| 584 |
+
"panda_rightfinger",
|
| 585 |
+
"panda_rightfingertip",
|
| 586 |
+
"ridgebase",
|
| 587 |
+
"ridgebase_festo",
|
| 588 |
+
"ridgebase_fr3",
|
| 589 |
+
"ridgebase_rizon4",
|
| 590 |
+
"ridgebase_ur16e",
|
| 591 |
+
"ridgebase_ur5e",
|
| 592 |
+
"right_inner_finger",
|
| 593 |
+
"rizon4",
|
| 594 |
+
"robot",
|
| 595 |
+
"robotiq_2f85",
|
| 596 |
+
"shoulder_lift_joint",
|
| 597 |
+
"shoulder_pan_joint",
|
| 598 |
+
"split_aloha",
|
| 599 |
+
"tool_center",
|
| 600 |
+
"ur16e",
|
| 601 |
+
"ur5e",
|
| 602 |
+
"visuals",
|
| 603 |
+
"wrist",
|
| 604 |
+
"wrist_1_joint",
|
| 605 |
+
"wrist_2_joint",
|
| 606 |
+
"wrist_3_joint"
|
| 607 |
+
],
|
| 608 |
+
"ignored_prim_substrings": [
|
| 609 |
+
"base_link",
|
| 610 |
+
"caster",
|
| 611 |
+
"defaultgroundplane",
|
| 612 |
+
"desk",
|
| 613 |
+
"floor",
|
| 614 |
+
"ground",
|
| 615 |
+
"groundplane",
|
| 616 |
+
"link0",
|
| 617 |
+
"table",
|
| 618 |
+
"wheel",
|
| 619 |
+
"workbench"
|
| 620 |
+
],
|
| 621 |
+
"enabled": true
|
| 622 |
+
},
|
| 623 |
+
"status": "active",
|
| 624 |
+
"passed": true,
|
| 625 |
+
"source_missing": false,
|
| 626 |
+
"forbidden": [],
|
| 627 |
+
"disturbances": [],
|
| 628 |
+
"last_frame": {
|
| 629 |
+
"passed": true,
|
| 630 |
+
"source_missing": false,
|
| 631 |
+
"forbidden": [],
|
| 632 |
+
"allowed": [],
|
| 633 |
+
"ignored": [],
|
| 634 |
+
"failed_keys": []
|
| 635 |
+
},
|
| 636 |
+
"failed_keys": []
|
| 637 |
+
}
|
| 638 |
+
},
|
| 639 |
+
"gripper": null,
|
| 640 |
+
"post_done_wait_frames": 0,
|
| 641 |
+
"post_done_wait_exhausted": false
|
| 642 |
+
},
|
| 643 |
+
"physical_semantics": {
|
| 644 |
+
"skill": "place",
|
| 645 |
+
"target": "heater_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 |
+
"step_index": 3,
|
| 655 |
+
"skill": "press",
|
| 656 |
+
"target": "heat_button",
|
| 657 |
+
"success": true,
|
| 658 |
+
"reason": "executed",
|
| 659 |
+
"debug": {
|
| 660 |
+
"arm": null,
|
| 661 |
+
"checker": {
|
| 662 |
+
"checker": "PressSuccessChecker",
|
| 663 |
+
"skill": "press",
|
| 664 |
+
"target": "heat_button",
|
| 665 |
+
"passed": true,
|
| 666 |
+
"metrics": {
|
| 667 |
+
"target": "heat_button",
|
| 668 |
+
"z_decrease": 0.00797128677368164,
|
| 669 |
+
"max_z_decrease": 0.00797128677368164,
|
| 670 |
+
"final_z_decrease": 0.0,
|
| 671 |
+
"z_decrease_threshold": 0.0003,
|
| 672 |
+
"min_ee_to_button": 0.03509526868340825,
|
| 673 |
+
"contact_distance_threshold": 0.08,
|
| 674 |
+
"ee_contact_ok": true,
|
| 675 |
+
"max_z_decrease_with_ee_contact": 0.00797128677368164,
|
| 676 |
+
"ee_contacted_z_ok": true,
|
| 677 |
+
"physical_press_ok": true,
|
| 678 |
+
"required_contacted_press_frames": 2,
|
| 679 |
+
"contacted_z_stable_frames": 0,
|
| 680 |
+
"max_contacted_z_stable_frames": 78,
|
| 681 |
+
"contact_point_distance": 0.02115961274078071,
|
| 682 |
+
"contact_point_source": "active_contact_pad_positions",
|
| 683 |
+
"contact_point_distance_threshold": 0.04,
|
| 684 |
+
"contact_point_seen_ok": true,
|
| 685 |
+
"contact_point_ok": true,
|
| 686 |
+
"contact_point_stable_frames": 0,
|
| 687 |
+
"max_contact_point_stable_frames": 120,
|
| 688 |
+
"max_z_decrease_with_contact_point": 0.00797128677368164,
|
| 689 |
+
"contact_point_contacted_z_ok": true,
|
| 690 |
+
"contact_point_contacted_z_stable_frames": 0,
|
| 691 |
+
"max_contact_point_contacted_z_stable_frames": 78,
|
| 692 |
+
"contact_ok": true,
|
| 693 |
+
"button_final_displacement": 0.0,
|
| 694 |
+
"button_max_displacement": 0.007971306123741214,
|
| 695 |
+
"max_button_displacement": 0.12,
|
| 696 |
+
"button_start": [
|
| 697 |
+
0.18131732940673823,
|
| 698 |
+
-0.3863811492919922,
|
| 699 |
+
0.7768088579177856
|
| 700 |
+
],
|
| 701 |
+
"button_final": [
|
| 702 |
+
0.18131732940673823,
|
| 703 |
+
-0.3863811492919922,
|
| 704 |
+
0.7768088579177856
|
| 705 |
+
],
|
| 706 |
+
"closest_ee": [
|
| 707 |
+
0.18007880017625866,
|
| 708 |
+
-0.38486848282957636,
|
| 709 |
+
0.8068688504643858
|
| 710 |
+
],
|
| 711 |
+
"closest_button": [
|
| 712 |
+
0.18130485713481898,
|
| 713 |
+
-0.38638389110565186,
|
| 714 |
+
0.771827757358551
|
| 715 |
+
],
|
| 716 |
+
"closest_ee_minus_button": [
|
| 717 |
+
-0.0012260569585603176,
|
| 718 |
+
0.0015154082760754917,
|
| 719 |
+
0.03504109310583481
|
| 720 |
+
],
|
| 721 |
+
"button_min_z_position": [
|
| 722 |
+
0.18130013346672053,
|
| 723 |
+
-0.3863847255706787,
|
| 724 |
+
0.768837571144104
|
| 725 |
+
],
|
| 726 |
+
"min_active_finger_to_button": 0.14658337407818636,
|
| 727 |
+
"closest_active_finger": [
|
| 728 |
+
0.0530862957239151,
|
| 729 |
+
-0.4483710527420044,
|
| 730 |
+
0.8109095096588135
|
| 731 |
+
],
|
| 732 |
+
"closest_active_finger_button": [
|
| 733 |
+
0.1813223212957382,
|
| 734 |
+
-0.3863847851753235,
|
| 735 |
+
0.776269793510437
|
| 736 |
+
],
|
| 737 |
+
"closest_active_finger_index": 1,
|
| 738 |
+
"closest_active_finger_minus_button": [
|
| 739 |
+
-0.1282360255718231,
|
| 740 |
+
-0.06198626756668091,
|
| 741 |
+
0.034639716148376465
|
| 742 |
+
],
|
| 743 |
+
"min_contact_pad_to_button": 0.02115961274078071,
|
| 744 |
+
"closest_contact_pad": [
|
| 745 |
+
0.18130013346672053,
|
| 746 |
+
-0.3863847255706787,
|
| 747 |
+
0.7899971838848847
|
| 748 |
+
],
|
| 749 |
+
"closest_contact_pad_button": [
|
| 750 |
+
0.18130013346672053,
|
| 751 |
+
-0.3863847255706787,
|
| 752 |
+
0.768837571144104
|
| 753 |
+
],
|
| 754 |
+
"closest_contact_pad_index": 0,
|
| 755 |
+
"closest_contact_pad_minus_button": [
|
| 756 |
+
0.0,
|
| 757 |
+
0.0,
|
| 758 |
+
0.02115961274078071
|
| 759 |
+
]
|
| 760 |
+
},
|
| 761 |
+
"failed_keys": [],
|
| 762 |
+
"failure_code": null,
|
| 763 |
+
"failure_messages": {},
|
| 764 |
+
"safety": {
|
| 765 |
+
"policy": {
|
| 766 |
+
"skill": "press",
|
| 767 |
+
"target_object": "heat_button",
|
| 768 |
+
"held_object": null,
|
| 769 |
+
"allowed_objects": [
|
| 770 |
+
"heat_button"
|
| 771 |
+
],
|
| 772 |
+
"allowed_object_paths": [
|
| 773 |
+
"/World/heat_device/button"
|
| 774 |
+
],
|
| 775 |
+
"allowed_prim_substrings": [],
|
| 776 |
+
"robot_prim_substrings": [
|
| 777 |
+
"Robotiq2F85",
|
| 778 |
+
"Robotiq_2F_85",
|
| 779 |
+
"contact_sensor",
|
| 780 |
+
"dummy_base_prismatic_x_joint",
|
| 781 |
+
"dummy_base_prismatic_y_joint",
|
| 782 |
+
"dummy_base_revolute_z_joint",
|
| 783 |
+
"elbow_joint",
|
| 784 |
+
"festo",
|
| 785 |
+
"finger",
|
| 786 |
+
"fr3",
|
| 787 |
+
"fr3_duo_mobile",
|
| 788 |
+
"fr3_joint1",
|
| 789 |
+
"fr3_joint2",
|
| 790 |
+
"fr3_joint3",
|
| 791 |
+
"fr3_joint4",
|
| 792 |
+
"fr3_joint5",
|
| 793 |
+
"fr3_joint6",
|
| 794 |
+
"fr3_joint7",
|
| 795 |
+
"fr3_leftfinger",
|
| 796 |
+
"fr3_rightfinger",
|
| 797 |
+
"franka",
|
| 798 |
+
"geometry",
|
| 799 |
+
"gripper",
|
| 800 |
+
"gripper_center",
|
| 801 |
+
"joint1",
|
| 802 |
+
"joint2",
|
| 803 |
+
"joint3",
|
| 804 |
+
"joint4",
|
| 805 |
+
"joint5",
|
| 806 |
+
"joint6",
|
| 807 |
+
"joint7",
|
| 808 |
+
"left_inner_finger",
|
| 809 |
+
"lift2",
|
| 810 |
+
"mobile_rotate",
|
| 811 |
+
"mobile_translate_x",
|
| 812 |
+
"mobile_translate_y",
|
| 813 |
+
"panda_joint1",
|
| 814 |
+
"panda_joint2",
|
| 815 |
+
"panda_joint3",
|
| 816 |
+
"panda_joint4",
|
| 817 |
+
"panda_joint5",
|
| 818 |
+
"panda_joint6",
|
| 819 |
+
"panda_joint7",
|
| 820 |
+
"panda_leftfinger",
|
| 821 |
+
"panda_leftfingertip",
|
| 822 |
+
"panda_rightfinger",
|
| 823 |
+
"panda_rightfingertip",
|
| 824 |
+
"ridgebase",
|
| 825 |
+
"ridgebase_festo",
|
| 826 |
+
"ridgebase_fr3",
|
| 827 |
+
"ridgebase_rizon4",
|
| 828 |
+
"ridgebase_ur16e",
|
| 829 |
+
"ridgebase_ur5e",
|
| 830 |
+
"right_inner_finger",
|
| 831 |
+
"rizon4",
|
| 832 |
+
"robot",
|
| 833 |
+
"robotiq_2f85",
|
| 834 |
+
"shoulder_lift_joint",
|
| 835 |
+
"shoulder_pan_joint",
|
| 836 |
+
"split_aloha",
|
| 837 |
+
"tool_center",
|
| 838 |
+
"ur16e",
|
| 839 |
+
"ur5e",
|
| 840 |
+
"visuals",
|
| 841 |
+
"wrist",
|
| 842 |
+
"wrist_1_joint",
|
| 843 |
+
"wrist_2_joint",
|
| 844 |
+
"wrist_3_joint"
|
| 845 |
+
],
|
| 846 |
+
"ignored_prim_substrings": [
|
| 847 |
+
"base_link",
|
| 848 |
+
"caster",
|
| 849 |
+
"defaultgroundplane",
|
| 850 |
+
"desk",
|
| 851 |
+
"floor",
|
| 852 |
+
"ground",
|
| 853 |
+
"groundplane",
|
| 854 |
+
"link0",
|
| 855 |
+
"table",
|
| 856 |
+
"wheel",
|
| 857 |
+
"workbench"
|
| 858 |
+
],
|
| 859 |
+
"enabled": true
|
| 860 |
+
},
|
| 861 |
+
"status": "active",
|
| 862 |
+
"passed": true,
|
| 863 |
+
"source_missing": false,
|
| 864 |
+
"forbidden": [],
|
| 865 |
+
"disturbances": [],
|
| 866 |
+
"last_frame": {
|
| 867 |
+
"passed": true,
|
| 868 |
+
"source_missing": false,
|
| 869 |
+
"forbidden": [],
|
| 870 |
+
"allowed": [],
|
| 871 |
+
"ignored": [],
|
| 872 |
+
"failed_keys": []
|
| 873 |
+
},
|
| 874 |
+
"failed_keys": []
|
| 875 |
+
}
|
| 876 |
+
},
|
| 877 |
+
"gripper": null,
|
| 878 |
+
"post_done_wait_frames": 0,
|
| 879 |
+
"post_done_wait_exhausted": false
|
| 880 |
+
},
|
| 881 |
+
"physical_semantics": {
|
| 882 |
+
"skill": "press",
|
| 883 |
+
"target": "heat_button",
|
| 884 |
+
"attach_used": false,
|
| 885 |
+
"attach_object": null,
|
| 886 |
+
"attach_object_path": null,
|
| 887 |
+
"attach_allowed": false,
|
| 888 |
+
"ordinary_object_physical_only": true
|
| 889 |
+
}
|
| 890 |
+
}
|
| 891 |
+
],
|
| 892 |
+
"physical_semantics": {
|
| 893 |
+
"attach_records": [],
|
| 894 |
+
"ordinary_attach_violations": [],
|
| 895 |
+
"forbidden_shortcuts_absent": true
|
| 896 |
+
},
|
| 897 |
+
"h5_episode_index": 95,
|
| 898 |
+
"reproducibility": {
|
| 899 |
+
"enabled": true,
|
| 900 |
+
"action_seed": 6098556129387905517,
|
| 901 |
+
"physical_seed": 7490668268172140043,
|
| 902 |
+
"layout_id": "layout_00031",
|
| 903 |
+
"step_seeds": [
|
| 904 |
+
4567401361451441112,
|
| 905 |
+
7000790218311912638,
|
| 906 |
+
7522013946436761511,
|
| 907 |
+
7728913421038834906
|
| 908 |
+
],
|
| 909 |
+
"workflow_spec_digest": "bc4db0291f406fbd9c91f68a4c7f1acd36da9a03dd09cb73d832a7602138bc78",
|
| 910 |
+
"strict_task_state": false,
|
| 911 |
+
"allow_physical_randomization": true,
|
| 912 |
+
"seed_source": "workflow.reproducibility",
|
| 913 |
+
"task_island_state_digest": "b8174eaf1e0e3d1d252788ade904aed20ad2b20ce398d7bb0594f1c522a2dce8",
|
| 914 |
+
"visual_seed": 8807872125119333223,
|
| 915 |
+
"episode_index": 95,
|
| 916 |
+
"physical_randomization_enabled": true,
|
| 917 |
+
"motion_controller_type": "ik_servo",
|
| 918 |
+
"runtime_step_seeds": [
|
| 919 |
+
4567401361451441112,
|
| 920 |
+
7000790218311912638,
|
| 921 |
+
7522013946436761511,
|
| 922 |
+
7728913421038834906
|
| 923 |
+
],
|
| 924 |
+
"runtime_workflow_digest": "45388e27c653b4c58871f8eb0be862a6bfbe31c6d7d135b34c259a2497af3374"
|
| 925 |
+
}
|
| 926 |
+
}
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_96_success.json
ADDED
|
@@ -0,0 +1,926 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 96,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 4,
|
| 5 |
+
"total_steps": 4,
|
| 6 |
+
"step_accuracy": "4/4",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_b",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_b",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_b",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.18690959262508577,
|
| 26 |
+
0.22070706896327075,
|
| 27 |
+
1.0456287302771987
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0456287302771987,
|
| 30 |
+
"required_z": 0.8565865670132103,
|
| 31 |
+
"initial_z": 0.7565865670132104,
|
| 32 |
+
"lift_margin": 0.18904216326398837,
|
| 33 |
+
"gripper_z": 1.0510937944399197,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.18201715282987724,
|
| 38 |
+
0.21587092901111227,
|
| 39 |
+
1.0510937944399197
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004892439795208536,
|
| 43 |
+
0.00483613995215848,
|
| 44 |
+
-0.005465064162720967
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.0068792599010797355,
|
| 47 |
+
"object_to_gripper_z": -0.005465064162720967,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.18690959262508577,
|
| 51 |
+
0.19647081786903894,
|
| 52 |
+
1.0456287302771987
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.17499257285754316,
|
| 56 |
+
0.22070706896327075,
|
| 57 |
+
1.0456287302771987
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.18095108274131447,
|
| 61 |
+
0.20858894341615486,
|
| 62 |
+
1.0456287302771987
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005958509883771307,
|
| 66 |
+
0.012118125547115888,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.027007614245665123,
|
| 70 |
+
"fingertip_max_gap": 0.09112146172397104,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.01350380712283255,
|
| 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": 1.0456287302771987,
|
| 78 |
+
"object_top_z": 1.0908504347316166,
|
| 79 |
+
"finger_top_clearance": 0.045221704454417866,
|
| 80 |
+
"fingertip_min_top_clearance": 0.013566511336325327,
|
| 81 |
+
"object_projection_between_fingers": 0.8053013789260512,
|
| 82 |
+
"object_to_finger_line_xy": 0.010694165014129108,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.04806073086198552,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 1.093663598571056,
|
| 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": 212,
|
| 96 |
+
"max_stable_success_frames": 212,
|
| 97 |
+
"required_stable_lift_frames": 5
|
| 98 |
+
},
|
| 99 |
+
"failed_keys": [],
|
| 100 |
+
"failure_code": null,
|
| 101 |
+
"failure_messages": {},
|
| 102 |
+
"safety": {
|
| 103 |
+
"policy": {
|
| 104 |
+
"skill": "pick",
|
| 105 |
+
"target_object": "beaker_b",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_b"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/target_beaker"
|
| 112 |
+
],
|
| 113 |
+
"allowed_prim_substrings": [],
|
| 114 |
+
"robot_prim_substrings": [
|
| 115 |
+
"Robotiq2F85",
|
| 116 |
+
"Robotiq_2F_85",
|
| 117 |
+
"contact_sensor",
|
| 118 |
+
"dummy_base_prismatic_x_joint",
|
| 119 |
+
"dummy_base_prismatic_y_joint",
|
| 120 |
+
"dummy_base_revolute_z_joint",
|
| 121 |
+
"elbow_joint",
|
| 122 |
+
"festo",
|
| 123 |
+
"finger",
|
| 124 |
+
"fr3",
|
| 125 |
+
"fr3_duo_mobile",
|
| 126 |
+
"fr3_joint1",
|
| 127 |
+
"fr3_joint2",
|
| 128 |
+
"fr3_joint3",
|
| 129 |
+
"fr3_joint4",
|
| 130 |
+
"fr3_joint5",
|
| 131 |
+
"fr3_joint6",
|
| 132 |
+
"fr3_joint7",
|
| 133 |
+
"fr3_leftfinger",
|
| 134 |
+
"fr3_rightfinger",
|
| 135 |
+
"franka",
|
| 136 |
+
"geometry",
|
| 137 |
+
"gripper",
|
| 138 |
+
"gripper_center",
|
| 139 |
+
"joint1",
|
| 140 |
+
"joint2",
|
| 141 |
+
"joint3",
|
| 142 |
+
"joint4",
|
| 143 |
+
"joint5",
|
| 144 |
+
"joint6",
|
| 145 |
+
"joint7",
|
| 146 |
+
"left_inner_finger",
|
| 147 |
+
"lift2",
|
| 148 |
+
"mobile_rotate",
|
| 149 |
+
"mobile_translate_x",
|
| 150 |
+
"mobile_translate_y",
|
| 151 |
+
"panda_joint1",
|
| 152 |
+
"panda_joint2",
|
| 153 |
+
"panda_joint3",
|
| 154 |
+
"panda_joint4",
|
| 155 |
+
"panda_joint5",
|
| 156 |
+
"panda_joint6",
|
| 157 |
+
"panda_joint7",
|
| 158 |
+
"panda_leftfinger",
|
| 159 |
+
"panda_leftfingertip",
|
| 160 |
+
"panda_rightfinger",
|
| 161 |
+
"panda_rightfingertip",
|
| 162 |
+
"ridgebase",
|
| 163 |
+
"ridgebase_festo",
|
| 164 |
+
"ridgebase_fr3",
|
| 165 |
+
"ridgebase_rizon4",
|
| 166 |
+
"ridgebase_ur16e",
|
| 167 |
+
"ridgebase_ur5e",
|
| 168 |
+
"right_inner_finger",
|
| 169 |
+
"rizon4",
|
| 170 |
+
"robot",
|
| 171 |
+
"robotiq_2f85",
|
| 172 |
+
"shoulder_lift_joint",
|
| 173 |
+
"shoulder_pan_joint",
|
| 174 |
+
"split_aloha",
|
| 175 |
+
"tool_center",
|
| 176 |
+
"ur16e",
|
| 177 |
+
"ur5e",
|
| 178 |
+
"visuals",
|
| 179 |
+
"wrist",
|
| 180 |
+
"wrist_1_joint",
|
| 181 |
+
"wrist_2_joint",
|
| 182 |
+
"wrist_3_joint"
|
| 183 |
+
],
|
| 184 |
+
"ignored_prim_substrings": [
|
| 185 |
+
"base_link",
|
| 186 |
+
"caster",
|
| 187 |
+
"defaultgroundplane",
|
| 188 |
+
"desk",
|
| 189 |
+
"floor",
|
| 190 |
+
"ground",
|
| 191 |
+
"groundplane",
|
| 192 |
+
"link0",
|
| 193 |
+
"table",
|
| 194 |
+
"wheel",
|
| 195 |
+
"workbench"
|
| 196 |
+
],
|
| 197 |
+
"enabled": true
|
| 198 |
+
},
|
| 199 |
+
"status": "active",
|
| 200 |
+
"passed": true,
|
| 201 |
+
"source_missing": false,
|
| 202 |
+
"forbidden": [],
|
| 203 |
+
"disturbances": [],
|
| 204 |
+
"last_frame": {
|
| 205 |
+
"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/target_beaker/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/target_beaker/mesh"
|
| 216 |
+
}
|
| 217 |
+
],
|
| 218 |
+
"ignored": [],
|
| 219 |
+
"failed_keys": []
|
| 220 |
+
},
|
| 221 |
+
"failed_keys": []
|
| 222 |
+
}
|
| 223 |
+
},
|
| 224 |
+
"gripper": null,
|
| 225 |
+
"post_done_wait_frames": 0,
|
| 226 |
+
"post_done_wait_exhausted": false
|
| 227 |
+
},
|
| 228 |
+
"physical_semantics": {
|
| 229 |
+
"skill": "pick",
|
| 230 |
+
"target": "beaker_b",
|
| 231 |
+
"attach_used": false,
|
| 232 |
+
"attach_object": null,
|
| 233 |
+
"attach_object_path": null,
|
| 234 |
+
"attach_allowed": false,
|
| 235 |
+
"ordinary_object_physical_only": true
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
{
|
| 239 |
+
"step_index": 1,
|
| 240 |
+
"skill": "shake",
|
| 241 |
+
"target": "beaker_b",
|
| 242 |
+
"success": true,
|
| 243 |
+
"reason": "executed",
|
| 244 |
+
"debug": {
|
| 245 |
+
"arm": null,
|
| 246 |
+
"checker": {
|
| 247 |
+
"checker": "ShakeSuccessChecker",
|
| 248 |
+
"skill": "shake",
|
| 249 |
+
"target": "beaker_b",
|
| 250 |
+
"passed": true,
|
| 251 |
+
"metrics": {
|
| 252 |
+
"held": "beaker_b",
|
| 253 |
+
"force_virtual_attach": false,
|
| 254 |
+
"virtual_attach_allowed": false,
|
| 255 |
+
"gripper_position": [
|
| 256 |
+
0.18597000288732476,
|
| 257 |
+
0.2211736841381921,
|
| 258 |
+
1.2416268696322554
|
| 259 |
+
],
|
| 260 |
+
"held_position": [
|
| 261 |
+
0.19112694863731738,
|
| 262 |
+
0.22558912007565052,
|
| 263 |
+
1.236047946819735
|
| 264 |
+
],
|
| 265 |
+
"object_initial_z": 0.7730800627579277,
|
| 266 |
+
"required_gripper_z": 0.8930800627579277,
|
| 267 |
+
"shake_count": 5,
|
| 268 |
+
"held_shake_count": 5,
|
| 269 |
+
"effective_shake_count": 5,
|
| 270 |
+
"min_shake_count": 3,
|
| 271 |
+
"held_gripper_dist": 0.00878718064763822,
|
| 272 |
+
"max_held_gripper_dist": 0.008793297881843855,
|
| 273 |
+
"held_gripper_max_dist": 0.15,
|
| 274 |
+
"held_gripper_z_dist": 0.0055789228125204815,
|
| 275 |
+
"max_held_gripper_z_dist": 0.005603609887056882,
|
| 276 |
+
"held_gripper_z_max_dist": 0.15,
|
| 277 |
+
"held_object_xy_range": 0.08654939526308422,
|
| 278 |
+
"held_object_min_xy_range": 0.04,
|
| 279 |
+
"held_motion_ok": true,
|
| 280 |
+
"held_grasp_geometry_checked": true,
|
| 281 |
+
"held_grasp_geometry_required": true,
|
| 282 |
+
"held_grasp_source": "active_contact_pad_positions",
|
| 283 |
+
"held_grasp_finger_a": [
|
| 284 |
+
0.19112694863731738,
|
| 285 |
+
0.20054587750686215,
|
| 286 |
+
1.236047946819735
|
| 287 |
+
],
|
| 288 |
+
"held_grasp_finger_b": [
|
| 289 |
+
0.18099708228748465,
|
| 290 |
+
0.22558912007565052,
|
| 291 |
+
1.236047946819735
|
| 292 |
+
],
|
| 293 |
+
"held_grasp_midpoint": [
|
| 294 |
+
0.18606201546240103,
|
| 295 |
+
0.21306749879125633,
|
| 296 |
+
1.236047946819735
|
| 297 |
+
],
|
| 298 |
+
"held_grasp_object_position": [
|
| 299 |
+
0.19112694863731738,
|
| 300 |
+
0.22558912007565052,
|
| 301 |
+
1.236047946819735
|
| 302 |
+
],
|
| 303 |
+
"held_grasp_finger_gap": 0.02701440709370923,
|
| 304 |
+
"held_grasp_max_gap": 0.1249237185716629,
|
| 305 |
+
"held_grasp_geometry_frame": "object_local",
|
| 306 |
+
"held_grasp_size_source": "beaker_b_local_size",
|
| 307 |
+
"held_grasp_z_skew": 0.02451181672642356,
|
| 308 |
+
"held_grasp_world_z_skew": 0.0,
|
| 309 |
+
"held_grasp_z_skew_max": 0.08,
|
| 310 |
+
"held_grasp_z_skew_frame": "object_local_up",
|
| 311 |
+
"held_grasp_local_up_axis": [
|
| 312 |
+
-0.049217143952348066,
|
| 313 |
+
-0.9986877597053664,
|
| 314 |
+
0.014157378141819388
|
| 315 |
+
],
|
| 316 |
+
"held_grasp_object_projection_between_fingers": 0.5,
|
| 317 |
+
"held_grasp_object_to_finger_line_xy": 0.004446122535000754,
|
| 318 |
+
"held_grasp_line_xy_max_dist": 0.04746185928583145,
|
| 319 |
+
"held_grasp_object_top_z": 0.045200224965810776,
|
| 320 |
+
"held_grasp_top_clearance": 0.03244575351224123,
|
| 321 |
+
"held_grasp_min_top_clearance": 0.013560067489743232
|
| 322 |
+
},
|
| 323 |
+
"failed_keys": [],
|
| 324 |
+
"failure_code": null,
|
| 325 |
+
"failure_messages": {},
|
| 326 |
+
"safety": {
|
| 327 |
+
"policy": {
|
| 328 |
+
"skill": "shake",
|
| 329 |
+
"target_object": "beaker_b",
|
| 330 |
+
"held_object": "beaker_b",
|
| 331 |
+
"allowed_objects": [
|
| 332 |
+
"beaker_b"
|
| 333 |
+
],
|
| 334 |
+
"allowed_object_paths": [
|
| 335 |
+
"/World/target_beaker"
|
| 336 |
+
],
|
| 337 |
+
"allowed_prim_substrings": [],
|
| 338 |
+
"robot_prim_substrings": [
|
| 339 |
+
"Robotiq2F85",
|
| 340 |
+
"Robotiq_2F_85",
|
| 341 |
+
"contact_sensor",
|
| 342 |
+
"dummy_base_prismatic_x_joint",
|
| 343 |
+
"dummy_base_prismatic_y_joint",
|
| 344 |
+
"dummy_base_revolute_z_joint",
|
| 345 |
+
"elbow_joint",
|
| 346 |
+
"festo",
|
| 347 |
+
"finger",
|
| 348 |
+
"fr3",
|
| 349 |
+
"fr3_duo_mobile",
|
| 350 |
+
"fr3_joint1",
|
| 351 |
+
"fr3_joint2",
|
| 352 |
+
"fr3_joint3",
|
| 353 |
+
"fr3_joint4",
|
| 354 |
+
"fr3_joint5",
|
| 355 |
+
"fr3_joint6",
|
| 356 |
+
"fr3_joint7",
|
| 357 |
+
"fr3_leftfinger",
|
| 358 |
+
"fr3_rightfinger",
|
| 359 |
+
"franka",
|
| 360 |
+
"geometry",
|
| 361 |
+
"gripper",
|
| 362 |
+
"gripper_center",
|
| 363 |
+
"joint1",
|
| 364 |
+
"joint2",
|
| 365 |
+
"joint3",
|
| 366 |
+
"joint4",
|
| 367 |
+
"joint5",
|
| 368 |
+
"joint6",
|
| 369 |
+
"joint7",
|
| 370 |
+
"left_inner_finger",
|
| 371 |
+
"lift2",
|
| 372 |
+
"mobile_rotate",
|
| 373 |
+
"mobile_translate_x",
|
| 374 |
+
"mobile_translate_y",
|
| 375 |
+
"panda_joint1",
|
| 376 |
+
"panda_joint2",
|
| 377 |
+
"panda_joint3",
|
| 378 |
+
"panda_joint4",
|
| 379 |
+
"panda_joint5",
|
| 380 |
+
"panda_joint6",
|
| 381 |
+
"panda_joint7",
|
| 382 |
+
"panda_leftfinger",
|
| 383 |
+
"panda_leftfingertip",
|
| 384 |
+
"panda_rightfinger",
|
| 385 |
+
"panda_rightfingertip",
|
| 386 |
+
"ridgebase",
|
| 387 |
+
"ridgebase_festo",
|
| 388 |
+
"ridgebase_fr3",
|
| 389 |
+
"ridgebase_rizon4",
|
| 390 |
+
"ridgebase_ur16e",
|
| 391 |
+
"ridgebase_ur5e",
|
| 392 |
+
"right_inner_finger",
|
| 393 |
+
"rizon4",
|
| 394 |
+
"robot",
|
| 395 |
+
"robotiq_2f85",
|
| 396 |
+
"shoulder_lift_joint",
|
| 397 |
+
"shoulder_pan_joint",
|
| 398 |
+
"split_aloha",
|
| 399 |
+
"tool_center",
|
| 400 |
+
"ur16e",
|
| 401 |
+
"ur5e",
|
| 402 |
+
"visuals",
|
| 403 |
+
"wrist",
|
| 404 |
+
"wrist_1_joint",
|
| 405 |
+
"wrist_2_joint",
|
| 406 |
+
"wrist_3_joint"
|
| 407 |
+
],
|
| 408 |
+
"ignored_prim_substrings": [
|
| 409 |
+
"base_link",
|
| 410 |
+
"caster",
|
| 411 |
+
"defaultgroundplane",
|
| 412 |
+
"desk",
|
| 413 |
+
"floor",
|
| 414 |
+
"ground",
|
| 415 |
+
"groundplane",
|
| 416 |
+
"link0",
|
| 417 |
+
"table",
|
| 418 |
+
"wheel",
|
| 419 |
+
"workbench"
|
| 420 |
+
],
|
| 421 |
+
"enabled": true
|
| 422 |
+
},
|
| 423 |
+
"status": "active",
|
| 424 |
+
"passed": true,
|
| 425 |
+
"source_missing": false,
|
| 426 |
+
"forbidden": [],
|
| 427 |
+
"disturbances": [],
|
| 428 |
+
"last_frame": {
|
| 429 |
+
"passed": true,
|
| 430 |
+
"source_missing": false,
|
| 431 |
+
"forbidden": [],
|
| 432 |
+
"allowed": [
|
| 433 |
+
{
|
| 434 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 435 |
+
"b": "/World/target_beaker/mesh"
|
| 436 |
+
},
|
| 437 |
+
{
|
| 438 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 439 |
+
"b": "/World/target_beaker/mesh"
|
| 440 |
+
}
|
| 441 |
+
],
|
| 442 |
+
"ignored": [],
|
| 443 |
+
"failed_keys": []
|
| 444 |
+
},
|
| 445 |
+
"failed_keys": []
|
| 446 |
+
}
|
| 447 |
+
},
|
| 448 |
+
"gripper": null,
|
| 449 |
+
"post_done_wait_frames": 0,
|
| 450 |
+
"post_done_wait_exhausted": false
|
| 451 |
+
},
|
| 452 |
+
"physical_semantics": {
|
| 453 |
+
"skill": "shake",
|
| 454 |
+
"target": "beaker_b",
|
| 455 |
+
"attach_used": false,
|
| 456 |
+
"attach_object": null,
|
| 457 |
+
"attach_object_path": null,
|
| 458 |
+
"attach_allowed": false,
|
| 459 |
+
"ordinary_object_physical_only": true
|
| 460 |
+
}
|
| 461 |
+
},
|
| 462 |
+
{
|
| 463 |
+
"step_index": 2,
|
| 464 |
+
"skill": "place",
|
| 465 |
+
"target": "heater_platform",
|
| 466 |
+
"success": true,
|
| 467 |
+
"reason": "executed",
|
| 468 |
+
"debug": {
|
| 469 |
+
"arm": null,
|
| 470 |
+
"checker": {
|
| 471 |
+
"checker": "PlaceSuccessChecker",
|
| 472 |
+
"skill": "place",
|
| 473 |
+
"target": "heater_platform",
|
| 474 |
+
"passed": true,
|
| 475 |
+
"metrics": {
|
| 476 |
+
"held": "beaker_b",
|
| 477 |
+
"target": "heater_platform",
|
| 478 |
+
"object_position": [
|
| 479 |
+
0.341482176091111,
|
| 480 |
+
-0.32344486728996114,
|
| 481 |
+
0.8470191707559596
|
| 482 |
+
],
|
| 483 |
+
"target_position": [
|
| 484 |
+
0.3325568419210215,
|
| 485 |
+
-0.3266205872293349,
|
| 486 |
+
0.8084375599031817
|
| 487 |
+
],
|
| 488 |
+
"target_position_source": "target_object:_xform_position",
|
| 489 |
+
"xy_dist": 0.00947347809313472,
|
| 490 |
+
"xy_threshold": 0.08,
|
| 491 |
+
"gripper_dist": 0.1855223430445195,
|
| 492 |
+
"gripper_away_threshold": 0.04,
|
| 493 |
+
"gripper_away_ok": true,
|
| 494 |
+
"object_z": 0.8470191707559596,
|
| 495 |
+
"min_z": 0.5730800627579278,
|
| 496 |
+
"min_z_margin": 0.2,
|
| 497 |
+
"require_object_upright": true,
|
| 498 |
+
"object_upright_reference_source": "scene_initial",
|
| 499 |
+
"release_fingertip_source": "active_contact_pad_positions",
|
| 500 |
+
"release_finger_gap": 0.07521170672831935,
|
| 501 |
+
"release_finger_gap_metric": "3d_contact_pad_distance",
|
| 502 |
+
"release_fingertip_min_gap": 0.08580851756764211,
|
| 503 |
+
"release_gap_margin": 0.02,
|
| 504 |
+
"release_gap_missing_size": false,
|
| 505 |
+
"release_min_pad_clearance": 0.1550063617821929,
|
| 506 |
+
"release_required_pad_clearance": 0.05290425878382106,
|
| 507 |
+
"release_pad_clearance_ok": true,
|
| 508 |
+
"release_gap_ok": false,
|
| 509 |
+
"force_virtual_attach": false,
|
| 510 |
+
"virtual_attach_allowed": false,
|
| 511 |
+
"max_z": 0.9084375599031816,
|
| 512 |
+
"max_z_margin": 0.1,
|
| 513 |
+
"object_tilt_deg": 0.8467226839638934,
|
| 514 |
+
"object_max_tilt_deg": 12.0,
|
| 515 |
+
"object_axis_flip_tolerance_deg": 3.0,
|
| 516 |
+
"object_upright_axis_local": null,
|
| 517 |
+
"required_placed_release_frames": 2,
|
| 518 |
+
"placed_release_frames": 158,
|
| 519 |
+
"max_placed_release_frames": 158
|
| 520 |
+
},
|
| 521 |
+
"failed_keys": [],
|
| 522 |
+
"failure_code": null,
|
| 523 |
+
"failure_messages": {},
|
| 524 |
+
"safety": {
|
| 525 |
+
"policy": {
|
| 526 |
+
"skill": "place",
|
| 527 |
+
"target_object": "heater_platform",
|
| 528 |
+
"held_object": "beaker_b",
|
| 529 |
+
"allowed_objects": [
|
| 530 |
+
"beaker_b",
|
| 531 |
+
"heater_platform"
|
| 532 |
+
],
|
| 533 |
+
"allowed_object_paths": [
|
| 534 |
+
"/World/heat_device/heat_device/heat_device/plat",
|
| 535 |
+
"/World/target_beaker"
|
| 536 |
+
],
|
| 537 |
+
"allowed_prim_substrings": [],
|
| 538 |
+
"robot_prim_substrings": [
|
| 539 |
+
"Robotiq2F85",
|
| 540 |
+
"Robotiq_2F_85",
|
| 541 |
+
"contact_sensor",
|
| 542 |
+
"dummy_base_prismatic_x_joint",
|
| 543 |
+
"dummy_base_prismatic_y_joint",
|
| 544 |
+
"dummy_base_revolute_z_joint",
|
| 545 |
+
"elbow_joint",
|
| 546 |
+
"festo",
|
| 547 |
+
"finger",
|
| 548 |
+
"fr3",
|
| 549 |
+
"fr3_duo_mobile",
|
| 550 |
+
"fr3_joint1",
|
| 551 |
+
"fr3_joint2",
|
| 552 |
+
"fr3_joint3",
|
| 553 |
+
"fr3_joint4",
|
| 554 |
+
"fr3_joint5",
|
| 555 |
+
"fr3_joint6",
|
| 556 |
+
"fr3_joint7",
|
| 557 |
+
"fr3_leftfinger",
|
| 558 |
+
"fr3_rightfinger",
|
| 559 |
+
"franka",
|
| 560 |
+
"geometry",
|
| 561 |
+
"gripper",
|
| 562 |
+
"gripper_center",
|
| 563 |
+
"joint1",
|
| 564 |
+
"joint2",
|
| 565 |
+
"joint3",
|
| 566 |
+
"joint4",
|
| 567 |
+
"joint5",
|
| 568 |
+
"joint6",
|
| 569 |
+
"joint7",
|
| 570 |
+
"left_inner_finger",
|
| 571 |
+
"lift2",
|
| 572 |
+
"mobile_rotate",
|
| 573 |
+
"mobile_translate_x",
|
| 574 |
+
"mobile_translate_y",
|
| 575 |
+
"panda_joint1",
|
| 576 |
+
"panda_joint2",
|
| 577 |
+
"panda_joint3",
|
| 578 |
+
"panda_joint4",
|
| 579 |
+
"panda_joint5",
|
| 580 |
+
"panda_joint6",
|
| 581 |
+
"panda_joint7",
|
| 582 |
+
"panda_leftfinger",
|
| 583 |
+
"panda_leftfingertip",
|
| 584 |
+
"panda_rightfinger",
|
| 585 |
+
"panda_rightfingertip",
|
| 586 |
+
"ridgebase",
|
| 587 |
+
"ridgebase_festo",
|
| 588 |
+
"ridgebase_fr3",
|
| 589 |
+
"ridgebase_rizon4",
|
| 590 |
+
"ridgebase_ur16e",
|
| 591 |
+
"ridgebase_ur5e",
|
| 592 |
+
"right_inner_finger",
|
| 593 |
+
"rizon4",
|
| 594 |
+
"robot",
|
| 595 |
+
"robotiq_2f85",
|
| 596 |
+
"shoulder_lift_joint",
|
| 597 |
+
"shoulder_pan_joint",
|
| 598 |
+
"split_aloha",
|
| 599 |
+
"tool_center",
|
| 600 |
+
"ur16e",
|
| 601 |
+
"ur5e",
|
| 602 |
+
"visuals",
|
| 603 |
+
"wrist",
|
| 604 |
+
"wrist_1_joint",
|
| 605 |
+
"wrist_2_joint",
|
| 606 |
+
"wrist_3_joint"
|
| 607 |
+
],
|
| 608 |
+
"ignored_prim_substrings": [
|
| 609 |
+
"base_link",
|
| 610 |
+
"caster",
|
| 611 |
+
"defaultgroundplane",
|
| 612 |
+
"desk",
|
| 613 |
+
"floor",
|
| 614 |
+
"ground",
|
| 615 |
+
"groundplane",
|
| 616 |
+
"link0",
|
| 617 |
+
"table",
|
| 618 |
+
"wheel",
|
| 619 |
+
"workbench"
|
| 620 |
+
],
|
| 621 |
+
"enabled": true
|
| 622 |
+
},
|
| 623 |
+
"status": "active",
|
| 624 |
+
"passed": true,
|
| 625 |
+
"source_missing": false,
|
| 626 |
+
"forbidden": [],
|
| 627 |
+
"disturbances": [],
|
| 628 |
+
"last_frame": {
|
| 629 |
+
"passed": true,
|
| 630 |
+
"source_missing": false,
|
| 631 |
+
"forbidden": [],
|
| 632 |
+
"allowed": [],
|
| 633 |
+
"ignored": [],
|
| 634 |
+
"failed_keys": []
|
| 635 |
+
},
|
| 636 |
+
"failed_keys": []
|
| 637 |
+
}
|
| 638 |
+
},
|
| 639 |
+
"gripper": null,
|
| 640 |
+
"post_done_wait_frames": 0,
|
| 641 |
+
"post_done_wait_exhausted": false
|
| 642 |
+
},
|
| 643 |
+
"physical_semantics": {
|
| 644 |
+
"skill": "place",
|
| 645 |
+
"target": "heater_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 |
+
"step_index": 3,
|
| 655 |
+
"skill": "press",
|
| 656 |
+
"target": "heat_button",
|
| 657 |
+
"success": true,
|
| 658 |
+
"reason": "executed",
|
| 659 |
+
"debug": {
|
| 660 |
+
"arm": null,
|
| 661 |
+
"checker": {
|
| 662 |
+
"checker": "PressSuccessChecker",
|
| 663 |
+
"skill": "press",
|
| 664 |
+
"target": "heat_button",
|
| 665 |
+
"passed": true,
|
| 666 |
+
"metrics": {
|
| 667 |
+
"target": "heat_button",
|
| 668 |
+
"z_decrease": 0.007891237735748291,
|
| 669 |
+
"max_z_decrease": 0.007891237735748291,
|
| 670 |
+
"final_z_decrease": 0.0,
|
| 671 |
+
"z_decrease_threshold": 0.0003,
|
| 672 |
+
"min_ee_to_button": 0.03509251652658146,
|
| 673 |
+
"contact_distance_threshold": 0.08,
|
| 674 |
+
"ee_contact_ok": true,
|
| 675 |
+
"max_z_decrease_with_ee_contact": 0.007891237735748291,
|
| 676 |
+
"ee_contacted_z_ok": true,
|
| 677 |
+
"physical_press_ok": true,
|
| 678 |
+
"required_contacted_press_frames": 2,
|
| 679 |
+
"contacted_z_stable_frames": 0,
|
| 680 |
+
"max_contacted_z_stable_frames": 78,
|
| 681 |
+
"contact_point_distance": 0.02123554794206078,
|
| 682 |
+
"contact_point_source": "active_contact_pad_positions",
|
| 683 |
+
"contact_point_distance_threshold": 0.04,
|
| 684 |
+
"contact_point_seen_ok": true,
|
| 685 |
+
"contact_point_ok": true,
|
| 686 |
+
"contact_point_stable_frames": 0,
|
| 687 |
+
"max_contact_point_stable_frames": 120,
|
| 688 |
+
"max_z_decrease_with_contact_point": 0.007891237735748291,
|
| 689 |
+
"contact_point_contacted_z_ok": true,
|
| 690 |
+
"contact_point_contacted_z_stable_frames": 0,
|
| 691 |
+
"max_contact_point_contacted_z_stable_frames": 78,
|
| 692 |
+
"contact_ok": true,
|
| 693 |
+
"button_final_displacement": 0.0,
|
| 694 |
+
"button_max_displacement": 0.007891256151409697,
|
| 695 |
+
"max_button_displacement": 0.12,
|
| 696 |
+
"button_start": [
|
| 697 |
+
0.1882567703723907,
|
| 698 |
+
-0.3828820586204528,
|
| 699 |
+
0.7768088579177856
|
| 700 |
+
],
|
| 701 |
+
"button_final": [
|
| 702 |
+
0.1882567703723907,
|
| 703 |
+
-0.3828820586204528,
|
| 704 |
+
0.7768088579177856
|
| 705 |
+
],
|
| 706 |
+
"closest_ee": [
|
| 707 |
+
0.1860441278401407,
|
| 708 |
+
-0.3820364072940309,
|
| 709 |
+
0.8079876716935936
|
| 710 |
+
],
|
| 711 |
+
"closest_button": [
|
| 712 |
+
0.18826939165592188,
|
| 713 |
+
-0.38288903236389155,
|
| 714 |
+
0.7729761600494385
|
| 715 |
+
],
|
| 716 |
+
"closest_ee_minus_button": [
|
| 717 |
+
-0.00222526381578117,
|
| 718 |
+
0.0008526250698606685,
|
| 719 |
+
0.03501151164415517
|
| 720 |
+
],
|
| 721 |
+
"button_min_z_position": [
|
| 722 |
+
0.18823973834514612,
|
| 723 |
+
-0.38288131356239313,
|
| 724 |
+
0.7689176201820374
|
| 725 |
+
],
|
| 726 |
+
"min_active_finger_to_button": 0.1480498122866526,
|
| 727 |
+
"closest_active_finger": [
|
| 728 |
+
0.057960666716098785,
|
| 729 |
+
-0.4436566233634949,
|
| 730 |
+
0.8082703948020935
|
| 731 |
+
],
|
| 732 |
+
"closest_active_finger_button": [
|
| 733 |
+
0.18826939165592188,
|
| 734 |
+
-0.38288903236389155,
|
| 735 |
+
0.7729761600494385
|
| 736 |
+
],
|
| 737 |
+
"closest_active_finger_index": 1,
|
| 738 |
+
"closest_active_finger_minus_button": [
|
| 739 |
+
-0.1303087249398231,
|
| 740 |
+
-0.06076759099960333,
|
| 741 |
+
0.03529423475265503
|
| 742 |
+
],
|
| 743 |
+
"min_contact_pad_to_button": 0.02123554794206078,
|
| 744 |
+
"closest_contact_pad": [
|
| 745 |
+
0.18823973834514612,
|
| 746 |
+
-0.38349033991154885,
|
| 747 |
+
0.7901444330211236
|
| 748 |
+
],
|
| 749 |
+
"closest_contact_pad_button": [
|
| 750 |
+
0.18823973834514612,
|
| 751 |
+
-0.38288131356239313,
|
| 752 |
+
0.7689176201820374
|
| 753 |
+
],
|
| 754 |
+
"closest_contact_pad_index": 0,
|
| 755 |
+
"closest_contact_pad_minus_button": [
|
| 756 |
+
0.0,
|
| 757 |
+
-0.0006090263491557169,
|
| 758 |
+
0.02122681283908623
|
| 759 |
+
]
|
| 760 |
+
},
|
| 761 |
+
"failed_keys": [],
|
| 762 |
+
"failure_code": null,
|
| 763 |
+
"failure_messages": {},
|
| 764 |
+
"safety": {
|
| 765 |
+
"policy": {
|
| 766 |
+
"skill": "press",
|
| 767 |
+
"target_object": "heat_button",
|
| 768 |
+
"held_object": null,
|
| 769 |
+
"allowed_objects": [
|
| 770 |
+
"heat_button"
|
| 771 |
+
],
|
| 772 |
+
"allowed_object_paths": [
|
| 773 |
+
"/World/heat_device/button"
|
| 774 |
+
],
|
| 775 |
+
"allowed_prim_substrings": [],
|
| 776 |
+
"robot_prim_substrings": [
|
| 777 |
+
"Robotiq2F85",
|
| 778 |
+
"Robotiq_2F_85",
|
| 779 |
+
"contact_sensor",
|
| 780 |
+
"dummy_base_prismatic_x_joint",
|
| 781 |
+
"dummy_base_prismatic_y_joint",
|
| 782 |
+
"dummy_base_revolute_z_joint",
|
| 783 |
+
"elbow_joint",
|
| 784 |
+
"festo",
|
| 785 |
+
"finger",
|
| 786 |
+
"fr3",
|
| 787 |
+
"fr3_duo_mobile",
|
| 788 |
+
"fr3_joint1",
|
| 789 |
+
"fr3_joint2",
|
| 790 |
+
"fr3_joint3",
|
| 791 |
+
"fr3_joint4",
|
| 792 |
+
"fr3_joint5",
|
| 793 |
+
"fr3_joint6",
|
| 794 |
+
"fr3_joint7",
|
| 795 |
+
"fr3_leftfinger",
|
| 796 |
+
"fr3_rightfinger",
|
| 797 |
+
"franka",
|
| 798 |
+
"geometry",
|
| 799 |
+
"gripper",
|
| 800 |
+
"gripper_center",
|
| 801 |
+
"joint1",
|
| 802 |
+
"joint2",
|
| 803 |
+
"joint3",
|
| 804 |
+
"joint4",
|
| 805 |
+
"joint5",
|
| 806 |
+
"joint6",
|
| 807 |
+
"joint7",
|
| 808 |
+
"left_inner_finger",
|
| 809 |
+
"lift2",
|
| 810 |
+
"mobile_rotate",
|
| 811 |
+
"mobile_translate_x",
|
| 812 |
+
"mobile_translate_y",
|
| 813 |
+
"panda_joint1",
|
| 814 |
+
"panda_joint2",
|
| 815 |
+
"panda_joint3",
|
| 816 |
+
"panda_joint4",
|
| 817 |
+
"panda_joint5",
|
| 818 |
+
"panda_joint6",
|
| 819 |
+
"panda_joint7",
|
| 820 |
+
"panda_leftfinger",
|
| 821 |
+
"panda_leftfingertip",
|
| 822 |
+
"panda_rightfinger",
|
| 823 |
+
"panda_rightfingertip",
|
| 824 |
+
"ridgebase",
|
| 825 |
+
"ridgebase_festo",
|
| 826 |
+
"ridgebase_fr3",
|
| 827 |
+
"ridgebase_rizon4",
|
| 828 |
+
"ridgebase_ur16e",
|
| 829 |
+
"ridgebase_ur5e",
|
| 830 |
+
"right_inner_finger",
|
| 831 |
+
"rizon4",
|
| 832 |
+
"robot",
|
| 833 |
+
"robotiq_2f85",
|
| 834 |
+
"shoulder_lift_joint",
|
| 835 |
+
"shoulder_pan_joint",
|
| 836 |
+
"split_aloha",
|
| 837 |
+
"tool_center",
|
| 838 |
+
"ur16e",
|
| 839 |
+
"ur5e",
|
| 840 |
+
"visuals",
|
| 841 |
+
"wrist",
|
| 842 |
+
"wrist_1_joint",
|
| 843 |
+
"wrist_2_joint",
|
| 844 |
+
"wrist_3_joint"
|
| 845 |
+
],
|
| 846 |
+
"ignored_prim_substrings": [
|
| 847 |
+
"base_link",
|
| 848 |
+
"caster",
|
| 849 |
+
"defaultgroundplane",
|
| 850 |
+
"desk",
|
| 851 |
+
"floor",
|
| 852 |
+
"ground",
|
| 853 |
+
"groundplane",
|
| 854 |
+
"link0",
|
| 855 |
+
"table",
|
| 856 |
+
"wheel",
|
| 857 |
+
"workbench"
|
| 858 |
+
],
|
| 859 |
+
"enabled": true
|
| 860 |
+
},
|
| 861 |
+
"status": "active",
|
| 862 |
+
"passed": true,
|
| 863 |
+
"source_missing": false,
|
| 864 |
+
"forbidden": [],
|
| 865 |
+
"disturbances": [],
|
| 866 |
+
"last_frame": {
|
| 867 |
+
"passed": true,
|
| 868 |
+
"source_missing": false,
|
| 869 |
+
"forbidden": [],
|
| 870 |
+
"allowed": [],
|
| 871 |
+
"ignored": [],
|
| 872 |
+
"failed_keys": []
|
| 873 |
+
},
|
| 874 |
+
"failed_keys": []
|
| 875 |
+
}
|
| 876 |
+
},
|
| 877 |
+
"gripper": null,
|
| 878 |
+
"post_done_wait_frames": 0,
|
| 879 |
+
"post_done_wait_exhausted": false
|
| 880 |
+
},
|
| 881 |
+
"physical_semantics": {
|
| 882 |
+
"skill": "press",
|
| 883 |
+
"target": "heat_button",
|
| 884 |
+
"attach_used": false,
|
| 885 |
+
"attach_object": null,
|
| 886 |
+
"attach_object_path": null,
|
| 887 |
+
"attach_allowed": false,
|
| 888 |
+
"ordinary_object_physical_only": true
|
| 889 |
+
}
|
| 890 |
+
}
|
| 891 |
+
],
|
| 892 |
+
"physical_semantics": {
|
| 893 |
+
"attach_records": [],
|
| 894 |
+
"ordinary_attach_violations": [],
|
| 895 |
+
"forbidden_shortcuts_absent": true
|
| 896 |
+
},
|
| 897 |
+
"h5_episode_index": 96,
|
| 898 |
+
"reproducibility": {
|
| 899 |
+
"enabled": true,
|
| 900 |
+
"action_seed": 6098556129387905517,
|
| 901 |
+
"physical_seed": 7490668268172140043,
|
| 902 |
+
"layout_id": "layout_00031",
|
| 903 |
+
"step_seeds": [
|
| 904 |
+
4567401361451441112,
|
| 905 |
+
7000790218311912638,
|
| 906 |
+
7522013946436761511,
|
| 907 |
+
7728913421038834906
|
| 908 |
+
],
|
| 909 |
+
"workflow_spec_digest": "bc4db0291f406fbd9c91f68a4c7f1acd36da9a03dd09cb73d832a7602138bc78",
|
| 910 |
+
"strict_task_state": false,
|
| 911 |
+
"allow_physical_randomization": true,
|
| 912 |
+
"seed_source": "workflow.reproducibility",
|
| 913 |
+
"task_island_state_digest": "dcdd0a34c5527f9af0aadf28f9622c25283afecd44abf3648301a35f57f77ec6",
|
| 914 |
+
"visual_seed": 4737148143801978626,
|
| 915 |
+
"episode_index": 96,
|
| 916 |
+
"physical_randomization_enabled": true,
|
| 917 |
+
"motion_controller_type": "ik_servo",
|
| 918 |
+
"runtime_step_seeds": [
|
| 919 |
+
4567401361451441112,
|
| 920 |
+
7000790218311912638,
|
| 921 |
+
7522013946436761511,
|
| 922 |
+
7728913421038834906
|
| 923 |
+
],
|
| 924 |
+
"runtime_workflow_digest": "45388e27c653b4c58871f8eb0be862a6bfbe31c6d7d135b34c259a2497af3374"
|
| 925 |
+
}
|
| 926 |
+
}
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_97_success.json
ADDED
|
@@ -0,0 +1,926 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 97,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 4,
|
| 5 |
+
"total_steps": 4,
|
| 6 |
+
"step_accuracy": "4/4",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_b",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_b",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_b",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.1899526861833787,
|
| 26 |
+
0.21474103535511513,
|
| 27 |
+
1.0448845944514091
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0448845944514091,
|
| 30 |
+
"required_z": 0.8565865670132103,
|
| 31 |
+
"initial_z": 0.7565865670132104,
|
| 32 |
+
"lift_margin": 0.1882980274381988,
|
| 33 |
+
"gripper_z": 1.0502383130875412,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.18520365200117797,
|
| 38 |
+
0.21002300873195756,
|
| 39 |
+
1.0502383130875412
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.00474903418220074,
|
| 43 |
+
0.004718026623157567,
|
| 44 |
+
-0.005353718636132099
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006694258799937051,
|
| 47 |
+
"object_to_gripper_z": -0.005353718636132099,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.1899526861833787,
|
| 51 |
+
0.19052672005870047,
|
| 52 |
+
1.0448845944514091
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.1783116036658835,
|
| 56 |
+
0.21474103535511513,
|
| 57 |
+
1.0448845944514091
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.1841321449246311,
|
| 61 |
+
0.2026338777069078,
|
| 62 |
+
1.0448845944514091
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005820541258747619,
|
| 66 |
+
0.012107157648207328,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.02686722664238558,
|
| 70 |
+
"fingertip_max_gap": 0.09273665559896566,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013433613321192795,
|
| 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": 1.0448845944514091,
|
| 78 |
+
"object_top_z": 1.0909199100161626,
|
| 79 |
+
"finger_top_clearance": 0.04603531556475349,
|
| 80 |
+
"fingertip_min_top_clearance": 0.013810594669426047,
|
| 81 |
+
"object_projection_between_fingers": 0.8122668109317407,
|
| 82 |
+
"object_to_finger_line_xy": 0.01049162409734973,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.04886832779948283,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 1.2414224009286985,
|
| 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": 212,
|
| 96 |
+
"max_stable_success_frames": 212,
|
| 97 |
+
"required_stable_lift_frames": 5
|
| 98 |
+
},
|
| 99 |
+
"failed_keys": [],
|
| 100 |
+
"failure_code": null,
|
| 101 |
+
"failure_messages": {},
|
| 102 |
+
"safety": {
|
| 103 |
+
"policy": {
|
| 104 |
+
"skill": "pick",
|
| 105 |
+
"target_object": "beaker_b",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_b"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/target_beaker"
|
| 112 |
+
],
|
| 113 |
+
"allowed_prim_substrings": [],
|
| 114 |
+
"robot_prim_substrings": [
|
| 115 |
+
"Robotiq2F85",
|
| 116 |
+
"Robotiq_2F_85",
|
| 117 |
+
"contact_sensor",
|
| 118 |
+
"dummy_base_prismatic_x_joint",
|
| 119 |
+
"dummy_base_prismatic_y_joint",
|
| 120 |
+
"dummy_base_revolute_z_joint",
|
| 121 |
+
"elbow_joint",
|
| 122 |
+
"festo",
|
| 123 |
+
"finger",
|
| 124 |
+
"fr3",
|
| 125 |
+
"fr3_duo_mobile",
|
| 126 |
+
"fr3_joint1",
|
| 127 |
+
"fr3_joint2",
|
| 128 |
+
"fr3_joint3",
|
| 129 |
+
"fr3_joint4",
|
| 130 |
+
"fr3_joint5",
|
| 131 |
+
"fr3_joint6",
|
| 132 |
+
"fr3_joint7",
|
| 133 |
+
"fr3_leftfinger",
|
| 134 |
+
"fr3_rightfinger",
|
| 135 |
+
"franka",
|
| 136 |
+
"geometry",
|
| 137 |
+
"gripper",
|
| 138 |
+
"gripper_center",
|
| 139 |
+
"joint1",
|
| 140 |
+
"joint2",
|
| 141 |
+
"joint3",
|
| 142 |
+
"joint4",
|
| 143 |
+
"joint5",
|
| 144 |
+
"joint6",
|
| 145 |
+
"joint7",
|
| 146 |
+
"left_inner_finger",
|
| 147 |
+
"lift2",
|
| 148 |
+
"mobile_rotate",
|
| 149 |
+
"mobile_translate_x",
|
| 150 |
+
"mobile_translate_y",
|
| 151 |
+
"panda_joint1",
|
| 152 |
+
"panda_joint2",
|
| 153 |
+
"panda_joint3",
|
| 154 |
+
"panda_joint4",
|
| 155 |
+
"panda_joint5",
|
| 156 |
+
"panda_joint6",
|
| 157 |
+
"panda_joint7",
|
| 158 |
+
"panda_leftfinger",
|
| 159 |
+
"panda_leftfingertip",
|
| 160 |
+
"panda_rightfinger",
|
| 161 |
+
"panda_rightfingertip",
|
| 162 |
+
"ridgebase",
|
| 163 |
+
"ridgebase_festo",
|
| 164 |
+
"ridgebase_fr3",
|
| 165 |
+
"ridgebase_rizon4",
|
| 166 |
+
"ridgebase_ur16e",
|
| 167 |
+
"ridgebase_ur5e",
|
| 168 |
+
"right_inner_finger",
|
| 169 |
+
"rizon4",
|
| 170 |
+
"robot",
|
| 171 |
+
"robotiq_2f85",
|
| 172 |
+
"shoulder_lift_joint",
|
| 173 |
+
"shoulder_pan_joint",
|
| 174 |
+
"split_aloha",
|
| 175 |
+
"tool_center",
|
| 176 |
+
"ur16e",
|
| 177 |
+
"ur5e",
|
| 178 |
+
"visuals",
|
| 179 |
+
"wrist",
|
| 180 |
+
"wrist_1_joint",
|
| 181 |
+
"wrist_2_joint",
|
| 182 |
+
"wrist_3_joint"
|
| 183 |
+
],
|
| 184 |
+
"ignored_prim_substrings": [
|
| 185 |
+
"base_link",
|
| 186 |
+
"caster",
|
| 187 |
+
"defaultgroundplane",
|
| 188 |
+
"desk",
|
| 189 |
+
"floor",
|
| 190 |
+
"ground",
|
| 191 |
+
"groundplane",
|
| 192 |
+
"link0",
|
| 193 |
+
"table",
|
| 194 |
+
"wheel",
|
| 195 |
+
"workbench"
|
| 196 |
+
],
|
| 197 |
+
"enabled": true
|
| 198 |
+
},
|
| 199 |
+
"status": "active",
|
| 200 |
+
"passed": true,
|
| 201 |
+
"source_missing": false,
|
| 202 |
+
"forbidden": [],
|
| 203 |
+
"disturbances": [],
|
| 204 |
+
"last_frame": {
|
| 205 |
+
"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/target_beaker/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/target_beaker/mesh"
|
| 216 |
+
}
|
| 217 |
+
],
|
| 218 |
+
"ignored": [],
|
| 219 |
+
"failed_keys": []
|
| 220 |
+
},
|
| 221 |
+
"failed_keys": []
|
| 222 |
+
}
|
| 223 |
+
},
|
| 224 |
+
"gripper": null,
|
| 225 |
+
"post_done_wait_frames": 0,
|
| 226 |
+
"post_done_wait_exhausted": false
|
| 227 |
+
},
|
| 228 |
+
"physical_semantics": {
|
| 229 |
+
"skill": "pick",
|
| 230 |
+
"target": "beaker_b",
|
| 231 |
+
"attach_used": false,
|
| 232 |
+
"attach_object": null,
|
| 233 |
+
"attach_object_path": null,
|
| 234 |
+
"attach_allowed": false,
|
| 235 |
+
"ordinary_object_physical_only": true
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
{
|
| 239 |
+
"step_index": 1,
|
| 240 |
+
"skill": "shake",
|
| 241 |
+
"target": "beaker_b",
|
| 242 |
+
"success": true,
|
| 243 |
+
"reason": "executed",
|
| 244 |
+
"debug": {
|
| 245 |
+
"arm": null,
|
| 246 |
+
"checker": {
|
| 247 |
+
"checker": "ShakeSuccessChecker",
|
| 248 |
+
"skill": "shake",
|
| 249 |
+
"target": "beaker_b",
|
| 250 |
+
"passed": true,
|
| 251 |
+
"metrics": {
|
| 252 |
+
"held": "beaker_b",
|
| 253 |
+
"force_virtual_attach": false,
|
| 254 |
+
"virtual_attach_allowed": false,
|
| 255 |
+
"gripper_position": [
|
| 256 |
+
0.18908779292925076,
|
| 257 |
+
0.21563399252202597,
|
| 258 |
+
1.2407483016019685
|
| 259 |
+
],
|
| 260 |
+
"held_position": [
|
| 261 |
+
0.19407017445884658,
|
| 262 |
+
0.2199798795461665,
|
| 263 |
+
1.2352952034541673
|
| 264 |
+
],
|
| 265 |
+
"object_initial_z": 0.7730800627579277,
|
| 266 |
+
"required_gripper_z": 0.8930800627579277,
|
| 267 |
+
"shake_count": 5,
|
| 268 |
+
"held_shake_count": 5,
|
| 269 |
+
"effective_shake_count": 5,
|
| 270 |
+
"min_shake_count": 3,
|
| 271 |
+
"held_gripper_dist": 0.00857013063742921,
|
| 272 |
+
"max_held_gripper_dist": 0.00857365189041909,
|
| 273 |
+
"held_gripper_max_dist": 0.15,
|
| 274 |
+
"held_gripper_z_dist": 0.00545309814780115,
|
| 275 |
+
"max_held_gripper_z_dist": 0.005476484433115214,
|
| 276 |
+
"held_gripper_z_max_dist": 0.15,
|
| 277 |
+
"held_object_xy_range": 0.08525896833833446,
|
| 278 |
+
"held_object_min_xy_range": 0.04,
|
| 279 |
+
"held_motion_ok": true,
|
| 280 |
+
"held_grasp_geometry_checked": true,
|
| 281 |
+
"held_grasp_geometry_required": true,
|
| 282 |
+
"held_grasp_source": "active_contact_pad_positions",
|
| 283 |
+
"held_grasp_finger_a": [
|
| 284 |
+
0.19407017445884658,
|
| 285 |
+
0.19505712114663046,
|
| 286 |
+
1.2352952034541673
|
| 287 |
+
],
|
| 288 |
+
"held_grasp_finger_b": [
|
| 289 |
+
0.18401744618057603,
|
| 290 |
+
0.2199798795461665,
|
| 291 |
+
1.2352952034541673
|
| 292 |
+
],
|
| 293 |
+
"held_grasp_midpoint": [
|
| 294 |
+
0.1890438103197113,
|
| 295 |
+
0.20751850034639846,
|
| 296 |
+
1.2352952034541673
|
| 297 |
+
],
|
| 298 |
+
"held_grasp_object_position": [
|
| 299 |
+
0.19407017445884658,
|
| 300 |
+
0.2199798795461665,
|
| 301 |
+
1.2352952034541673
|
| 302 |
+
],
|
| 303 |
+
"held_grasp_finger_gap": 0.02687380196545298,
|
| 304 |
+
"held_grasp_max_gap": 0.1249237185716629,
|
| 305 |
+
"held_grasp_geometry_frame": "object_local",
|
| 306 |
+
"held_grasp_size_source": "beaker_b_local_size",
|
| 307 |
+
"held_grasp_z_skew": 0.024484097045515775,
|
| 308 |
+
"held_grasp_world_z_skew": 0.0,
|
| 309 |
+
"held_grasp_z_skew_max": 0.08,
|
| 310 |
+
"held_grasp_z_skew_frame": "object_local_up",
|
| 311 |
+
"held_grasp_local_up_axis": [
|
| 312 |
+
-0.040937459413384863,
|
| 313 |
+
-0.9989115090031416,
|
| 314 |
+
0.022358926580764216
|
| 315 |
+
],
|
| 316 |
+
"held_grasp_object_projection_between_fingers": 0.5,
|
| 317 |
+
"held_grasp_object_to_finger_line_xy": 0.0045207497963829875,
|
| 318 |
+
"held_grasp_line_xy_max_dist": 0.04746185928583145,
|
| 319 |
+
"held_grasp_object_top_z": 0.045200224965810776,
|
| 320 |
+
"held_grasp_top_clearance": 0.0325466432871674,
|
| 321 |
+
"held_grasp_min_top_clearance": 0.013560067489743232
|
| 322 |
+
},
|
| 323 |
+
"failed_keys": [],
|
| 324 |
+
"failure_code": null,
|
| 325 |
+
"failure_messages": {},
|
| 326 |
+
"safety": {
|
| 327 |
+
"policy": {
|
| 328 |
+
"skill": "shake",
|
| 329 |
+
"target_object": "beaker_b",
|
| 330 |
+
"held_object": "beaker_b",
|
| 331 |
+
"allowed_objects": [
|
| 332 |
+
"beaker_b"
|
| 333 |
+
],
|
| 334 |
+
"allowed_object_paths": [
|
| 335 |
+
"/World/target_beaker"
|
| 336 |
+
],
|
| 337 |
+
"allowed_prim_substrings": [],
|
| 338 |
+
"robot_prim_substrings": [
|
| 339 |
+
"Robotiq2F85",
|
| 340 |
+
"Robotiq_2F_85",
|
| 341 |
+
"contact_sensor",
|
| 342 |
+
"dummy_base_prismatic_x_joint",
|
| 343 |
+
"dummy_base_prismatic_y_joint",
|
| 344 |
+
"dummy_base_revolute_z_joint",
|
| 345 |
+
"elbow_joint",
|
| 346 |
+
"festo",
|
| 347 |
+
"finger",
|
| 348 |
+
"fr3",
|
| 349 |
+
"fr3_duo_mobile",
|
| 350 |
+
"fr3_joint1",
|
| 351 |
+
"fr3_joint2",
|
| 352 |
+
"fr3_joint3",
|
| 353 |
+
"fr3_joint4",
|
| 354 |
+
"fr3_joint5",
|
| 355 |
+
"fr3_joint6",
|
| 356 |
+
"fr3_joint7",
|
| 357 |
+
"fr3_leftfinger",
|
| 358 |
+
"fr3_rightfinger",
|
| 359 |
+
"franka",
|
| 360 |
+
"geometry",
|
| 361 |
+
"gripper",
|
| 362 |
+
"gripper_center",
|
| 363 |
+
"joint1",
|
| 364 |
+
"joint2",
|
| 365 |
+
"joint3",
|
| 366 |
+
"joint4",
|
| 367 |
+
"joint5",
|
| 368 |
+
"joint6",
|
| 369 |
+
"joint7",
|
| 370 |
+
"left_inner_finger",
|
| 371 |
+
"lift2",
|
| 372 |
+
"mobile_rotate",
|
| 373 |
+
"mobile_translate_x",
|
| 374 |
+
"mobile_translate_y",
|
| 375 |
+
"panda_joint1",
|
| 376 |
+
"panda_joint2",
|
| 377 |
+
"panda_joint3",
|
| 378 |
+
"panda_joint4",
|
| 379 |
+
"panda_joint5",
|
| 380 |
+
"panda_joint6",
|
| 381 |
+
"panda_joint7",
|
| 382 |
+
"panda_leftfinger",
|
| 383 |
+
"panda_leftfingertip",
|
| 384 |
+
"panda_rightfinger",
|
| 385 |
+
"panda_rightfingertip",
|
| 386 |
+
"ridgebase",
|
| 387 |
+
"ridgebase_festo",
|
| 388 |
+
"ridgebase_fr3",
|
| 389 |
+
"ridgebase_rizon4",
|
| 390 |
+
"ridgebase_ur16e",
|
| 391 |
+
"ridgebase_ur5e",
|
| 392 |
+
"right_inner_finger",
|
| 393 |
+
"rizon4",
|
| 394 |
+
"robot",
|
| 395 |
+
"robotiq_2f85",
|
| 396 |
+
"shoulder_lift_joint",
|
| 397 |
+
"shoulder_pan_joint",
|
| 398 |
+
"split_aloha",
|
| 399 |
+
"tool_center",
|
| 400 |
+
"ur16e",
|
| 401 |
+
"ur5e",
|
| 402 |
+
"visuals",
|
| 403 |
+
"wrist",
|
| 404 |
+
"wrist_1_joint",
|
| 405 |
+
"wrist_2_joint",
|
| 406 |
+
"wrist_3_joint"
|
| 407 |
+
],
|
| 408 |
+
"ignored_prim_substrings": [
|
| 409 |
+
"base_link",
|
| 410 |
+
"caster",
|
| 411 |
+
"defaultgroundplane",
|
| 412 |
+
"desk",
|
| 413 |
+
"floor",
|
| 414 |
+
"ground",
|
| 415 |
+
"groundplane",
|
| 416 |
+
"link0",
|
| 417 |
+
"table",
|
| 418 |
+
"wheel",
|
| 419 |
+
"workbench"
|
| 420 |
+
],
|
| 421 |
+
"enabled": true
|
| 422 |
+
},
|
| 423 |
+
"status": "active",
|
| 424 |
+
"passed": true,
|
| 425 |
+
"source_missing": false,
|
| 426 |
+
"forbidden": [],
|
| 427 |
+
"disturbances": [],
|
| 428 |
+
"last_frame": {
|
| 429 |
+
"passed": true,
|
| 430 |
+
"source_missing": false,
|
| 431 |
+
"forbidden": [],
|
| 432 |
+
"allowed": [
|
| 433 |
+
{
|
| 434 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 435 |
+
"b": "/World/target_beaker/mesh"
|
| 436 |
+
},
|
| 437 |
+
{
|
| 438 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 439 |
+
"b": "/World/target_beaker/mesh"
|
| 440 |
+
}
|
| 441 |
+
],
|
| 442 |
+
"ignored": [],
|
| 443 |
+
"failed_keys": []
|
| 444 |
+
},
|
| 445 |
+
"failed_keys": []
|
| 446 |
+
}
|
| 447 |
+
},
|
| 448 |
+
"gripper": null,
|
| 449 |
+
"post_done_wait_frames": 0,
|
| 450 |
+
"post_done_wait_exhausted": false
|
| 451 |
+
},
|
| 452 |
+
"physical_semantics": {
|
| 453 |
+
"skill": "shake",
|
| 454 |
+
"target": "beaker_b",
|
| 455 |
+
"attach_used": false,
|
| 456 |
+
"attach_object": null,
|
| 457 |
+
"attach_object_path": null,
|
| 458 |
+
"attach_allowed": false,
|
| 459 |
+
"ordinary_object_physical_only": true
|
| 460 |
+
}
|
| 461 |
+
},
|
| 462 |
+
{
|
| 463 |
+
"step_index": 2,
|
| 464 |
+
"skill": "place",
|
| 465 |
+
"target": "heater_platform",
|
| 466 |
+
"success": true,
|
| 467 |
+
"reason": "executed",
|
| 468 |
+
"debug": {
|
| 469 |
+
"arm": null,
|
| 470 |
+
"checker": {
|
| 471 |
+
"checker": "PlaceSuccessChecker",
|
| 472 |
+
"skill": "place",
|
| 473 |
+
"target": "heater_platform",
|
| 474 |
+
"passed": true,
|
| 475 |
+
"metrics": {
|
| 476 |
+
"held": "beaker_b",
|
| 477 |
+
"target": "heater_platform",
|
| 478 |
+
"object_position": [
|
| 479 |
+
0.3343480619972641,
|
| 480 |
+
-0.32945756336464155,
|
| 481 |
+
0.8470192375409473
|
| 482 |
+
],
|
| 483 |
+
"target_position": [
|
| 484 |
+
0.3261307633031085,
|
| 485 |
+
-0.33219277399183944,
|
| 486 |
+
0.8084375599031817
|
| 487 |
+
],
|
| 488 |
+
"target_position_source": "target_object:_xform_position",
|
| 489 |
+
"xy_dist": 0.008660564358291422,
|
| 490 |
+
"xy_threshold": 0.08,
|
| 491 |
+
"gripper_dist": 0.18830479426691804,
|
| 492 |
+
"gripper_away_threshold": 0.04,
|
| 493 |
+
"gripper_away_ok": true,
|
| 494 |
+
"object_z": 0.8470192375409473,
|
| 495 |
+
"min_z": 0.5730800627579278,
|
| 496 |
+
"min_z_margin": 0.2,
|
| 497 |
+
"require_object_upright": true,
|
| 498 |
+
"object_upright_reference_source": "scene_initial",
|
| 499 |
+
"release_fingertip_source": "active_contact_pad_positions",
|
| 500 |
+
"release_finger_gap": 0.07531474828761206,
|
| 501 |
+
"release_finger_gap_metric": "3d_contact_pad_distance",
|
| 502 |
+
"release_fingertip_min_gap": 0.08515360275302085,
|
| 503 |
+
"release_gap_margin": 0.02,
|
| 504 |
+
"release_gap_missing_size": false,
|
| 505 |
+
"release_min_pad_clearance": 0.15732109171268796,
|
| 506 |
+
"release_required_pad_clearance": 0.052576801376510426,
|
| 507 |
+
"release_pad_clearance_ok": true,
|
| 508 |
+
"release_gap_ok": false,
|
| 509 |
+
"force_virtual_attach": false,
|
| 510 |
+
"virtual_attach_allowed": false,
|
| 511 |
+
"max_z": 0.9084375599031816,
|
| 512 |
+
"max_z_margin": 0.1,
|
| 513 |
+
"object_tilt_deg": 0.21669928674961356,
|
| 514 |
+
"object_max_tilt_deg": 12.0,
|
| 515 |
+
"object_axis_flip_tolerance_deg": 3.0,
|
| 516 |
+
"object_upright_axis_local": null,
|
| 517 |
+
"required_placed_release_frames": 2,
|
| 518 |
+
"placed_release_frames": 157,
|
| 519 |
+
"max_placed_release_frames": 157
|
| 520 |
+
},
|
| 521 |
+
"failed_keys": [],
|
| 522 |
+
"failure_code": null,
|
| 523 |
+
"failure_messages": {},
|
| 524 |
+
"safety": {
|
| 525 |
+
"policy": {
|
| 526 |
+
"skill": "place",
|
| 527 |
+
"target_object": "heater_platform",
|
| 528 |
+
"held_object": "beaker_b",
|
| 529 |
+
"allowed_objects": [
|
| 530 |
+
"beaker_b",
|
| 531 |
+
"heater_platform"
|
| 532 |
+
],
|
| 533 |
+
"allowed_object_paths": [
|
| 534 |
+
"/World/heat_device/heat_device/heat_device/plat",
|
| 535 |
+
"/World/target_beaker"
|
| 536 |
+
],
|
| 537 |
+
"allowed_prim_substrings": [],
|
| 538 |
+
"robot_prim_substrings": [
|
| 539 |
+
"Robotiq2F85",
|
| 540 |
+
"Robotiq_2F_85",
|
| 541 |
+
"contact_sensor",
|
| 542 |
+
"dummy_base_prismatic_x_joint",
|
| 543 |
+
"dummy_base_prismatic_y_joint",
|
| 544 |
+
"dummy_base_revolute_z_joint",
|
| 545 |
+
"elbow_joint",
|
| 546 |
+
"festo",
|
| 547 |
+
"finger",
|
| 548 |
+
"fr3",
|
| 549 |
+
"fr3_duo_mobile",
|
| 550 |
+
"fr3_joint1",
|
| 551 |
+
"fr3_joint2",
|
| 552 |
+
"fr3_joint3",
|
| 553 |
+
"fr3_joint4",
|
| 554 |
+
"fr3_joint5",
|
| 555 |
+
"fr3_joint6",
|
| 556 |
+
"fr3_joint7",
|
| 557 |
+
"fr3_leftfinger",
|
| 558 |
+
"fr3_rightfinger",
|
| 559 |
+
"franka",
|
| 560 |
+
"geometry",
|
| 561 |
+
"gripper",
|
| 562 |
+
"gripper_center",
|
| 563 |
+
"joint1",
|
| 564 |
+
"joint2",
|
| 565 |
+
"joint3",
|
| 566 |
+
"joint4",
|
| 567 |
+
"joint5",
|
| 568 |
+
"joint6",
|
| 569 |
+
"joint7",
|
| 570 |
+
"left_inner_finger",
|
| 571 |
+
"lift2",
|
| 572 |
+
"mobile_rotate",
|
| 573 |
+
"mobile_translate_x",
|
| 574 |
+
"mobile_translate_y",
|
| 575 |
+
"panda_joint1",
|
| 576 |
+
"panda_joint2",
|
| 577 |
+
"panda_joint3",
|
| 578 |
+
"panda_joint4",
|
| 579 |
+
"panda_joint5",
|
| 580 |
+
"panda_joint6",
|
| 581 |
+
"panda_joint7",
|
| 582 |
+
"panda_leftfinger",
|
| 583 |
+
"panda_leftfingertip",
|
| 584 |
+
"panda_rightfinger",
|
| 585 |
+
"panda_rightfingertip",
|
| 586 |
+
"ridgebase",
|
| 587 |
+
"ridgebase_festo",
|
| 588 |
+
"ridgebase_fr3",
|
| 589 |
+
"ridgebase_rizon4",
|
| 590 |
+
"ridgebase_ur16e",
|
| 591 |
+
"ridgebase_ur5e",
|
| 592 |
+
"right_inner_finger",
|
| 593 |
+
"rizon4",
|
| 594 |
+
"robot",
|
| 595 |
+
"robotiq_2f85",
|
| 596 |
+
"shoulder_lift_joint",
|
| 597 |
+
"shoulder_pan_joint",
|
| 598 |
+
"split_aloha",
|
| 599 |
+
"tool_center",
|
| 600 |
+
"ur16e",
|
| 601 |
+
"ur5e",
|
| 602 |
+
"visuals",
|
| 603 |
+
"wrist",
|
| 604 |
+
"wrist_1_joint",
|
| 605 |
+
"wrist_2_joint",
|
| 606 |
+
"wrist_3_joint"
|
| 607 |
+
],
|
| 608 |
+
"ignored_prim_substrings": [
|
| 609 |
+
"base_link",
|
| 610 |
+
"caster",
|
| 611 |
+
"defaultgroundplane",
|
| 612 |
+
"desk",
|
| 613 |
+
"floor",
|
| 614 |
+
"ground",
|
| 615 |
+
"groundplane",
|
| 616 |
+
"link0",
|
| 617 |
+
"table",
|
| 618 |
+
"wheel",
|
| 619 |
+
"workbench"
|
| 620 |
+
],
|
| 621 |
+
"enabled": true
|
| 622 |
+
},
|
| 623 |
+
"status": "active",
|
| 624 |
+
"passed": true,
|
| 625 |
+
"source_missing": false,
|
| 626 |
+
"forbidden": [],
|
| 627 |
+
"disturbances": [],
|
| 628 |
+
"last_frame": {
|
| 629 |
+
"passed": true,
|
| 630 |
+
"source_missing": false,
|
| 631 |
+
"forbidden": [],
|
| 632 |
+
"allowed": [],
|
| 633 |
+
"ignored": [],
|
| 634 |
+
"failed_keys": []
|
| 635 |
+
},
|
| 636 |
+
"failed_keys": []
|
| 637 |
+
}
|
| 638 |
+
},
|
| 639 |
+
"gripper": null,
|
| 640 |
+
"post_done_wait_frames": 0,
|
| 641 |
+
"post_done_wait_exhausted": false
|
| 642 |
+
},
|
| 643 |
+
"physical_semantics": {
|
| 644 |
+
"skill": "place",
|
| 645 |
+
"target": "heater_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 |
+
"step_index": 3,
|
| 655 |
+
"skill": "press",
|
| 656 |
+
"target": "heat_button",
|
| 657 |
+
"success": true,
|
| 658 |
+
"reason": "executed",
|
| 659 |
+
"debug": {
|
| 660 |
+
"arm": null,
|
| 661 |
+
"checker": {
|
| 662 |
+
"checker": "PressSuccessChecker",
|
| 663 |
+
"skill": "press",
|
| 664 |
+
"target": "heat_button",
|
| 665 |
+
"passed": true,
|
| 666 |
+
"metrics": {
|
| 667 |
+
"target": "heat_button",
|
| 668 |
+
"z_decrease": 0.008071660995483398,
|
| 669 |
+
"max_z_decrease": 0.008071660995483398,
|
| 670 |
+
"final_z_decrease": 0.0,
|
| 671 |
+
"z_decrease_threshold": 0.0003,
|
| 672 |
+
"min_ee_to_button": 0.03503054131320946,
|
| 673 |
+
"contact_distance_threshold": 0.08,
|
| 674 |
+
"ee_contact_ok": true,
|
| 675 |
+
"max_z_decrease_with_ee_contact": 0.008071660995483398,
|
| 676 |
+
"ee_contacted_z_ok": true,
|
| 677 |
+
"physical_press_ok": true,
|
| 678 |
+
"required_contacted_press_frames": 2,
|
| 679 |
+
"contacted_z_stable_frames": 0,
|
| 680 |
+
"max_contacted_z_stable_frames": 78,
|
| 681 |
+
"contact_point_distance": 0.02111142522849572,
|
| 682 |
+
"contact_point_source": "active_contact_pad_positions",
|
| 683 |
+
"contact_point_distance_threshold": 0.04,
|
| 684 |
+
"contact_point_seen_ok": true,
|
| 685 |
+
"contact_point_ok": true,
|
| 686 |
+
"contact_point_stable_frames": 0,
|
| 687 |
+
"max_contact_point_stable_frames": 121,
|
| 688 |
+
"max_z_decrease_with_contact_point": 0.008071660995483398,
|
| 689 |
+
"contact_point_contacted_z_ok": true,
|
| 690 |
+
"contact_point_contacted_z_stable_frames": 0,
|
| 691 |
+
"max_contact_point_contacted_z_stable_frames": 78,
|
| 692 |
+
"contact_ok": true,
|
| 693 |
+
"button_final_displacement": 0.0,
|
| 694 |
+
"button_max_displacement": 0.008071662171733683,
|
| 695 |
+
"max_button_displacement": 0.12,
|
| 696 |
+
"button_start": [
|
| 697 |
+
0.1818306893110275,
|
| 698 |
+
-0.38845422863960266,
|
| 699 |
+
0.7768088579177856
|
| 700 |
+
],
|
| 701 |
+
"button_final": [
|
| 702 |
+
0.1818306893110275,
|
| 703 |
+
-0.38845422863960266,
|
| 704 |
+
0.7768088579177856
|
| 705 |
+
],
|
| 706 |
+
"closest_ee": [
|
| 707 |
+
0.18071251241490902,
|
| 708 |
+
-0.3880312234235462,
|
| 709 |
+
0.803747412445407
|
| 710 |
+
],
|
| 711 |
+
"closest_button": [
|
| 712 |
+
0.18182978034019467,
|
| 713 |
+
-0.38844996690750117,
|
| 714 |
+
0.7687371969223022
|
| 715 |
+
],
|
| 716 |
+
"closest_ee_minus_button": [
|
| 717 |
+
-0.0011172679252856588,
|
| 718 |
+
0.0004187434839549864,
|
| 719 |
+
0.03501021552310479
|
| 720 |
+
],
|
| 721 |
+
"button_min_z_position": [
|
| 722 |
+
0.18182978034019467,
|
| 723 |
+
-0.38844996690750117,
|
| 724 |
+
0.7687371969223022
|
| 725 |
+
],
|
| 726 |
+
"min_active_finger_to_button": 0.1466187093638997,
|
| 727 |
+
"closest_active_finger": [
|
| 728 |
+
0.05427248775959015,
|
| 729 |
+
-0.4519270658493042,
|
| 730 |
+
0.8107941746711731
|
| 731 |
+
],
|
| 732 |
+
"closest_active_finger_button": [
|
| 733 |
+
0.18183517456054685,
|
| 734 |
+
-0.38845595717430115,
|
| 735 |
+
0.776207685470581
|
| 736 |
+
],
|
| 737 |
+
"closest_active_finger_index": 1,
|
| 738 |
+
"closest_active_finger_minus_button": [
|
| 739 |
+
-0.1275626868009567,
|
| 740 |
+
-0.06347110867500305,
|
| 741 |
+
0.03458648920059204
|
| 742 |
+
],
|
| 743 |
+
"min_contact_pad_to_button": 0.02111142522849572,
|
| 744 |
+
"closest_contact_pad": [
|
| 745 |
+
0.18182978034019467,
|
| 746 |
+
-0.38911864156499,
|
| 747 |
+
0.7898380298295786
|
| 748 |
+
],
|
| 749 |
+
"closest_contact_pad_button": [
|
| 750 |
+
0.18182978034019467,
|
| 751 |
+
-0.38844996690750117,
|
| 752 |
+
0.7687371969223022
|
| 753 |
+
],
|
| 754 |
+
"closest_contact_pad_index": 0,
|
| 755 |
+
"closest_contact_pad_minus_button": [
|
| 756 |
+
0.0,
|
| 757 |
+
-0.0006686746574888214,
|
| 758 |
+
0.02110083290727638
|
| 759 |
+
]
|
| 760 |
+
},
|
| 761 |
+
"failed_keys": [],
|
| 762 |
+
"failure_code": null,
|
| 763 |
+
"failure_messages": {},
|
| 764 |
+
"safety": {
|
| 765 |
+
"policy": {
|
| 766 |
+
"skill": "press",
|
| 767 |
+
"target_object": "heat_button",
|
| 768 |
+
"held_object": null,
|
| 769 |
+
"allowed_objects": [
|
| 770 |
+
"heat_button"
|
| 771 |
+
],
|
| 772 |
+
"allowed_object_paths": [
|
| 773 |
+
"/World/heat_device/button"
|
| 774 |
+
],
|
| 775 |
+
"allowed_prim_substrings": [],
|
| 776 |
+
"robot_prim_substrings": [
|
| 777 |
+
"Robotiq2F85",
|
| 778 |
+
"Robotiq_2F_85",
|
| 779 |
+
"contact_sensor",
|
| 780 |
+
"dummy_base_prismatic_x_joint",
|
| 781 |
+
"dummy_base_prismatic_y_joint",
|
| 782 |
+
"dummy_base_revolute_z_joint",
|
| 783 |
+
"elbow_joint",
|
| 784 |
+
"festo",
|
| 785 |
+
"finger",
|
| 786 |
+
"fr3",
|
| 787 |
+
"fr3_duo_mobile",
|
| 788 |
+
"fr3_joint1",
|
| 789 |
+
"fr3_joint2",
|
| 790 |
+
"fr3_joint3",
|
| 791 |
+
"fr3_joint4",
|
| 792 |
+
"fr3_joint5",
|
| 793 |
+
"fr3_joint6",
|
| 794 |
+
"fr3_joint7",
|
| 795 |
+
"fr3_leftfinger",
|
| 796 |
+
"fr3_rightfinger",
|
| 797 |
+
"franka",
|
| 798 |
+
"geometry",
|
| 799 |
+
"gripper",
|
| 800 |
+
"gripper_center",
|
| 801 |
+
"joint1",
|
| 802 |
+
"joint2",
|
| 803 |
+
"joint3",
|
| 804 |
+
"joint4",
|
| 805 |
+
"joint5",
|
| 806 |
+
"joint6",
|
| 807 |
+
"joint7",
|
| 808 |
+
"left_inner_finger",
|
| 809 |
+
"lift2",
|
| 810 |
+
"mobile_rotate",
|
| 811 |
+
"mobile_translate_x",
|
| 812 |
+
"mobile_translate_y",
|
| 813 |
+
"panda_joint1",
|
| 814 |
+
"panda_joint2",
|
| 815 |
+
"panda_joint3",
|
| 816 |
+
"panda_joint4",
|
| 817 |
+
"panda_joint5",
|
| 818 |
+
"panda_joint6",
|
| 819 |
+
"panda_joint7",
|
| 820 |
+
"panda_leftfinger",
|
| 821 |
+
"panda_leftfingertip",
|
| 822 |
+
"panda_rightfinger",
|
| 823 |
+
"panda_rightfingertip",
|
| 824 |
+
"ridgebase",
|
| 825 |
+
"ridgebase_festo",
|
| 826 |
+
"ridgebase_fr3",
|
| 827 |
+
"ridgebase_rizon4",
|
| 828 |
+
"ridgebase_ur16e",
|
| 829 |
+
"ridgebase_ur5e",
|
| 830 |
+
"right_inner_finger",
|
| 831 |
+
"rizon4",
|
| 832 |
+
"robot",
|
| 833 |
+
"robotiq_2f85",
|
| 834 |
+
"shoulder_lift_joint",
|
| 835 |
+
"shoulder_pan_joint",
|
| 836 |
+
"split_aloha",
|
| 837 |
+
"tool_center",
|
| 838 |
+
"ur16e",
|
| 839 |
+
"ur5e",
|
| 840 |
+
"visuals",
|
| 841 |
+
"wrist",
|
| 842 |
+
"wrist_1_joint",
|
| 843 |
+
"wrist_2_joint",
|
| 844 |
+
"wrist_3_joint"
|
| 845 |
+
],
|
| 846 |
+
"ignored_prim_substrings": [
|
| 847 |
+
"base_link",
|
| 848 |
+
"caster",
|
| 849 |
+
"defaultgroundplane",
|
| 850 |
+
"desk",
|
| 851 |
+
"floor",
|
| 852 |
+
"ground",
|
| 853 |
+
"groundplane",
|
| 854 |
+
"link0",
|
| 855 |
+
"table",
|
| 856 |
+
"wheel",
|
| 857 |
+
"workbench"
|
| 858 |
+
],
|
| 859 |
+
"enabled": true
|
| 860 |
+
},
|
| 861 |
+
"status": "active",
|
| 862 |
+
"passed": true,
|
| 863 |
+
"source_missing": false,
|
| 864 |
+
"forbidden": [],
|
| 865 |
+
"disturbances": [],
|
| 866 |
+
"last_frame": {
|
| 867 |
+
"passed": true,
|
| 868 |
+
"source_missing": false,
|
| 869 |
+
"forbidden": [],
|
| 870 |
+
"allowed": [],
|
| 871 |
+
"ignored": [],
|
| 872 |
+
"failed_keys": []
|
| 873 |
+
},
|
| 874 |
+
"failed_keys": []
|
| 875 |
+
}
|
| 876 |
+
},
|
| 877 |
+
"gripper": null,
|
| 878 |
+
"post_done_wait_frames": 0,
|
| 879 |
+
"post_done_wait_exhausted": false
|
| 880 |
+
},
|
| 881 |
+
"physical_semantics": {
|
| 882 |
+
"skill": "press",
|
| 883 |
+
"target": "heat_button",
|
| 884 |
+
"attach_used": false,
|
| 885 |
+
"attach_object": null,
|
| 886 |
+
"attach_object_path": null,
|
| 887 |
+
"attach_allowed": false,
|
| 888 |
+
"ordinary_object_physical_only": true
|
| 889 |
+
}
|
| 890 |
+
}
|
| 891 |
+
],
|
| 892 |
+
"physical_semantics": {
|
| 893 |
+
"attach_records": [],
|
| 894 |
+
"ordinary_attach_violations": [],
|
| 895 |
+
"forbidden_shortcuts_absent": true
|
| 896 |
+
},
|
| 897 |
+
"h5_episode_index": 97,
|
| 898 |
+
"reproducibility": {
|
| 899 |
+
"enabled": true,
|
| 900 |
+
"action_seed": 6098556129387905517,
|
| 901 |
+
"physical_seed": 7490668268172140043,
|
| 902 |
+
"layout_id": "layout_00031",
|
| 903 |
+
"step_seeds": [
|
| 904 |
+
4567401361451441112,
|
| 905 |
+
7000790218311912638,
|
| 906 |
+
7522013946436761511,
|
| 907 |
+
7728913421038834906
|
| 908 |
+
],
|
| 909 |
+
"workflow_spec_digest": "bc4db0291f406fbd9c91f68a4c7f1acd36da9a03dd09cb73d832a7602138bc78",
|
| 910 |
+
"strict_task_state": false,
|
| 911 |
+
"allow_physical_randomization": true,
|
| 912 |
+
"seed_source": "workflow.reproducibility",
|
| 913 |
+
"task_island_state_digest": "f1a1fcb872a0b6f72365dd9f4ea55cae33f781831fdad9085218af301ef3bb6b",
|
| 914 |
+
"visual_seed": 5851583805862895707,
|
| 915 |
+
"episode_index": 97,
|
| 916 |
+
"physical_randomization_enabled": true,
|
| 917 |
+
"motion_controller_type": "ik_servo",
|
| 918 |
+
"runtime_step_seeds": [
|
| 919 |
+
4567401361451441112,
|
| 920 |
+
7000790218311912638,
|
| 921 |
+
7522013946436761511,
|
| 922 |
+
7728913421038834906
|
| 923 |
+
],
|
| 924 |
+
"runtime_workflow_digest": "45388e27c653b4c58871f8eb0be862a6bfbe31c6d7d135b34c259a2497af3374"
|
| 925 |
+
}
|
| 926 |
+
}
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_98_success.json
ADDED
|
@@ -0,0 +1,926 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 98,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 4,
|
| 5 |
+
"total_steps": 4,
|
| 6 |
+
"step_accuracy": "4/4",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_b",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_b",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_b",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.1828788830481413,
|
| 26 |
+
0.21732412768148796,
|
| 27 |
+
1.0424739449683094
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0424739449683094,
|
| 30 |
+
"required_z": 0.856586388199276,
|
| 31 |
+
"initial_z": 0.756586388199276,
|
| 32 |
+
"lift_margin": 0.18588755676903335,
|
| 33 |
+
"gripper_z": 1.048326372326138,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.17807586089238528,
|
| 38 |
+
0.21268916406870325,
|
| 39 |
+
1.048326372326138
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004803022155756009,
|
| 43 |
+
0.004634963612784704,
|
| 44 |
+
-0.005852427357828649
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006674721681128086,
|
| 47 |
+
"object_to_gripper_z": -0.005852427357828649,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.1828788830481413,
|
| 51 |
+
0.19281152580932429,
|
| 52 |
+
1.0424739449683094
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.17171370761030408,
|
| 56 |
+
0.21732412768148796,
|
| 57 |
+
1.0424739449683094
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.1772962953292227,
|
| 61 |
+
0.20506782674540613,
|
| 62 |
+
1.0424739449683094
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005582587718918591,
|
| 66 |
+
0.012256300936081821,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.026935641687193666,
|
| 70 |
+
"fingertip_max_gap": 0.09413201264349583,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013467820843596814,
|
| 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": 1.0424739449683094,
|
| 78 |
+
"object_top_z": 1.0887481244238326,
|
| 79 |
+
"finger_top_clearance": 0.04627417945552326,
|
| 80 |
+
"fingertip_min_top_clearance": 0.01388225383665696,
|
| 81 |
+
"object_projection_between_fingers": 0.8281789175797063,
|
| 82 |
+
"object_to_finger_line_xy": 0.010160793773503717,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.049566006321747916,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 2.108257055359663,
|
| 89 |
+
"object_max_tilt_deg": 15.0,
|
| 90 |
+
"object_upright_axis_local": [
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
1.0
|
| 94 |
+
],
|
| 95 |
+
"stable_success_frames": 207,
|
| 96 |
+
"max_stable_success_frames": 207,
|
| 97 |
+
"required_stable_lift_frames": 5
|
| 98 |
+
},
|
| 99 |
+
"failed_keys": [],
|
| 100 |
+
"failure_code": null,
|
| 101 |
+
"failure_messages": {},
|
| 102 |
+
"safety": {
|
| 103 |
+
"policy": {
|
| 104 |
+
"skill": "pick",
|
| 105 |
+
"target_object": "beaker_b",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_b"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/target_beaker"
|
| 112 |
+
],
|
| 113 |
+
"allowed_prim_substrings": [],
|
| 114 |
+
"robot_prim_substrings": [
|
| 115 |
+
"Robotiq2F85",
|
| 116 |
+
"Robotiq_2F_85",
|
| 117 |
+
"contact_sensor",
|
| 118 |
+
"dummy_base_prismatic_x_joint",
|
| 119 |
+
"dummy_base_prismatic_y_joint",
|
| 120 |
+
"dummy_base_revolute_z_joint",
|
| 121 |
+
"elbow_joint",
|
| 122 |
+
"festo",
|
| 123 |
+
"finger",
|
| 124 |
+
"fr3",
|
| 125 |
+
"fr3_duo_mobile",
|
| 126 |
+
"fr3_joint1",
|
| 127 |
+
"fr3_joint2",
|
| 128 |
+
"fr3_joint3",
|
| 129 |
+
"fr3_joint4",
|
| 130 |
+
"fr3_joint5",
|
| 131 |
+
"fr3_joint6",
|
| 132 |
+
"fr3_joint7",
|
| 133 |
+
"fr3_leftfinger",
|
| 134 |
+
"fr3_rightfinger",
|
| 135 |
+
"franka",
|
| 136 |
+
"geometry",
|
| 137 |
+
"gripper",
|
| 138 |
+
"gripper_center",
|
| 139 |
+
"joint1",
|
| 140 |
+
"joint2",
|
| 141 |
+
"joint3",
|
| 142 |
+
"joint4",
|
| 143 |
+
"joint5",
|
| 144 |
+
"joint6",
|
| 145 |
+
"joint7",
|
| 146 |
+
"left_inner_finger",
|
| 147 |
+
"lift2",
|
| 148 |
+
"mobile_rotate",
|
| 149 |
+
"mobile_translate_x",
|
| 150 |
+
"mobile_translate_y",
|
| 151 |
+
"panda_joint1",
|
| 152 |
+
"panda_joint2",
|
| 153 |
+
"panda_joint3",
|
| 154 |
+
"panda_joint4",
|
| 155 |
+
"panda_joint5",
|
| 156 |
+
"panda_joint6",
|
| 157 |
+
"panda_joint7",
|
| 158 |
+
"panda_leftfinger",
|
| 159 |
+
"panda_leftfingertip",
|
| 160 |
+
"panda_rightfinger",
|
| 161 |
+
"panda_rightfingertip",
|
| 162 |
+
"ridgebase",
|
| 163 |
+
"ridgebase_festo",
|
| 164 |
+
"ridgebase_fr3",
|
| 165 |
+
"ridgebase_rizon4",
|
| 166 |
+
"ridgebase_ur16e",
|
| 167 |
+
"ridgebase_ur5e",
|
| 168 |
+
"right_inner_finger",
|
| 169 |
+
"rizon4",
|
| 170 |
+
"robot",
|
| 171 |
+
"robotiq_2f85",
|
| 172 |
+
"shoulder_lift_joint",
|
| 173 |
+
"shoulder_pan_joint",
|
| 174 |
+
"split_aloha",
|
| 175 |
+
"tool_center",
|
| 176 |
+
"ur16e",
|
| 177 |
+
"ur5e",
|
| 178 |
+
"visuals",
|
| 179 |
+
"wrist",
|
| 180 |
+
"wrist_1_joint",
|
| 181 |
+
"wrist_2_joint",
|
| 182 |
+
"wrist_3_joint"
|
| 183 |
+
],
|
| 184 |
+
"ignored_prim_substrings": [
|
| 185 |
+
"base_link",
|
| 186 |
+
"caster",
|
| 187 |
+
"defaultgroundplane",
|
| 188 |
+
"desk",
|
| 189 |
+
"floor",
|
| 190 |
+
"ground",
|
| 191 |
+
"groundplane",
|
| 192 |
+
"link0",
|
| 193 |
+
"table",
|
| 194 |
+
"wheel",
|
| 195 |
+
"workbench"
|
| 196 |
+
],
|
| 197 |
+
"enabled": true
|
| 198 |
+
},
|
| 199 |
+
"status": "active",
|
| 200 |
+
"passed": true,
|
| 201 |
+
"source_missing": false,
|
| 202 |
+
"forbidden": [],
|
| 203 |
+
"disturbances": [],
|
| 204 |
+
"last_frame": {
|
| 205 |
+
"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/target_beaker/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/target_beaker/mesh"
|
| 216 |
+
}
|
| 217 |
+
],
|
| 218 |
+
"ignored": [],
|
| 219 |
+
"failed_keys": []
|
| 220 |
+
},
|
| 221 |
+
"failed_keys": []
|
| 222 |
+
}
|
| 223 |
+
},
|
| 224 |
+
"gripper": null,
|
| 225 |
+
"post_done_wait_frames": 0,
|
| 226 |
+
"post_done_wait_exhausted": false
|
| 227 |
+
},
|
| 228 |
+
"physical_semantics": {
|
| 229 |
+
"skill": "pick",
|
| 230 |
+
"target": "beaker_b",
|
| 231 |
+
"attach_used": false,
|
| 232 |
+
"attach_object": null,
|
| 233 |
+
"attach_object_path": null,
|
| 234 |
+
"attach_allowed": false,
|
| 235 |
+
"ordinary_object_physical_only": true
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
{
|
| 239 |
+
"step_index": 1,
|
| 240 |
+
"skill": "shake",
|
| 241 |
+
"target": "beaker_b",
|
| 242 |
+
"success": true,
|
| 243 |
+
"reason": "executed",
|
| 244 |
+
"debug": {
|
| 245 |
+
"arm": null,
|
| 246 |
+
"checker": {
|
| 247 |
+
"checker": "ShakeSuccessChecker",
|
| 248 |
+
"skill": "shake",
|
| 249 |
+
"target": "beaker_b",
|
| 250 |
+
"passed": true,
|
| 251 |
+
"metrics": {
|
| 252 |
+
"held": "beaker_b",
|
| 253 |
+
"force_virtual_attach": false,
|
| 254 |
+
"virtual_attach_allowed": false,
|
| 255 |
+
"gripper_position": [
|
| 256 |
+
0.18152247288902693,
|
| 257 |
+
0.21902689180540558,
|
| 258 |
+
1.2375253066477956
|
| 259 |
+
],
|
| 260 |
+
"held_position": [
|
| 261 |
+
0.1864212697282707,
|
| 262 |
+
0.2234093395872753,
|
| 263 |
+
1.2315675591730708
|
| 264 |
+
],
|
| 265 |
+
"object_initial_z": 0.7730800627579277,
|
| 266 |
+
"required_gripper_z": 0.8930800627579277,
|
| 267 |
+
"shake_count": 5,
|
| 268 |
+
"held_shake_count": 5,
|
| 269 |
+
"effective_shake_count": 5,
|
| 270 |
+
"min_shake_count": 3,
|
| 271 |
+
"held_gripper_dist": 0.008871235201796251,
|
| 272 |
+
"max_held_gripper_dist": 0.00887839291424194,
|
| 273 |
+
"held_gripper_max_dist": 0.15,
|
| 274 |
+
"held_gripper_z_dist": 0.005957747474724773,
|
| 275 |
+
"max_held_gripper_z_dist": 0.005980655204457674,
|
| 276 |
+
"held_gripper_z_max_dist": 0.15,
|
| 277 |
+
"held_object_xy_range": 0.0865355739090593,
|
| 278 |
+
"held_object_min_xy_range": 0.04,
|
| 279 |
+
"held_motion_ok": true,
|
| 280 |
+
"held_grasp_geometry_checked": true,
|
| 281 |
+
"held_grasp_geometry_required": true,
|
| 282 |
+
"held_grasp_source": "active_contact_pad_positions",
|
| 283 |
+
"held_grasp_finger_a": [
|
| 284 |
+
0.1864212697282707,
|
| 285 |
+
0.19857548014543122,
|
| 286 |
+
1.2315675591730708
|
| 287 |
+
],
|
| 288 |
+
"held_grasp_finger_b": [
|
| 289 |
+
0.17626463836554845,
|
| 290 |
+
0.2234093395872753,
|
| 291 |
+
1.2315675591730708
|
| 292 |
+
],
|
| 293 |
+
"held_grasp_midpoint": [
|
| 294 |
+
0.1813429540469096,
|
| 295 |
+
0.21099240986635326,
|
| 296 |
+
1.2315675591730708
|
| 297 |
+
],
|
| 298 |
+
"held_grasp_object_position": [
|
| 299 |
+
0.1864212697282707,
|
| 300 |
+
0.2234093395872753,
|
| 301 |
+
1.2315675591730708
|
| 302 |
+
],
|
| 303 |
+
"held_grasp_finger_gap": 0.02683053736725191,
|
| 304 |
+
"held_grasp_max_gap": 0.1249237185716629,
|
| 305 |
+
"held_grasp_geometry_frame": "object_local",
|
| 306 |
+
"held_grasp_size_source": "beaker_b_local_size",
|
| 307 |
+
"held_grasp_z_skew": 0.02482856461918034,
|
| 308 |
+
"held_grasp_world_z_skew": 0.0,
|
| 309 |
+
"held_grasp_z_skew_max": 0.08,
|
| 310 |
+
"held_grasp_z_skew_frame": "object_local_up",
|
| 311 |
+
"held_grasp_local_up_axis": [
|
| 312 |
+
0.00015550391517871187,
|
| 313 |
+
-0.9997231916923037,
|
| 314 |
+
0.023526916735643555
|
| 315 |
+
],
|
| 316 |
+
"held_grasp_object_projection_between_fingers": 0.5,
|
| 317 |
+
"held_grasp_object_to_finger_line_xy": 0.005088638347474086,
|
| 318 |
+
"held_grasp_line_xy_max_dist": 0.04746185928583145,
|
| 319 |
+
"held_grasp_object_top_z": 0.045200224965810776,
|
| 320 |
+
"held_grasp_top_clearance": 0.03278752205216254,
|
| 321 |
+
"held_grasp_min_top_clearance": 0.013560067489743232
|
| 322 |
+
},
|
| 323 |
+
"failed_keys": [],
|
| 324 |
+
"failure_code": null,
|
| 325 |
+
"failure_messages": {},
|
| 326 |
+
"safety": {
|
| 327 |
+
"policy": {
|
| 328 |
+
"skill": "shake",
|
| 329 |
+
"target_object": "beaker_b",
|
| 330 |
+
"held_object": "beaker_b",
|
| 331 |
+
"allowed_objects": [
|
| 332 |
+
"beaker_b"
|
| 333 |
+
],
|
| 334 |
+
"allowed_object_paths": [
|
| 335 |
+
"/World/target_beaker"
|
| 336 |
+
],
|
| 337 |
+
"allowed_prim_substrings": [],
|
| 338 |
+
"robot_prim_substrings": [
|
| 339 |
+
"Robotiq2F85",
|
| 340 |
+
"Robotiq_2F_85",
|
| 341 |
+
"contact_sensor",
|
| 342 |
+
"dummy_base_prismatic_x_joint",
|
| 343 |
+
"dummy_base_prismatic_y_joint",
|
| 344 |
+
"dummy_base_revolute_z_joint",
|
| 345 |
+
"elbow_joint",
|
| 346 |
+
"festo",
|
| 347 |
+
"finger",
|
| 348 |
+
"fr3",
|
| 349 |
+
"fr3_duo_mobile",
|
| 350 |
+
"fr3_joint1",
|
| 351 |
+
"fr3_joint2",
|
| 352 |
+
"fr3_joint3",
|
| 353 |
+
"fr3_joint4",
|
| 354 |
+
"fr3_joint5",
|
| 355 |
+
"fr3_joint6",
|
| 356 |
+
"fr3_joint7",
|
| 357 |
+
"fr3_leftfinger",
|
| 358 |
+
"fr3_rightfinger",
|
| 359 |
+
"franka",
|
| 360 |
+
"geometry",
|
| 361 |
+
"gripper",
|
| 362 |
+
"gripper_center",
|
| 363 |
+
"joint1",
|
| 364 |
+
"joint2",
|
| 365 |
+
"joint3",
|
| 366 |
+
"joint4",
|
| 367 |
+
"joint5",
|
| 368 |
+
"joint6",
|
| 369 |
+
"joint7",
|
| 370 |
+
"left_inner_finger",
|
| 371 |
+
"lift2",
|
| 372 |
+
"mobile_rotate",
|
| 373 |
+
"mobile_translate_x",
|
| 374 |
+
"mobile_translate_y",
|
| 375 |
+
"panda_joint1",
|
| 376 |
+
"panda_joint2",
|
| 377 |
+
"panda_joint3",
|
| 378 |
+
"panda_joint4",
|
| 379 |
+
"panda_joint5",
|
| 380 |
+
"panda_joint6",
|
| 381 |
+
"panda_joint7",
|
| 382 |
+
"panda_leftfinger",
|
| 383 |
+
"panda_leftfingertip",
|
| 384 |
+
"panda_rightfinger",
|
| 385 |
+
"panda_rightfingertip",
|
| 386 |
+
"ridgebase",
|
| 387 |
+
"ridgebase_festo",
|
| 388 |
+
"ridgebase_fr3",
|
| 389 |
+
"ridgebase_rizon4",
|
| 390 |
+
"ridgebase_ur16e",
|
| 391 |
+
"ridgebase_ur5e",
|
| 392 |
+
"right_inner_finger",
|
| 393 |
+
"rizon4",
|
| 394 |
+
"robot",
|
| 395 |
+
"robotiq_2f85",
|
| 396 |
+
"shoulder_lift_joint",
|
| 397 |
+
"shoulder_pan_joint",
|
| 398 |
+
"split_aloha",
|
| 399 |
+
"tool_center",
|
| 400 |
+
"ur16e",
|
| 401 |
+
"ur5e",
|
| 402 |
+
"visuals",
|
| 403 |
+
"wrist",
|
| 404 |
+
"wrist_1_joint",
|
| 405 |
+
"wrist_2_joint",
|
| 406 |
+
"wrist_3_joint"
|
| 407 |
+
],
|
| 408 |
+
"ignored_prim_substrings": [
|
| 409 |
+
"base_link",
|
| 410 |
+
"caster",
|
| 411 |
+
"defaultgroundplane",
|
| 412 |
+
"desk",
|
| 413 |
+
"floor",
|
| 414 |
+
"ground",
|
| 415 |
+
"groundplane",
|
| 416 |
+
"link0",
|
| 417 |
+
"table",
|
| 418 |
+
"wheel",
|
| 419 |
+
"workbench"
|
| 420 |
+
],
|
| 421 |
+
"enabled": true
|
| 422 |
+
},
|
| 423 |
+
"status": "active",
|
| 424 |
+
"passed": true,
|
| 425 |
+
"source_missing": false,
|
| 426 |
+
"forbidden": [],
|
| 427 |
+
"disturbances": [],
|
| 428 |
+
"last_frame": {
|
| 429 |
+
"passed": true,
|
| 430 |
+
"source_missing": false,
|
| 431 |
+
"forbidden": [],
|
| 432 |
+
"allowed": [
|
| 433 |
+
{
|
| 434 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 435 |
+
"b": "/World/target_beaker/mesh"
|
| 436 |
+
},
|
| 437 |
+
{
|
| 438 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 439 |
+
"b": "/World/target_beaker/mesh"
|
| 440 |
+
}
|
| 441 |
+
],
|
| 442 |
+
"ignored": [],
|
| 443 |
+
"failed_keys": []
|
| 444 |
+
},
|
| 445 |
+
"failed_keys": []
|
| 446 |
+
}
|
| 447 |
+
},
|
| 448 |
+
"gripper": null,
|
| 449 |
+
"post_done_wait_frames": 0,
|
| 450 |
+
"post_done_wait_exhausted": false
|
| 451 |
+
},
|
| 452 |
+
"physical_semantics": {
|
| 453 |
+
"skill": "shake",
|
| 454 |
+
"target": "beaker_b",
|
| 455 |
+
"attach_used": false,
|
| 456 |
+
"attach_object": null,
|
| 457 |
+
"attach_object_path": null,
|
| 458 |
+
"attach_allowed": false,
|
| 459 |
+
"ordinary_object_physical_only": true
|
| 460 |
+
}
|
| 461 |
+
},
|
| 462 |
+
{
|
| 463 |
+
"step_index": 2,
|
| 464 |
+
"skill": "place",
|
| 465 |
+
"target": "heater_platform",
|
| 466 |
+
"success": true,
|
| 467 |
+
"reason": "executed",
|
| 468 |
+
"debug": {
|
| 469 |
+
"arm": null,
|
| 470 |
+
"checker": {
|
| 471 |
+
"checker": "PlaceSuccessChecker",
|
| 472 |
+
"skill": "place",
|
| 473 |
+
"target": "heater_platform",
|
| 474 |
+
"passed": true,
|
| 475 |
+
"metrics": {
|
| 476 |
+
"held": "beaker_b",
|
| 477 |
+
"target": "heater_platform",
|
| 478 |
+
"object_position": [
|
| 479 |
+
0.33092709019125965,
|
| 480 |
+
-0.33247612540522165,
|
| 481 |
+
0.847020038422826
|
| 482 |
+
],
|
| 483 |
+
"target_position": [
|
| 484 |
+
0.32314992823452837,
|
| 485 |
+
-0.33521832611934216,
|
| 486 |
+
0.8084375599031817
|
| 487 |
+
],
|
| 488 |
+
"target_position_source": "target_object:_xform_position",
|
| 489 |
+
"xy_dist": 0.008246448499672534,
|
| 490 |
+
"xy_threshold": 0.08,
|
| 491 |
+
"gripper_dist": 0.18752283730362518,
|
| 492 |
+
"gripper_away_threshold": 0.04,
|
| 493 |
+
"gripper_away_ok": true,
|
| 494 |
+
"object_z": 0.847020038422826,
|
| 495 |
+
"min_z": 0.5730800627579278,
|
| 496 |
+
"min_z_margin": 0.2,
|
| 497 |
+
"require_object_upright": true,
|
| 498 |
+
"object_upright_reference_source": "scene_initial",
|
| 499 |
+
"release_fingertip_source": "active_contact_pad_positions",
|
| 500 |
+
"release_finger_gap": 0.07537050177901936,
|
| 501 |
+
"release_finger_gap_metric": "3d_contact_pad_distance",
|
| 502 |
+
"release_fingertip_min_gap": 0.08729425246804011,
|
| 503 |
+
"release_gap_margin": 0.02,
|
| 504 |
+
"release_gap_missing_size": false,
|
| 505 |
+
"release_min_pad_clearance": 0.15655211432220822,
|
| 506 |
+
"release_required_pad_clearance": 0.05364712623402006,
|
| 507 |
+
"release_pad_clearance_ok": true,
|
| 508 |
+
"release_gap_ok": false,
|
| 509 |
+
"force_virtual_attach": false,
|
| 510 |
+
"virtual_attach_allowed": false,
|
| 511 |
+
"max_z": 0.9084375599031816,
|
| 512 |
+
"max_z_margin": 0.1,
|
| 513 |
+
"object_tilt_deg": 2.3005799785062164,
|
| 514 |
+
"object_max_tilt_deg": 12.0,
|
| 515 |
+
"object_axis_flip_tolerance_deg": 3.0,
|
| 516 |
+
"object_upright_axis_local": null,
|
| 517 |
+
"required_placed_release_frames": 2,
|
| 518 |
+
"placed_release_frames": 155,
|
| 519 |
+
"max_placed_release_frames": 155
|
| 520 |
+
},
|
| 521 |
+
"failed_keys": [],
|
| 522 |
+
"failure_code": null,
|
| 523 |
+
"failure_messages": {},
|
| 524 |
+
"safety": {
|
| 525 |
+
"policy": {
|
| 526 |
+
"skill": "place",
|
| 527 |
+
"target_object": "heater_platform",
|
| 528 |
+
"held_object": "beaker_b",
|
| 529 |
+
"allowed_objects": [
|
| 530 |
+
"beaker_b",
|
| 531 |
+
"heater_platform"
|
| 532 |
+
],
|
| 533 |
+
"allowed_object_paths": [
|
| 534 |
+
"/World/heat_device/heat_device/heat_device/plat",
|
| 535 |
+
"/World/target_beaker"
|
| 536 |
+
],
|
| 537 |
+
"allowed_prim_substrings": [],
|
| 538 |
+
"robot_prim_substrings": [
|
| 539 |
+
"Robotiq2F85",
|
| 540 |
+
"Robotiq_2F_85",
|
| 541 |
+
"contact_sensor",
|
| 542 |
+
"dummy_base_prismatic_x_joint",
|
| 543 |
+
"dummy_base_prismatic_y_joint",
|
| 544 |
+
"dummy_base_revolute_z_joint",
|
| 545 |
+
"elbow_joint",
|
| 546 |
+
"festo",
|
| 547 |
+
"finger",
|
| 548 |
+
"fr3",
|
| 549 |
+
"fr3_duo_mobile",
|
| 550 |
+
"fr3_joint1",
|
| 551 |
+
"fr3_joint2",
|
| 552 |
+
"fr3_joint3",
|
| 553 |
+
"fr3_joint4",
|
| 554 |
+
"fr3_joint5",
|
| 555 |
+
"fr3_joint6",
|
| 556 |
+
"fr3_joint7",
|
| 557 |
+
"fr3_leftfinger",
|
| 558 |
+
"fr3_rightfinger",
|
| 559 |
+
"franka",
|
| 560 |
+
"geometry",
|
| 561 |
+
"gripper",
|
| 562 |
+
"gripper_center",
|
| 563 |
+
"joint1",
|
| 564 |
+
"joint2",
|
| 565 |
+
"joint3",
|
| 566 |
+
"joint4",
|
| 567 |
+
"joint5",
|
| 568 |
+
"joint6",
|
| 569 |
+
"joint7",
|
| 570 |
+
"left_inner_finger",
|
| 571 |
+
"lift2",
|
| 572 |
+
"mobile_rotate",
|
| 573 |
+
"mobile_translate_x",
|
| 574 |
+
"mobile_translate_y",
|
| 575 |
+
"panda_joint1",
|
| 576 |
+
"panda_joint2",
|
| 577 |
+
"panda_joint3",
|
| 578 |
+
"panda_joint4",
|
| 579 |
+
"panda_joint5",
|
| 580 |
+
"panda_joint6",
|
| 581 |
+
"panda_joint7",
|
| 582 |
+
"panda_leftfinger",
|
| 583 |
+
"panda_leftfingertip",
|
| 584 |
+
"panda_rightfinger",
|
| 585 |
+
"panda_rightfingertip",
|
| 586 |
+
"ridgebase",
|
| 587 |
+
"ridgebase_festo",
|
| 588 |
+
"ridgebase_fr3",
|
| 589 |
+
"ridgebase_rizon4",
|
| 590 |
+
"ridgebase_ur16e",
|
| 591 |
+
"ridgebase_ur5e",
|
| 592 |
+
"right_inner_finger",
|
| 593 |
+
"rizon4",
|
| 594 |
+
"robot",
|
| 595 |
+
"robotiq_2f85",
|
| 596 |
+
"shoulder_lift_joint",
|
| 597 |
+
"shoulder_pan_joint",
|
| 598 |
+
"split_aloha",
|
| 599 |
+
"tool_center",
|
| 600 |
+
"ur16e",
|
| 601 |
+
"ur5e",
|
| 602 |
+
"visuals",
|
| 603 |
+
"wrist",
|
| 604 |
+
"wrist_1_joint",
|
| 605 |
+
"wrist_2_joint",
|
| 606 |
+
"wrist_3_joint"
|
| 607 |
+
],
|
| 608 |
+
"ignored_prim_substrings": [
|
| 609 |
+
"base_link",
|
| 610 |
+
"caster",
|
| 611 |
+
"defaultgroundplane",
|
| 612 |
+
"desk",
|
| 613 |
+
"floor",
|
| 614 |
+
"ground",
|
| 615 |
+
"groundplane",
|
| 616 |
+
"link0",
|
| 617 |
+
"table",
|
| 618 |
+
"wheel",
|
| 619 |
+
"workbench"
|
| 620 |
+
],
|
| 621 |
+
"enabled": true
|
| 622 |
+
},
|
| 623 |
+
"status": "active",
|
| 624 |
+
"passed": true,
|
| 625 |
+
"source_missing": false,
|
| 626 |
+
"forbidden": [],
|
| 627 |
+
"disturbances": [],
|
| 628 |
+
"last_frame": {
|
| 629 |
+
"passed": true,
|
| 630 |
+
"source_missing": false,
|
| 631 |
+
"forbidden": [],
|
| 632 |
+
"allowed": [],
|
| 633 |
+
"ignored": [],
|
| 634 |
+
"failed_keys": []
|
| 635 |
+
},
|
| 636 |
+
"failed_keys": []
|
| 637 |
+
}
|
| 638 |
+
},
|
| 639 |
+
"gripper": null,
|
| 640 |
+
"post_done_wait_frames": 0,
|
| 641 |
+
"post_done_wait_exhausted": false
|
| 642 |
+
},
|
| 643 |
+
"physical_semantics": {
|
| 644 |
+
"skill": "place",
|
| 645 |
+
"target": "heater_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 |
+
"step_index": 3,
|
| 655 |
+
"skill": "press",
|
| 656 |
+
"target": "heat_button",
|
| 657 |
+
"success": true,
|
| 658 |
+
"reason": "executed",
|
| 659 |
+
"debug": {
|
| 660 |
+
"arm": null,
|
| 661 |
+
"checker": {
|
| 662 |
+
"checker": "PressSuccessChecker",
|
| 663 |
+
"skill": "press",
|
| 664 |
+
"target": "heat_button",
|
| 665 |
+
"passed": true,
|
| 666 |
+
"metrics": {
|
| 667 |
+
"target": "heat_button",
|
| 668 |
+
"z_decrease": 0.008056819438934326,
|
| 669 |
+
"max_z_decrease": 0.008056819438934326,
|
| 670 |
+
"final_z_decrease": 0.0,
|
| 671 |
+
"z_decrease_threshold": 0.0003,
|
| 672 |
+
"min_ee_to_button": 0.035106386523441016,
|
| 673 |
+
"contact_distance_threshold": 0.08,
|
| 674 |
+
"ee_contact_ok": true,
|
| 675 |
+
"max_z_decrease_with_ee_contact": 0.008056819438934326,
|
| 676 |
+
"ee_contacted_z_ok": true,
|
| 677 |
+
"physical_press_ok": true,
|
| 678 |
+
"required_contacted_press_frames": 2,
|
| 679 |
+
"contacted_z_stable_frames": 0,
|
| 680 |
+
"max_contacted_z_stable_frames": 78,
|
| 681 |
+
"contact_point_distance": 0.021150979121935337,
|
| 682 |
+
"contact_point_source": "active_contact_pad_positions",
|
| 683 |
+
"contact_point_distance_threshold": 0.04,
|
| 684 |
+
"contact_point_seen_ok": true,
|
| 685 |
+
"contact_point_ok": true,
|
| 686 |
+
"contact_point_stable_frames": 0,
|
| 687 |
+
"max_contact_point_stable_frames": 121,
|
| 688 |
+
"max_z_decrease_with_contact_point": 0.008056819438934326,
|
| 689 |
+
"contact_point_contacted_z_ok": true,
|
| 690 |
+
"contact_point_contacted_z_stable_frames": 0,
|
| 691 |
+
"max_contact_point_contacted_z_stable_frames": 78,
|
| 692 |
+
"contact_ok": true,
|
| 693 |
+
"button_final_displacement": 0.0,
|
| 694 |
+
"button_max_displacement": 0.008056826769019995,
|
| 695 |
+
"max_button_displacement": 0.12,
|
| 696 |
+
"button_start": [
|
| 697 |
+
0.17884986102581021,
|
| 698 |
+
-0.3914797902107238,
|
| 699 |
+
0.7768088579177856
|
| 700 |
+
],
|
| 701 |
+
"button_final": [
|
| 702 |
+
0.17884986102581021,
|
| 703 |
+
-0.3914797902107238,
|
| 704 |
+
0.7768088579177856
|
| 705 |
+
],
|
| 706 |
+
"closest_ee": [
|
| 707 |
+
0.17682742618101707,
|
| 708 |
+
-0.39242436108948153,
|
| 709 |
+
0.8037879002945622
|
| 710 |
+
],
|
| 711 |
+
"closest_button": [
|
| 712 |
+
0.1788394898176193,
|
| 713 |
+
-0.39147654175758356,
|
| 714 |
+
0.7687520384788513
|
| 715 |
+
],
|
| 716 |
+
"closest_ee_minus_button": [
|
| 717 |
+
-0.0020120636366022238,
|
| 718 |
+
-0.00094781933189797,
|
| 719 |
+
0.035035861815710834
|
| 720 |
+
],
|
| 721 |
+
"button_min_z_position": [
|
| 722 |
+
0.1788394898176193,
|
| 723 |
+
-0.39147654175758356,
|
| 724 |
+
0.7687520384788513
|
| 725 |
+
],
|
| 726 |
+
"min_active_finger_to_button": 0.14765678884220412,
|
| 727 |
+
"closest_active_finger": [
|
| 728 |
+
0.035971447825431824,
|
| 729 |
+
-0.37738722562789917,
|
| 730 |
+
0.8101412653923035
|
| 731 |
+
],
|
| 732 |
+
"closest_active_finger_button": [
|
| 733 |
+
0.17885328829288483,
|
| 734 |
+
-0.39148351550102234,
|
| 735 |
+
0.7756651639938354
|
| 736 |
+
],
|
| 737 |
+
"closest_active_finger_index": 0,
|
| 738 |
+
"closest_active_finger_minus_button": [
|
| 739 |
+
-0.142881840467453,
|
| 740 |
+
0.014096289873123169,
|
| 741 |
+
0.03447610139846802
|
| 742 |
+
],
|
| 743 |
+
"min_contact_pad_to_button": 0.021150979121935337,
|
| 744 |
+
"closest_contact_pad": [
|
| 745 |
+
0.1788394898176193,
|
| 746 |
+
-0.39350608780190616,
|
| 747 |
+
0.7898054196959033
|
| 748 |
+
],
|
| 749 |
+
"closest_contact_pad_button": [
|
| 750 |
+
0.1788394898176193,
|
| 751 |
+
-0.39147654175758356,
|
| 752 |
+
0.7687520384788513
|
| 753 |
+
],
|
| 754 |
+
"closest_contact_pad_index": 0,
|
| 755 |
+
"closest_contact_pad_minus_button": [
|
| 756 |
+
0.0,
|
| 757 |
+
-0.0020295460443225943,
|
| 758 |
+
0.021053381217052025
|
| 759 |
+
]
|
| 760 |
+
},
|
| 761 |
+
"failed_keys": [],
|
| 762 |
+
"failure_code": null,
|
| 763 |
+
"failure_messages": {},
|
| 764 |
+
"safety": {
|
| 765 |
+
"policy": {
|
| 766 |
+
"skill": "press",
|
| 767 |
+
"target_object": "heat_button",
|
| 768 |
+
"held_object": null,
|
| 769 |
+
"allowed_objects": [
|
| 770 |
+
"heat_button"
|
| 771 |
+
],
|
| 772 |
+
"allowed_object_paths": [
|
| 773 |
+
"/World/heat_device/button"
|
| 774 |
+
],
|
| 775 |
+
"allowed_prim_substrings": [],
|
| 776 |
+
"robot_prim_substrings": [
|
| 777 |
+
"Robotiq2F85",
|
| 778 |
+
"Robotiq_2F_85",
|
| 779 |
+
"contact_sensor",
|
| 780 |
+
"dummy_base_prismatic_x_joint",
|
| 781 |
+
"dummy_base_prismatic_y_joint",
|
| 782 |
+
"dummy_base_revolute_z_joint",
|
| 783 |
+
"elbow_joint",
|
| 784 |
+
"festo",
|
| 785 |
+
"finger",
|
| 786 |
+
"fr3",
|
| 787 |
+
"fr3_duo_mobile",
|
| 788 |
+
"fr3_joint1",
|
| 789 |
+
"fr3_joint2",
|
| 790 |
+
"fr3_joint3",
|
| 791 |
+
"fr3_joint4",
|
| 792 |
+
"fr3_joint5",
|
| 793 |
+
"fr3_joint6",
|
| 794 |
+
"fr3_joint7",
|
| 795 |
+
"fr3_leftfinger",
|
| 796 |
+
"fr3_rightfinger",
|
| 797 |
+
"franka",
|
| 798 |
+
"geometry",
|
| 799 |
+
"gripper",
|
| 800 |
+
"gripper_center",
|
| 801 |
+
"joint1",
|
| 802 |
+
"joint2",
|
| 803 |
+
"joint3",
|
| 804 |
+
"joint4",
|
| 805 |
+
"joint5",
|
| 806 |
+
"joint6",
|
| 807 |
+
"joint7",
|
| 808 |
+
"left_inner_finger",
|
| 809 |
+
"lift2",
|
| 810 |
+
"mobile_rotate",
|
| 811 |
+
"mobile_translate_x",
|
| 812 |
+
"mobile_translate_y",
|
| 813 |
+
"panda_joint1",
|
| 814 |
+
"panda_joint2",
|
| 815 |
+
"panda_joint3",
|
| 816 |
+
"panda_joint4",
|
| 817 |
+
"panda_joint5",
|
| 818 |
+
"panda_joint6",
|
| 819 |
+
"panda_joint7",
|
| 820 |
+
"panda_leftfinger",
|
| 821 |
+
"panda_leftfingertip",
|
| 822 |
+
"panda_rightfinger",
|
| 823 |
+
"panda_rightfingertip",
|
| 824 |
+
"ridgebase",
|
| 825 |
+
"ridgebase_festo",
|
| 826 |
+
"ridgebase_fr3",
|
| 827 |
+
"ridgebase_rizon4",
|
| 828 |
+
"ridgebase_ur16e",
|
| 829 |
+
"ridgebase_ur5e",
|
| 830 |
+
"right_inner_finger",
|
| 831 |
+
"rizon4",
|
| 832 |
+
"robot",
|
| 833 |
+
"robotiq_2f85",
|
| 834 |
+
"shoulder_lift_joint",
|
| 835 |
+
"shoulder_pan_joint",
|
| 836 |
+
"split_aloha",
|
| 837 |
+
"tool_center",
|
| 838 |
+
"ur16e",
|
| 839 |
+
"ur5e",
|
| 840 |
+
"visuals",
|
| 841 |
+
"wrist",
|
| 842 |
+
"wrist_1_joint",
|
| 843 |
+
"wrist_2_joint",
|
| 844 |
+
"wrist_3_joint"
|
| 845 |
+
],
|
| 846 |
+
"ignored_prim_substrings": [
|
| 847 |
+
"base_link",
|
| 848 |
+
"caster",
|
| 849 |
+
"defaultgroundplane",
|
| 850 |
+
"desk",
|
| 851 |
+
"floor",
|
| 852 |
+
"ground",
|
| 853 |
+
"groundplane",
|
| 854 |
+
"link0",
|
| 855 |
+
"table",
|
| 856 |
+
"wheel",
|
| 857 |
+
"workbench"
|
| 858 |
+
],
|
| 859 |
+
"enabled": true
|
| 860 |
+
},
|
| 861 |
+
"status": "active",
|
| 862 |
+
"passed": true,
|
| 863 |
+
"source_missing": false,
|
| 864 |
+
"forbidden": [],
|
| 865 |
+
"disturbances": [],
|
| 866 |
+
"last_frame": {
|
| 867 |
+
"passed": true,
|
| 868 |
+
"source_missing": false,
|
| 869 |
+
"forbidden": [],
|
| 870 |
+
"allowed": [],
|
| 871 |
+
"ignored": [],
|
| 872 |
+
"failed_keys": []
|
| 873 |
+
},
|
| 874 |
+
"failed_keys": []
|
| 875 |
+
}
|
| 876 |
+
},
|
| 877 |
+
"gripper": null,
|
| 878 |
+
"post_done_wait_frames": 0,
|
| 879 |
+
"post_done_wait_exhausted": false
|
| 880 |
+
},
|
| 881 |
+
"physical_semantics": {
|
| 882 |
+
"skill": "press",
|
| 883 |
+
"target": "heat_button",
|
| 884 |
+
"attach_used": false,
|
| 885 |
+
"attach_object": null,
|
| 886 |
+
"attach_object_path": null,
|
| 887 |
+
"attach_allowed": false,
|
| 888 |
+
"ordinary_object_physical_only": true
|
| 889 |
+
}
|
| 890 |
+
}
|
| 891 |
+
],
|
| 892 |
+
"physical_semantics": {
|
| 893 |
+
"attach_records": [],
|
| 894 |
+
"ordinary_attach_violations": [],
|
| 895 |
+
"forbidden_shortcuts_absent": true
|
| 896 |
+
},
|
| 897 |
+
"h5_episode_index": 98,
|
| 898 |
+
"reproducibility": {
|
| 899 |
+
"enabled": true,
|
| 900 |
+
"action_seed": 6098556129387905517,
|
| 901 |
+
"physical_seed": 7490668268172140043,
|
| 902 |
+
"layout_id": "layout_00031",
|
| 903 |
+
"step_seeds": [
|
| 904 |
+
4567401361451441112,
|
| 905 |
+
7000790218311912638,
|
| 906 |
+
7522013946436761511,
|
| 907 |
+
7728913421038834906
|
| 908 |
+
],
|
| 909 |
+
"workflow_spec_digest": "bc4db0291f406fbd9c91f68a4c7f1acd36da9a03dd09cb73d832a7602138bc78",
|
| 910 |
+
"strict_task_state": false,
|
| 911 |
+
"allow_physical_randomization": true,
|
| 912 |
+
"seed_source": "workflow.reproducibility",
|
| 913 |
+
"task_island_state_digest": "45ef3200de7c0912fb21bd3476caf01956ef4ee2397c772f5f65740cded9bc23",
|
| 914 |
+
"visual_seed": 8626757872738542435,
|
| 915 |
+
"episode_index": 98,
|
| 916 |
+
"physical_randomization_enabled": true,
|
| 917 |
+
"motion_controller_type": "ik_servo",
|
| 918 |
+
"runtime_step_seeds": [
|
| 919 |
+
4567401361451441112,
|
| 920 |
+
7000790218311912638,
|
| 921 |
+
7522013946436761511,
|
| 922 |
+
7728913421038834906
|
| 923 |
+
],
|
| 924 |
+
"runtime_workflow_digest": "45388e27c653b4c58871f8eb0be862a6bfbe31c6d7d135b34c259a2497af3374"
|
| 925 |
+
}
|
| 926 |
+
}
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_99_success.json
ADDED
|
@@ -0,0 +1,926 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 99,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 4,
|
| 5 |
+
"total_steps": 4,
|
| 6 |
+
"step_accuracy": "4/4",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_b",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_b",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_b",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.1862135124795541,
|
| 26 |
+
0.21916422012878695,
|
| 27 |
+
1.0419879622773731
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0419879622773731,
|
| 30 |
+
"required_z": 0.8565866266178551,
|
| 31 |
+
"initial_z": 0.7565866266178551,
|
| 32 |
+
"lift_margin": 0.185401335659518,
|
| 33 |
+
"gripper_z": 1.0483093869771185,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.18124922575048266,
|
| 38 |
+
0.21450123791207706,
|
| 39 |
+
1.0483093869771185
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.0049642867290714265,
|
| 43 |
+
0.004662982216709882,
|
| 44 |
+
-0.006321424699745393
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006810840321266333,
|
| 47 |
+
"object_to_gripper_z": -0.006321424699745393,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.1862135124795541,
|
| 51 |
+
0.1944843516961921,
|
| 52 |
+
1.0419879622773731
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.1750726553957921,
|
| 56 |
+
0.21916422012878695,
|
| 57 |
+
1.0419879622773731
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.1806430839376731,
|
| 61 |
+
0.20682428591248952,
|
| 62 |
+
1.0419879622773731
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005570428541881001,
|
| 66 |
+
0.012339934216297421,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.027077935711774657,
|
| 70 |
+
"fingertip_max_gap": 0.09138832352982501,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013538967855887329,
|
| 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": 1.0419879622773731,
|
| 78 |
+
"object_top_z": 1.0872951873021726,
|
| 79 |
+
"finger_top_clearance": 0.04530722502479945,
|
| 80 |
+
"fingertip_min_top_clearance": 0.013592167507439816,
|
| 81 |
+
"object_projection_between_fingers": 0.8307198245197583,
|
| 82 |
+
"object_to_finger_line_xy": 0.010154204145407821,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.04819416176491251,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 1.3372011904764027,
|
| 89 |
+
"object_max_tilt_deg": 15.0,
|
| 90 |
+
"object_upright_axis_local": [
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
1.0
|
| 94 |
+
],
|
| 95 |
+
"stable_success_frames": 207,
|
| 96 |
+
"max_stable_success_frames": 207,
|
| 97 |
+
"required_stable_lift_frames": 5
|
| 98 |
+
},
|
| 99 |
+
"failed_keys": [],
|
| 100 |
+
"failure_code": null,
|
| 101 |
+
"failure_messages": {},
|
| 102 |
+
"safety": {
|
| 103 |
+
"policy": {
|
| 104 |
+
"skill": "pick",
|
| 105 |
+
"target_object": "beaker_b",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_b"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/target_beaker"
|
| 112 |
+
],
|
| 113 |
+
"allowed_prim_substrings": [],
|
| 114 |
+
"robot_prim_substrings": [
|
| 115 |
+
"Robotiq2F85",
|
| 116 |
+
"Robotiq_2F_85",
|
| 117 |
+
"contact_sensor",
|
| 118 |
+
"dummy_base_prismatic_x_joint",
|
| 119 |
+
"dummy_base_prismatic_y_joint",
|
| 120 |
+
"dummy_base_revolute_z_joint",
|
| 121 |
+
"elbow_joint",
|
| 122 |
+
"festo",
|
| 123 |
+
"finger",
|
| 124 |
+
"fr3",
|
| 125 |
+
"fr3_duo_mobile",
|
| 126 |
+
"fr3_joint1",
|
| 127 |
+
"fr3_joint2",
|
| 128 |
+
"fr3_joint3",
|
| 129 |
+
"fr3_joint4",
|
| 130 |
+
"fr3_joint5",
|
| 131 |
+
"fr3_joint6",
|
| 132 |
+
"fr3_joint7",
|
| 133 |
+
"fr3_leftfinger",
|
| 134 |
+
"fr3_rightfinger",
|
| 135 |
+
"franka",
|
| 136 |
+
"geometry",
|
| 137 |
+
"gripper",
|
| 138 |
+
"gripper_center",
|
| 139 |
+
"joint1",
|
| 140 |
+
"joint2",
|
| 141 |
+
"joint3",
|
| 142 |
+
"joint4",
|
| 143 |
+
"joint5",
|
| 144 |
+
"joint6",
|
| 145 |
+
"joint7",
|
| 146 |
+
"left_inner_finger",
|
| 147 |
+
"lift2",
|
| 148 |
+
"mobile_rotate",
|
| 149 |
+
"mobile_translate_x",
|
| 150 |
+
"mobile_translate_y",
|
| 151 |
+
"panda_joint1",
|
| 152 |
+
"panda_joint2",
|
| 153 |
+
"panda_joint3",
|
| 154 |
+
"panda_joint4",
|
| 155 |
+
"panda_joint5",
|
| 156 |
+
"panda_joint6",
|
| 157 |
+
"panda_joint7",
|
| 158 |
+
"panda_leftfinger",
|
| 159 |
+
"panda_leftfingertip",
|
| 160 |
+
"panda_rightfinger",
|
| 161 |
+
"panda_rightfingertip",
|
| 162 |
+
"ridgebase",
|
| 163 |
+
"ridgebase_festo",
|
| 164 |
+
"ridgebase_fr3",
|
| 165 |
+
"ridgebase_rizon4",
|
| 166 |
+
"ridgebase_ur16e",
|
| 167 |
+
"ridgebase_ur5e",
|
| 168 |
+
"right_inner_finger",
|
| 169 |
+
"rizon4",
|
| 170 |
+
"robot",
|
| 171 |
+
"robotiq_2f85",
|
| 172 |
+
"shoulder_lift_joint",
|
| 173 |
+
"shoulder_pan_joint",
|
| 174 |
+
"split_aloha",
|
| 175 |
+
"tool_center",
|
| 176 |
+
"ur16e",
|
| 177 |
+
"ur5e",
|
| 178 |
+
"visuals",
|
| 179 |
+
"wrist",
|
| 180 |
+
"wrist_1_joint",
|
| 181 |
+
"wrist_2_joint",
|
| 182 |
+
"wrist_3_joint"
|
| 183 |
+
],
|
| 184 |
+
"ignored_prim_substrings": [
|
| 185 |
+
"base_link",
|
| 186 |
+
"caster",
|
| 187 |
+
"defaultgroundplane",
|
| 188 |
+
"desk",
|
| 189 |
+
"floor",
|
| 190 |
+
"ground",
|
| 191 |
+
"groundplane",
|
| 192 |
+
"link0",
|
| 193 |
+
"table",
|
| 194 |
+
"wheel",
|
| 195 |
+
"workbench"
|
| 196 |
+
],
|
| 197 |
+
"enabled": true
|
| 198 |
+
},
|
| 199 |
+
"status": "active",
|
| 200 |
+
"passed": true,
|
| 201 |
+
"source_missing": false,
|
| 202 |
+
"forbidden": [],
|
| 203 |
+
"disturbances": [],
|
| 204 |
+
"last_frame": {
|
| 205 |
+
"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/target_beaker/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/target_beaker/mesh"
|
| 216 |
+
}
|
| 217 |
+
],
|
| 218 |
+
"ignored": [],
|
| 219 |
+
"failed_keys": []
|
| 220 |
+
},
|
| 221 |
+
"failed_keys": []
|
| 222 |
+
}
|
| 223 |
+
},
|
| 224 |
+
"gripper": null,
|
| 225 |
+
"post_done_wait_frames": 0,
|
| 226 |
+
"post_done_wait_exhausted": false
|
| 227 |
+
},
|
| 228 |
+
"physical_semantics": {
|
| 229 |
+
"skill": "pick",
|
| 230 |
+
"target": "beaker_b",
|
| 231 |
+
"attach_used": false,
|
| 232 |
+
"attach_object": null,
|
| 233 |
+
"attach_object_path": null,
|
| 234 |
+
"attach_allowed": false,
|
| 235 |
+
"ordinary_object_physical_only": true
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
{
|
| 239 |
+
"step_index": 1,
|
| 240 |
+
"skill": "shake",
|
| 241 |
+
"target": "beaker_b",
|
| 242 |
+
"success": true,
|
| 243 |
+
"reason": "executed",
|
| 244 |
+
"debug": {
|
| 245 |
+
"arm": null,
|
| 246 |
+
"checker": {
|
| 247 |
+
"checker": "ShakeSuccessChecker",
|
| 248 |
+
"skill": "shake",
|
| 249 |
+
"target": "beaker_b",
|
| 250 |
+
"passed": true,
|
| 251 |
+
"metrics": {
|
| 252 |
+
"held": "beaker_b",
|
| 253 |
+
"force_virtual_attach": false,
|
| 254 |
+
"virtual_attach_allowed": false,
|
| 255 |
+
"gripper_position": [
|
| 256 |
+
0.18483689104069223,
|
| 257 |
+
0.22046602631662587,
|
| 258 |
+
1.2365381808527658
|
| 259 |
+
],
|
| 260 |
+
"held_position": [
|
| 261 |
+
0.1898829594919277,
|
| 262 |
+
0.2248824731941169,
|
| 263 |
+
1.2301068948769156
|
| 264 |
+
],
|
| 265 |
+
"object_initial_z": 0.7730800627579277,
|
| 266 |
+
"required_gripper_z": 0.8930800627579277,
|
| 267 |
+
"shake_count": 5,
|
| 268 |
+
"held_shake_count": 5,
|
| 269 |
+
"effective_shake_count": 5,
|
| 270 |
+
"min_shake_count": 3,
|
| 271 |
+
"held_gripper_dist": 0.009291353461117572,
|
| 272 |
+
"max_held_gripper_dist": 0.009294177140362937,
|
| 273 |
+
"held_gripper_max_dist": 0.15,
|
| 274 |
+
"held_gripper_z_dist": 0.006431285975850187,
|
| 275 |
+
"max_held_gripper_z_dist": 0.006456170298985375,
|
| 276 |
+
"held_gripper_z_max_dist": 0.15,
|
| 277 |
+
"held_object_xy_range": 0.08629580224691855,
|
| 278 |
+
"held_object_min_xy_range": 0.04,
|
| 279 |
+
"held_motion_ok": true,
|
| 280 |
+
"held_grasp_geometry_checked": true,
|
| 281 |
+
"held_grasp_geometry_required": true,
|
| 282 |
+
"held_grasp_source": "active_contact_pad_positions",
|
| 283 |
+
"held_grasp_finger_a": [
|
| 284 |
+
0.1898829594919277,
|
| 285 |
+
0.19994295235609935,
|
| 286 |
+
1.2301068948769156
|
| 287 |
+
],
|
| 288 |
+
"held_grasp_finger_b": [
|
| 289 |
+
0.17970626806950551,
|
| 290 |
+
0.2248824731941169,
|
| 291 |
+
1.2301068948769156
|
| 292 |
+
],
|
| 293 |
+
"held_grasp_midpoint": [
|
| 294 |
+
0.1847946137807166,
|
| 295 |
+
0.21241271277510812,
|
| 296 |
+
1.2301068948769156
|
| 297 |
+
],
|
| 298 |
+
"held_grasp_object_position": [
|
| 299 |
+
0.1898829594919277,
|
| 300 |
+
0.2248824731941169,
|
| 301 |
+
1.2301068948769156
|
| 302 |
+
],
|
| 303 |
+
"held_grasp_finger_gap": 0.026935937851448804,
|
| 304 |
+
"held_grasp_max_gap": 0.1249237185716629,
|
| 305 |
+
"held_grasp_geometry_frame": "object_local",
|
| 306 |
+
"held_grasp_size_source": "beaker_b_local_size",
|
| 307 |
+
"held_grasp_z_skew": 0.024842847315105072,
|
| 308 |
+
"held_grasp_world_z_skew": 0.0,
|
| 309 |
+
"held_grasp_z_skew_max": 0.08,
|
| 310 |
+
"held_grasp_z_skew_frame": "object_local_up",
|
| 311 |
+
"held_grasp_local_up_axis": [
|
| 312 |
+
-0.009262681084868432,
|
| 313 |
+
-0.9999033631887675,
|
| 314 |
+
0.010366630258276334
|
| 315 |
+
],
|
| 316 |
+
"held_grasp_object_projection_between_fingers": 0.5,
|
| 317 |
+
"held_grasp_object_to_finger_line_xy": 0.0049743103322556805,
|
| 318 |
+
"held_grasp_line_xy_max_dist": 0.04746185928583145,
|
| 319 |
+
"held_grasp_object_top_z": 0.045200224965810776,
|
| 320 |
+
"held_grasp_top_clearance": 0.03268453786111323,
|
| 321 |
+
"held_grasp_min_top_clearance": 0.013560067489743232
|
| 322 |
+
},
|
| 323 |
+
"failed_keys": [],
|
| 324 |
+
"failure_code": null,
|
| 325 |
+
"failure_messages": {},
|
| 326 |
+
"safety": {
|
| 327 |
+
"policy": {
|
| 328 |
+
"skill": "shake",
|
| 329 |
+
"target_object": "beaker_b",
|
| 330 |
+
"held_object": "beaker_b",
|
| 331 |
+
"allowed_objects": [
|
| 332 |
+
"beaker_b"
|
| 333 |
+
],
|
| 334 |
+
"allowed_object_paths": [
|
| 335 |
+
"/World/target_beaker"
|
| 336 |
+
],
|
| 337 |
+
"allowed_prim_substrings": [],
|
| 338 |
+
"robot_prim_substrings": [
|
| 339 |
+
"Robotiq2F85",
|
| 340 |
+
"Robotiq_2F_85",
|
| 341 |
+
"contact_sensor",
|
| 342 |
+
"dummy_base_prismatic_x_joint",
|
| 343 |
+
"dummy_base_prismatic_y_joint",
|
| 344 |
+
"dummy_base_revolute_z_joint",
|
| 345 |
+
"elbow_joint",
|
| 346 |
+
"festo",
|
| 347 |
+
"finger",
|
| 348 |
+
"fr3",
|
| 349 |
+
"fr3_duo_mobile",
|
| 350 |
+
"fr3_joint1",
|
| 351 |
+
"fr3_joint2",
|
| 352 |
+
"fr3_joint3",
|
| 353 |
+
"fr3_joint4",
|
| 354 |
+
"fr3_joint5",
|
| 355 |
+
"fr3_joint6",
|
| 356 |
+
"fr3_joint7",
|
| 357 |
+
"fr3_leftfinger",
|
| 358 |
+
"fr3_rightfinger",
|
| 359 |
+
"franka",
|
| 360 |
+
"geometry",
|
| 361 |
+
"gripper",
|
| 362 |
+
"gripper_center",
|
| 363 |
+
"joint1",
|
| 364 |
+
"joint2",
|
| 365 |
+
"joint3",
|
| 366 |
+
"joint4",
|
| 367 |
+
"joint5",
|
| 368 |
+
"joint6",
|
| 369 |
+
"joint7",
|
| 370 |
+
"left_inner_finger",
|
| 371 |
+
"lift2",
|
| 372 |
+
"mobile_rotate",
|
| 373 |
+
"mobile_translate_x",
|
| 374 |
+
"mobile_translate_y",
|
| 375 |
+
"panda_joint1",
|
| 376 |
+
"panda_joint2",
|
| 377 |
+
"panda_joint3",
|
| 378 |
+
"panda_joint4",
|
| 379 |
+
"panda_joint5",
|
| 380 |
+
"panda_joint6",
|
| 381 |
+
"panda_joint7",
|
| 382 |
+
"panda_leftfinger",
|
| 383 |
+
"panda_leftfingertip",
|
| 384 |
+
"panda_rightfinger",
|
| 385 |
+
"panda_rightfingertip",
|
| 386 |
+
"ridgebase",
|
| 387 |
+
"ridgebase_festo",
|
| 388 |
+
"ridgebase_fr3",
|
| 389 |
+
"ridgebase_rizon4",
|
| 390 |
+
"ridgebase_ur16e",
|
| 391 |
+
"ridgebase_ur5e",
|
| 392 |
+
"right_inner_finger",
|
| 393 |
+
"rizon4",
|
| 394 |
+
"robot",
|
| 395 |
+
"robotiq_2f85",
|
| 396 |
+
"shoulder_lift_joint",
|
| 397 |
+
"shoulder_pan_joint",
|
| 398 |
+
"split_aloha",
|
| 399 |
+
"tool_center",
|
| 400 |
+
"ur16e",
|
| 401 |
+
"ur5e",
|
| 402 |
+
"visuals",
|
| 403 |
+
"wrist",
|
| 404 |
+
"wrist_1_joint",
|
| 405 |
+
"wrist_2_joint",
|
| 406 |
+
"wrist_3_joint"
|
| 407 |
+
],
|
| 408 |
+
"ignored_prim_substrings": [
|
| 409 |
+
"base_link",
|
| 410 |
+
"caster",
|
| 411 |
+
"defaultgroundplane",
|
| 412 |
+
"desk",
|
| 413 |
+
"floor",
|
| 414 |
+
"ground",
|
| 415 |
+
"groundplane",
|
| 416 |
+
"link0",
|
| 417 |
+
"table",
|
| 418 |
+
"wheel",
|
| 419 |
+
"workbench"
|
| 420 |
+
],
|
| 421 |
+
"enabled": true
|
| 422 |
+
},
|
| 423 |
+
"status": "active",
|
| 424 |
+
"passed": true,
|
| 425 |
+
"source_missing": false,
|
| 426 |
+
"forbidden": [],
|
| 427 |
+
"disturbances": [],
|
| 428 |
+
"last_frame": {
|
| 429 |
+
"passed": true,
|
| 430 |
+
"source_missing": false,
|
| 431 |
+
"forbidden": [],
|
| 432 |
+
"allowed": [
|
| 433 |
+
{
|
| 434 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 435 |
+
"b": "/World/target_beaker/mesh"
|
| 436 |
+
},
|
| 437 |
+
{
|
| 438 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 439 |
+
"b": "/World/target_beaker/mesh"
|
| 440 |
+
}
|
| 441 |
+
],
|
| 442 |
+
"ignored": [],
|
| 443 |
+
"failed_keys": []
|
| 444 |
+
},
|
| 445 |
+
"failed_keys": []
|
| 446 |
+
}
|
| 447 |
+
},
|
| 448 |
+
"gripper": null,
|
| 449 |
+
"post_done_wait_frames": 0,
|
| 450 |
+
"post_done_wait_exhausted": false
|
| 451 |
+
},
|
| 452 |
+
"physical_semantics": {
|
| 453 |
+
"skill": "shake",
|
| 454 |
+
"target": "beaker_b",
|
| 455 |
+
"attach_used": false,
|
| 456 |
+
"attach_object": null,
|
| 457 |
+
"attach_object_path": null,
|
| 458 |
+
"attach_allowed": false,
|
| 459 |
+
"ordinary_object_physical_only": true
|
| 460 |
+
}
|
| 461 |
+
},
|
| 462 |
+
{
|
| 463 |
+
"step_index": 2,
|
| 464 |
+
"skill": "place",
|
| 465 |
+
"target": "heater_platform",
|
| 466 |
+
"success": true,
|
| 467 |
+
"reason": "executed",
|
| 468 |
+
"debug": {
|
| 469 |
+
"arm": null,
|
| 470 |
+
"checker": {
|
| 471 |
+
"checker": "PlaceSuccessChecker",
|
| 472 |
+
"skill": "place",
|
| 473 |
+
"target": "heater_platform",
|
| 474 |
+
"passed": true,
|
| 475 |
+
"metrics": {
|
| 476 |
+
"held": "beaker_b",
|
| 477 |
+
"target": "heater_platform",
|
| 478 |
+
"object_position": [
|
| 479 |
+
0.33147204401381597,
|
| 480 |
+
-0.3228375981343753,
|
| 481 |
+
0.8470193877113157
|
| 482 |
+
],
|
| 483 |
+
"target_position": [
|
| 484 |
+
0.3232649348333718,
|
| 485 |
+
-0.32575167446119574,
|
| 486 |
+
0.8084375599031817
|
| 487 |
+
],
|
| 488 |
+
"target_position_source": "target_object:_xform_position",
|
| 489 |
+
"xy_dist": 0.008709103394624844,
|
| 490 |
+
"xy_threshold": 0.08,
|
| 491 |
+
"gripper_dist": 0.1878882390805093,
|
| 492 |
+
"gripper_away_threshold": 0.04,
|
| 493 |
+
"gripper_away_ok": true,
|
| 494 |
+
"object_z": 0.8470193877113157,
|
| 495 |
+
"min_z": 0.5730800627579278,
|
| 496 |
+
"min_z_margin": 0.2,
|
| 497 |
+
"require_object_upright": true,
|
| 498 |
+
"object_upright_reference_source": "scene_initial",
|
| 499 |
+
"release_fingertip_source": "active_contact_pad_positions",
|
| 500 |
+
"release_finger_gap": 0.07545874873532063,
|
| 501 |
+
"release_finger_gap_metric": "3d_contact_pad_distance",
|
| 502 |
+
"release_fingertip_min_gap": 0.08751729115236238,
|
| 503 |
+
"release_gap_margin": 0.02,
|
| 504 |
+
"release_gap_missing_size": false,
|
| 505 |
+
"release_min_pad_clearance": 0.1565767675046392,
|
| 506 |
+
"release_required_pad_clearance": 0.053758645576181194,
|
| 507 |
+
"release_pad_clearance_ok": true,
|
| 508 |
+
"release_gap_ok": false,
|
| 509 |
+
"force_virtual_attach": false,
|
| 510 |
+
"virtual_attach_allowed": false,
|
| 511 |
+
"max_z": 0.9084375599031816,
|
| 512 |
+
"max_z_margin": 0.1,
|
| 513 |
+
"object_tilt_deg": 2.5256912806699288,
|
| 514 |
+
"object_max_tilt_deg": 12.0,
|
| 515 |
+
"object_axis_flip_tolerance_deg": 3.0,
|
| 516 |
+
"object_upright_axis_local": null,
|
| 517 |
+
"required_placed_release_frames": 2,
|
| 518 |
+
"placed_release_frames": 156,
|
| 519 |
+
"max_placed_release_frames": 156
|
| 520 |
+
},
|
| 521 |
+
"failed_keys": [],
|
| 522 |
+
"failure_code": null,
|
| 523 |
+
"failure_messages": {},
|
| 524 |
+
"safety": {
|
| 525 |
+
"policy": {
|
| 526 |
+
"skill": "place",
|
| 527 |
+
"target_object": "heater_platform",
|
| 528 |
+
"held_object": "beaker_b",
|
| 529 |
+
"allowed_objects": [
|
| 530 |
+
"beaker_b",
|
| 531 |
+
"heater_platform"
|
| 532 |
+
],
|
| 533 |
+
"allowed_object_paths": [
|
| 534 |
+
"/World/heat_device/heat_device/heat_device/plat",
|
| 535 |
+
"/World/target_beaker"
|
| 536 |
+
],
|
| 537 |
+
"allowed_prim_substrings": [],
|
| 538 |
+
"robot_prim_substrings": [
|
| 539 |
+
"Robotiq2F85",
|
| 540 |
+
"Robotiq_2F_85",
|
| 541 |
+
"contact_sensor",
|
| 542 |
+
"dummy_base_prismatic_x_joint",
|
| 543 |
+
"dummy_base_prismatic_y_joint",
|
| 544 |
+
"dummy_base_revolute_z_joint",
|
| 545 |
+
"elbow_joint",
|
| 546 |
+
"festo",
|
| 547 |
+
"finger",
|
| 548 |
+
"fr3",
|
| 549 |
+
"fr3_duo_mobile",
|
| 550 |
+
"fr3_joint1",
|
| 551 |
+
"fr3_joint2",
|
| 552 |
+
"fr3_joint3",
|
| 553 |
+
"fr3_joint4",
|
| 554 |
+
"fr3_joint5",
|
| 555 |
+
"fr3_joint6",
|
| 556 |
+
"fr3_joint7",
|
| 557 |
+
"fr3_leftfinger",
|
| 558 |
+
"fr3_rightfinger",
|
| 559 |
+
"franka",
|
| 560 |
+
"geometry",
|
| 561 |
+
"gripper",
|
| 562 |
+
"gripper_center",
|
| 563 |
+
"joint1",
|
| 564 |
+
"joint2",
|
| 565 |
+
"joint3",
|
| 566 |
+
"joint4",
|
| 567 |
+
"joint5",
|
| 568 |
+
"joint6",
|
| 569 |
+
"joint7",
|
| 570 |
+
"left_inner_finger",
|
| 571 |
+
"lift2",
|
| 572 |
+
"mobile_rotate",
|
| 573 |
+
"mobile_translate_x",
|
| 574 |
+
"mobile_translate_y",
|
| 575 |
+
"panda_joint1",
|
| 576 |
+
"panda_joint2",
|
| 577 |
+
"panda_joint3",
|
| 578 |
+
"panda_joint4",
|
| 579 |
+
"panda_joint5",
|
| 580 |
+
"panda_joint6",
|
| 581 |
+
"panda_joint7",
|
| 582 |
+
"panda_leftfinger",
|
| 583 |
+
"panda_leftfingertip",
|
| 584 |
+
"panda_rightfinger",
|
| 585 |
+
"panda_rightfingertip",
|
| 586 |
+
"ridgebase",
|
| 587 |
+
"ridgebase_festo",
|
| 588 |
+
"ridgebase_fr3",
|
| 589 |
+
"ridgebase_rizon4",
|
| 590 |
+
"ridgebase_ur16e",
|
| 591 |
+
"ridgebase_ur5e",
|
| 592 |
+
"right_inner_finger",
|
| 593 |
+
"rizon4",
|
| 594 |
+
"robot",
|
| 595 |
+
"robotiq_2f85",
|
| 596 |
+
"shoulder_lift_joint",
|
| 597 |
+
"shoulder_pan_joint",
|
| 598 |
+
"split_aloha",
|
| 599 |
+
"tool_center",
|
| 600 |
+
"ur16e",
|
| 601 |
+
"ur5e",
|
| 602 |
+
"visuals",
|
| 603 |
+
"wrist",
|
| 604 |
+
"wrist_1_joint",
|
| 605 |
+
"wrist_2_joint",
|
| 606 |
+
"wrist_3_joint"
|
| 607 |
+
],
|
| 608 |
+
"ignored_prim_substrings": [
|
| 609 |
+
"base_link",
|
| 610 |
+
"caster",
|
| 611 |
+
"defaultgroundplane",
|
| 612 |
+
"desk",
|
| 613 |
+
"floor",
|
| 614 |
+
"ground",
|
| 615 |
+
"groundplane",
|
| 616 |
+
"link0",
|
| 617 |
+
"table",
|
| 618 |
+
"wheel",
|
| 619 |
+
"workbench"
|
| 620 |
+
],
|
| 621 |
+
"enabled": true
|
| 622 |
+
},
|
| 623 |
+
"status": "active",
|
| 624 |
+
"passed": true,
|
| 625 |
+
"source_missing": false,
|
| 626 |
+
"forbidden": [],
|
| 627 |
+
"disturbances": [],
|
| 628 |
+
"last_frame": {
|
| 629 |
+
"passed": true,
|
| 630 |
+
"source_missing": false,
|
| 631 |
+
"forbidden": [],
|
| 632 |
+
"allowed": [],
|
| 633 |
+
"ignored": [],
|
| 634 |
+
"failed_keys": []
|
| 635 |
+
},
|
| 636 |
+
"failed_keys": []
|
| 637 |
+
}
|
| 638 |
+
},
|
| 639 |
+
"gripper": null,
|
| 640 |
+
"post_done_wait_frames": 0,
|
| 641 |
+
"post_done_wait_exhausted": false
|
| 642 |
+
},
|
| 643 |
+
"physical_semantics": {
|
| 644 |
+
"skill": "place",
|
| 645 |
+
"target": "heater_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 |
+
"step_index": 3,
|
| 655 |
+
"skill": "press",
|
| 656 |
+
"target": "heat_button",
|
| 657 |
+
"success": true,
|
| 658 |
+
"reason": "executed",
|
| 659 |
+
"debug": {
|
| 660 |
+
"arm": null,
|
| 661 |
+
"checker": {
|
| 662 |
+
"checker": "PressSuccessChecker",
|
| 663 |
+
"skill": "press",
|
| 664 |
+
"target": "heat_button",
|
| 665 |
+
"passed": true,
|
| 666 |
+
"metrics": {
|
| 667 |
+
"target": "heat_button",
|
| 668 |
+
"z_decrease": 0.007774233818054199,
|
| 669 |
+
"max_z_decrease": 0.007774233818054199,
|
| 670 |
+
"final_z_decrease": 0.0,
|
| 671 |
+
"z_decrease_threshold": 0.0003,
|
| 672 |
+
"min_ee_to_button": 0.03510497761836877,
|
| 673 |
+
"contact_distance_threshold": 0.08,
|
| 674 |
+
"ee_contact_ok": true,
|
| 675 |
+
"max_z_decrease_with_ee_contact": 0.007774233818054199,
|
| 676 |
+
"ee_contacted_z_ok": true,
|
| 677 |
+
"physical_press_ok": true,
|
| 678 |
+
"required_contacted_press_frames": 2,
|
| 679 |
+
"contacted_z_stable_frames": 0,
|
| 680 |
+
"max_contacted_z_stable_frames": 78,
|
| 681 |
+
"contact_point_distance": 0.021325218346390607,
|
| 682 |
+
"contact_point_source": "active_contact_pad_positions",
|
| 683 |
+
"contact_point_distance_threshold": 0.04,
|
| 684 |
+
"contact_point_seen_ok": true,
|
| 685 |
+
"contact_point_ok": true,
|
| 686 |
+
"contact_point_stable_frames": 0,
|
| 687 |
+
"max_contact_point_stable_frames": 120,
|
| 688 |
+
"max_z_decrease_with_contact_point": 0.007774233818054199,
|
| 689 |
+
"contact_point_contacted_z_ok": true,
|
| 690 |
+
"contact_point_contacted_z_stable_frames": 0,
|
| 691 |
+
"max_contact_point_contacted_z_stable_frames": 78,
|
| 692 |
+
"contact_ok": true,
|
| 693 |
+
"button_final_displacement": 0.0,
|
| 694 |
+
"button_max_displacement": 0.007774259059404118,
|
| 695 |
+
"max_button_displacement": 0.12,
|
| 696 |
+
"button_start": [
|
| 697 |
+
0.17896486818790436,
|
| 698 |
+
-0.38201314210891724,
|
| 699 |
+
0.7768088579177856
|
| 700 |
+
],
|
| 701 |
+
"button_final": [
|
| 702 |
+
0.17896486818790436,
|
| 703 |
+
-0.38201314210891724,
|
| 704 |
+
0.7768088579177856
|
| 705 |
+
],
|
| 706 |
+
"closest_ee": [
|
| 707 |
+
0.18034813019837023,
|
| 708 |
+
-0.3833637687052232,
|
| 709 |
+
0.8044463372370774
|
| 710 |
+
],
|
| 711 |
+
"closest_button": [
|
| 712 |
+
0.1789461076259613,
|
| 713 |
+
-0.38201698660850525,
|
| 714 |
+
0.7693952322006226
|
| 715 |
+
],
|
| 716 |
+
"closest_ee_minus_button": [
|
| 717 |
+
0.0014020225724089286,
|
| 718 |
+
-0.0013467820967179578,
|
| 719 |
+
0.03505110503645481
|
| 720 |
+
],
|
| 721 |
+
"button_min_z_position": [
|
| 722 |
+
0.17894545197486875,
|
| 723 |
+
-0.3820170760154724,
|
| 724 |
+
0.7690346240997314
|
| 725 |
+
],
|
| 726 |
+
"min_active_finger_to_button": 0.14442773755620492,
|
| 727 |
+
"closest_active_finger": [
|
| 728 |
+
0.03949876129627228,
|
| 729 |
+
-0.3678652048110962,
|
| 730 |
+
0.8078142404556274
|
| 731 |
+
],
|
| 732 |
+
"closest_active_finger_button": [
|
| 733 |
+
0.1789751946926117,
|
| 734 |
+
-0.38201969861984253,
|
| 735 |
+
0.7730961441993713
|
| 736 |
+
],
|
| 737 |
+
"closest_active_finger_index": 0,
|
| 738 |
+
"closest_active_finger_minus_button": [
|
| 739 |
+
-0.13947643339633942,
|
| 740 |
+
0.014154493808746338,
|
| 741 |
+
0.034718096256256104
|
| 742 |
+
],
|
| 743 |
+
"min_contact_pad_to_button": 0.021325218346390607,
|
| 744 |
+
"closest_contact_pad": [
|
| 745 |
+
0.17894545197486875,
|
| 746 |
+
-0.3845009000990864,
|
| 747 |
+
0.790214698590698
|
| 748 |
+
],
|
| 749 |
+
"closest_contact_pad_button": [
|
| 750 |
+
0.17894545197486875,
|
| 751 |
+
-0.3820170760154724,
|
| 752 |
+
0.7690346240997314
|
| 753 |
+
],
|
| 754 |
+
"closest_contact_pad_index": 0,
|
| 755 |
+
"closest_contact_pad_minus_button": [
|
| 756 |
+
0.0,
|
| 757 |
+
-0.0024838240836139724,
|
| 758 |
+
0.021180074490966594
|
| 759 |
+
]
|
| 760 |
+
},
|
| 761 |
+
"failed_keys": [],
|
| 762 |
+
"failure_code": null,
|
| 763 |
+
"failure_messages": {},
|
| 764 |
+
"safety": {
|
| 765 |
+
"policy": {
|
| 766 |
+
"skill": "press",
|
| 767 |
+
"target_object": "heat_button",
|
| 768 |
+
"held_object": null,
|
| 769 |
+
"allowed_objects": [
|
| 770 |
+
"heat_button"
|
| 771 |
+
],
|
| 772 |
+
"allowed_object_paths": [
|
| 773 |
+
"/World/heat_device/button"
|
| 774 |
+
],
|
| 775 |
+
"allowed_prim_substrings": [],
|
| 776 |
+
"robot_prim_substrings": [
|
| 777 |
+
"Robotiq2F85",
|
| 778 |
+
"Robotiq_2F_85",
|
| 779 |
+
"contact_sensor",
|
| 780 |
+
"dummy_base_prismatic_x_joint",
|
| 781 |
+
"dummy_base_prismatic_y_joint",
|
| 782 |
+
"dummy_base_revolute_z_joint",
|
| 783 |
+
"elbow_joint",
|
| 784 |
+
"festo",
|
| 785 |
+
"finger",
|
| 786 |
+
"fr3",
|
| 787 |
+
"fr3_duo_mobile",
|
| 788 |
+
"fr3_joint1",
|
| 789 |
+
"fr3_joint2",
|
| 790 |
+
"fr3_joint3",
|
| 791 |
+
"fr3_joint4",
|
| 792 |
+
"fr3_joint5",
|
| 793 |
+
"fr3_joint6",
|
| 794 |
+
"fr3_joint7",
|
| 795 |
+
"fr3_leftfinger",
|
| 796 |
+
"fr3_rightfinger",
|
| 797 |
+
"franka",
|
| 798 |
+
"geometry",
|
| 799 |
+
"gripper",
|
| 800 |
+
"gripper_center",
|
| 801 |
+
"joint1",
|
| 802 |
+
"joint2",
|
| 803 |
+
"joint3",
|
| 804 |
+
"joint4",
|
| 805 |
+
"joint5",
|
| 806 |
+
"joint6",
|
| 807 |
+
"joint7",
|
| 808 |
+
"left_inner_finger",
|
| 809 |
+
"lift2",
|
| 810 |
+
"mobile_rotate",
|
| 811 |
+
"mobile_translate_x",
|
| 812 |
+
"mobile_translate_y",
|
| 813 |
+
"panda_joint1",
|
| 814 |
+
"panda_joint2",
|
| 815 |
+
"panda_joint3",
|
| 816 |
+
"panda_joint4",
|
| 817 |
+
"panda_joint5",
|
| 818 |
+
"panda_joint6",
|
| 819 |
+
"panda_joint7",
|
| 820 |
+
"panda_leftfinger",
|
| 821 |
+
"panda_leftfingertip",
|
| 822 |
+
"panda_rightfinger",
|
| 823 |
+
"panda_rightfingertip",
|
| 824 |
+
"ridgebase",
|
| 825 |
+
"ridgebase_festo",
|
| 826 |
+
"ridgebase_fr3",
|
| 827 |
+
"ridgebase_rizon4",
|
| 828 |
+
"ridgebase_ur16e",
|
| 829 |
+
"ridgebase_ur5e",
|
| 830 |
+
"right_inner_finger",
|
| 831 |
+
"rizon4",
|
| 832 |
+
"robot",
|
| 833 |
+
"robotiq_2f85",
|
| 834 |
+
"shoulder_lift_joint",
|
| 835 |
+
"shoulder_pan_joint",
|
| 836 |
+
"split_aloha",
|
| 837 |
+
"tool_center",
|
| 838 |
+
"ur16e",
|
| 839 |
+
"ur5e",
|
| 840 |
+
"visuals",
|
| 841 |
+
"wrist",
|
| 842 |
+
"wrist_1_joint",
|
| 843 |
+
"wrist_2_joint",
|
| 844 |
+
"wrist_3_joint"
|
| 845 |
+
],
|
| 846 |
+
"ignored_prim_substrings": [
|
| 847 |
+
"base_link",
|
| 848 |
+
"caster",
|
| 849 |
+
"defaultgroundplane",
|
| 850 |
+
"desk",
|
| 851 |
+
"floor",
|
| 852 |
+
"ground",
|
| 853 |
+
"groundplane",
|
| 854 |
+
"link0",
|
| 855 |
+
"table",
|
| 856 |
+
"wheel",
|
| 857 |
+
"workbench"
|
| 858 |
+
],
|
| 859 |
+
"enabled": true
|
| 860 |
+
},
|
| 861 |
+
"status": "active",
|
| 862 |
+
"passed": true,
|
| 863 |
+
"source_missing": false,
|
| 864 |
+
"forbidden": [],
|
| 865 |
+
"disturbances": [],
|
| 866 |
+
"last_frame": {
|
| 867 |
+
"passed": true,
|
| 868 |
+
"source_missing": false,
|
| 869 |
+
"forbidden": [],
|
| 870 |
+
"allowed": [],
|
| 871 |
+
"ignored": [],
|
| 872 |
+
"failed_keys": []
|
| 873 |
+
},
|
| 874 |
+
"failed_keys": []
|
| 875 |
+
}
|
| 876 |
+
},
|
| 877 |
+
"gripper": null,
|
| 878 |
+
"post_done_wait_frames": 0,
|
| 879 |
+
"post_done_wait_exhausted": false
|
| 880 |
+
},
|
| 881 |
+
"physical_semantics": {
|
| 882 |
+
"skill": "press",
|
| 883 |
+
"target": "heat_button",
|
| 884 |
+
"attach_used": false,
|
| 885 |
+
"attach_object": null,
|
| 886 |
+
"attach_object_path": null,
|
| 887 |
+
"attach_allowed": false,
|
| 888 |
+
"ordinary_object_physical_only": true
|
| 889 |
+
}
|
| 890 |
+
}
|
| 891 |
+
],
|
| 892 |
+
"physical_semantics": {
|
| 893 |
+
"attach_records": [],
|
| 894 |
+
"ordinary_attach_violations": [],
|
| 895 |
+
"forbidden_shortcuts_absent": true
|
| 896 |
+
},
|
| 897 |
+
"h5_episode_index": 99,
|
| 898 |
+
"reproducibility": {
|
| 899 |
+
"enabled": true,
|
| 900 |
+
"action_seed": 6098556129387905517,
|
| 901 |
+
"physical_seed": 7490668268172140043,
|
| 902 |
+
"layout_id": "layout_00031",
|
| 903 |
+
"step_seeds": [
|
| 904 |
+
4567401361451441112,
|
| 905 |
+
7000790218311912638,
|
| 906 |
+
7522013946436761511,
|
| 907 |
+
7728913421038834906
|
| 908 |
+
],
|
| 909 |
+
"workflow_spec_digest": "bc4db0291f406fbd9c91f68a4c7f1acd36da9a03dd09cb73d832a7602138bc78",
|
| 910 |
+
"strict_task_state": false,
|
| 911 |
+
"allow_physical_randomization": true,
|
| 912 |
+
"seed_source": "workflow.reproducibility",
|
| 913 |
+
"task_island_state_digest": "10eb551ac1447b8110b0453dfa8de8d7cb15b87ec064c598afe56c4ed6df13d3",
|
| 914 |
+
"visual_seed": 3124168203580526125,
|
| 915 |
+
"episode_index": 99,
|
| 916 |
+
"physical_randomization_enabled": true,
|
| 917 |
+
"motion_controller_type": "ik_servo",
|
| 918 |
+
"runtime_step_seeds": [
|
| 919 |
+
4567401361451441112,
|
| 920 |
+
7000790218311912638,
|
| 921 |
+
7522013946436761511,
|
| 922 |
+
7728913421038834906
|
| 923 |
+
],
|
| 924 |
+
"runtime_workflow_digest": "45388e27c653b4c58871f8eb0be862a6bfbe31c6d7d135b34c259a2497af3374"
|
| 925 |
+
}
|
| 926 |
+
}
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/episode_9_success.json
ADDED
|
@@ -0,0 +1,926 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"episode": 9,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 4,
|
| 5 |
+
"total_steps": 4,
|
| 6 |
+
"step_accuracy": "4/4",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_b",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_b",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_b",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.1864143056541273,
|
| 26 |
+
0.2178787441684862,
|
| 27 |
+
1.0414295157009736
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0414295157009736,
|
| 30 |
+
"required_z": 0.8565865074085656,
|
| 31 |
+
"initial_z": 0.7565865074085656,
|
| 32 |
+
"lift_margin": 0.18484300829240807,
|
| 33 |
+
"gripper_z": 1.0477453980635687,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.1814224102074904,
|
| 38 |
+
0.21318387600740407,
|
| 39 |
+
1.0477453980635687
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004991895446636918,
|
| 43 |
+
0.0046948681610821386,
|
| 44 |
+
-0.00631588236259506
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006852795575536832,
|
| 47 |
+
"object_to_gripper_z": -0.00631588236259506,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.1864143056541273,
|
| 51 |
+
0.19322520393208237,
|
| 52 |
+
1.0414295157009736
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.17516163406446053,
|
| 56 |
+
0.2178787441684862,
|
| 57 |
+
1.0414295157009736
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.1807879698592939,
|
| 61 |
+
0.2055519740502843,
|
| 62 |
+
1.0414295157009736
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005626335794833404,
|
| 66 |
+
0.012326770118201907,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.027100178303710053,
|
| 70 |
+
"fingertip_max_gap": 0.09295777458664703,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013550089151855021,
|
| 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": 1.0414295157009736,
|
| 78 |
+
"object_top_z": 1.087382593350675,
|
| 79 |
+
"finger_top_clearance": 0.04595307764970147,
|
| 80 |
+
"fingertip_min_top_clearance": 0.013785923294910457,
|
| 81 |
+
"object_projection_between_fingers": 0.8275881977352927,
|
| 82 |
+
"object_to_finger_line_xy": 0.010236766293338723,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.04897888729332352,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 1.505028021505663,
|
| 89 |
+
"object_max_tilt_deg": 15.0,
|
| 90 |
+
"object_upright_axis_local": [
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
1.0
|
| 94 |
+
],
|
| 95 |
+
"stable_success_frames": 207,
|
| 96 |
+
"max_stable_success_frames": 207,
|
| 97 |
+
"required_stable_lift_frames": 5
|
| 98 |
+
},
|
| 99 |
+
"failed_keys": [],
|
| 100 |
+
"failure_code": null,
|
| 101 |
+
"failure_messages": {},
|
| 102 |
+
"safety": {
|
| 103 |
+
"policy": {
|
| 104 |
+
"skill": "pick",
|
| 105 |
+
"target_object": "beaker_b",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_b"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/target_beaker"
|
| 112 |
+
],
|
| 113 |
+
"allowed_prim_substrings": [],
|
| 114 |
+
"robot_prim_substrings": [
|
| 115 |
+
"Robotiq2F85",
|
| 116 |
+
"Robotiq_2F_85",
|
| 117 |
+
"contact_sensor",
|
| 118 |
+
"dummy_base_prismatic_x_joint",
|
| 119 |
+
"dummy_base_prismatic_y_joint",
|
| 120 |
+
"dummy_base_revolute_z_joint",
|
| 121 |
+
"elbow_joint",
|
| 122 |
+
"festo",
|
| 123 |
+
"finger",
|
| 124 |
+
"fr3",
|
| 125 |
+
"fr3_duo_mobile",
|
| 126 |
+
"fr3_joint1",
|
| 127 |
+
"fr3_joint2",
|
| 128 |
+
"fr3_joint3",
|
| 129 |
+
"fr3_joint4",
|
| 130 |
+
"fr3_joint5",
|
| 131 |
+
"fr3_joint6",
|
| 132 |
+
"fr3_joint7",
|
| 133 |
+
"fr3_leftfinger",
|
| 134 |
+
"fr3_rightfinger",
|
| 135 |
+
"franka",
|
| 136 |
+
"geometry",
|
| 137 |
+
"gripper",
|
| 138 |
+
"gripper_center",
|
| 139 |
+
"joint1",
|
| 140 |
+
"joint2",
|
| 141 |
+
"joint3",
|
| 142 |
+
"joint4",
|
| 143 |
+
"joint5",
|
| 144 |
+
"joint6",
|
| 145 |
+
"joint7",
|
| 146 |
+
"left_inner_finger",
|
| 147 |
+
"lift2",
|
| 148 |
+
"mobile_rotate",
|
| 149 |
+
"mobile_translate_x",
|
| 150 |
+
"mobile_translate_y",
|
| 151 |
+
"panda_joint1",
|
| 152 |
+
"panda_joint2",
|
| 153 |
+
"panda_joint3",
|
| 154 |
+
"panda_joint4",
|
| 155 |
+
"panda_joint5",
|
| 156 |
+
"panda_joint6",
|
| 157 |
+
"panda_joint7",
|
| 158 |
+
"panda_leftfinger",
|
| 159 |
+
"panda_leftfingertip",
|
| 160 |
+
"panda_rightfinger",
|
| 161 |
+
"panda_rightfingertip",
|
| 162 |
+
"ridgebase",
|
| 163 |
+
"ridgebase_festo",
|
| 164 |
+
"ridgebase_fr3",
|
| 165 |
+
"ridgebase_rizon4",
|
| 166 |
+
"ridgebase_ur16e",
|
| 167 |
+
"ridgebase_ur5e",
|
| 168 |
+
"right_inner_finger",
|
| 169 |
+
"rizon4",
|
| 170 |
+
"robot",
|
| 171 |
+
"robotiq_2f85",
|
| 172 |
+
"shoulder_lift_joint",
|
| 173 |
+
"shoulder_pan_joint",
|
| 174 |
+
"split_aloha",
|
| 175 |
+
"tool_center",
|
| 176 |
+
"ur16e",
|
| 177 |
+
"ur5e",
|
| 178 |
+
"visuals",
|
| 179 |
+
"wrist",
|
| 180 |
+
"wrist_1_joint",
|
| 181 |
+
"wrist_2_joint",
|
| 182 |
+
"wrist_3_joint"
|
| 183 |
+
],
|
| 184 |
+
"ignored_prim_substrings": [
|
| 185 |
+
"base_link",
|
| 186 |
+
"caster",
|
| 187 |
+
"defaultgroundplane",
|
| 188 |
+
"desk",
|
| 189 |
+
"floor",
|
| 190 |
+
"ground",
|
| 191 |
+
"groundplane",
|
| 192 |
+
"link0",
|
| 193 |
+
"table",
|
| 194 |
+
"wheel",
|
| 195 |
+
"workbench"
|
| 196 |
+
],
|
| 197 |
+
"enabled": true
|
| 198 |
+
},
|
| 199 |
+
"status": "active",
|
| 200 |
+
"passed": true,
|
| 201 |
+
"source_missing": false,
|
| 202 |
+
"forbidden": [],
|
| 203 |
+
"disturbances": [],
|
| 204 |
+
"last_frame": {
|
| 205 |
+
"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/target_beaker/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/target_beaker/mesh"
|
| 216 |
+
}
|
| 217 |
+
],
|
| 218 |
+
"ignored": [],
|
| 219 |
+
"failed_keys": []
|
| 220 |
+
},
|
| 221 |
+
"failed_keys": []
|
| 222 |
+
}
|
| 223 |
+
},
|
| 224 |
+
"gripper": null,
|
| 225 |
+
"post_done_wait_frames": 0,
|
| 226 |
+
"post_done_wait_exhausted": false
|
| 227 |
+
},
|
| 228 |
+
"physical_semantics": {
|
| 229 |
+
"skill": "pick",
|
| 230 |
+
"target": "beaker_b",
|
| 231 |
+
"attach_used": false,
|
| 232 |
+
"attach_object": null,
|
| 233 |
+
"attach_object_path": null,
|
| 234 |
+
"attach_allowed": false,
|
| 235 |
+
"ordinary_object_physical_only": true
|
| 236 |
+
}
|
| 237 |
+
},
|
| 238 |
+
{
|
| 239 |
+
"step_index": 1,
|
| 240 |
+
"skill": "shake",
|
| 241 |
+
"target": "beaker_b",
|
| 242 |
+
"success": true,
|
| 243 |
+
"reason": "executed",
|
| 244 |
+
"debug": {
|
| 245 |
+
"arm": null,
|
| 246 |
+
"checker": {
|
| 247 |
+
"checker": "ShakeSuccessChecker",
|
| 248 |
+
"skill": "shake",
|
| 249 |
+
"target": "beaker_b",
|
| 250 |
+
"passed": true,
|
| 251 |
+
"metrics": {
|
| 252 |
+
"held": "beaker_b",
|
| 253 |
+
"force_virtual_attach": false,
|
| 254 |
+
"virtual_attach_allowed": false,
|
| 255 |
+
"gripper_position": [
|
| 256 |
+
0.18505656944628726,
|
| 257 |
+
0.2190212405356568,
|
| 258 |
+
1.235909851900905
|
| 259 |
+
],
|
| 260 |
+
"held_position": [
|
| 261 |
+
0.1901400131118739,
|
| 262 |
+
0.22344644715268713,
|
| 263 |
+
1.2294799768756752
|
| 264 |
+
],
|
| 265 |
+
"object_initial_z": 0.7730800627579277,
|
| 266 |
+
"required_gripper_z": 0.8930800627579277,
|
| 267 |
+
"shake_count": 5,
|
| 268 |
+
"held_shake_count": 5,
|
| 269 |
+
"effective_shake_count": 5,
|
| 270 |
+
"min_shake_count": 3,
|
| 271 |
+
"held_gripper_dist": 0.00931488840215901,
|
| 272 |
+
"max_held_gripper_dist": 0.00932071507286461,
|
| 273 |
+
"held_gripper_max_dist": 0.15,
|
| 274 |
+
"held_gripper_z_dist": 0.0064298750252298476,
|
| 275 |
+
"max_held_gripper_z_dist": 0.006452836406779516,
|
| 276 |
+
"held_gripper_z_max_dist": 0.15,
|
| 277 |
+
"held_object_xy_range": 0.08637483238365937,
|
| 278 |
+
"held_object_min_xy_range": 0.04,
|
| 279 |
+
"held_motion_ok": true,
|
| 280 |
+
"held_grasp_geometry_checked": true,
|
| 281 |
+
"held_grasp_geometry_required": true,
|
| 282 |
+
"held_grasp_source": "active_contact_pad_positions",
|
| 283 |
+
"held_grasp_finger_a": [
|
| 284 |
+
0.1901400131118739,
|
| 285 |
+
0.19847388900654203,
|
| 286 |
+
1.2294799768756752
|
| 287 |
+
],
|
| 288 |
+
"held_grasp_finger_b": [
|
| 289 |
+
0.17996781004550638,
|
| 290 |
+
0.22344644715268713,
|
| 291 |
+
1.2294799768756752
|
| 292 |
+
],
|
| 293 |
+
"held_grasp_midpoint": [
|
| 294 |
+
0.18505391157869014,
|
| 295 |
+
0.2109601680796146,
|
| 296 |
+
1.2294799768756752
|
| 297 |
+
],
|
| 298 |
+
"held_grasp_object_position": [
|
| 299 |
+
0.1901400131118739,
|
| 300 |
+
0.22344644715268713,
|
| 301 |
+
1.2294799768756752
|
| 302 |
+
],
|
| 303 |
+
"held_grasp_finger_gap": 0.02696483590875373,
|
| 304 |
+
"held_grasp_max_gap": 0.1249237185716629,
|
| 305 |
+
"held_grasp_geometry_frame": "object_local",
|
| 306 |
+
"held_grasp_size_source": "beaker_b_local_size",
|
| 307 |
+
"held_grasp_z_skew": 0.024853441222160676,
|
| 308 |
+
"held_grasp_world_z_skew": 0.0,
|
| 309 |
+
"held_grasp_z_skew_max": 0.08,
|
| 310 |
+
"held_grasp_z_skew_frame": "object_local_up",
|
| 311 |
+
"held_grasp_local_up_axis": [
|
| 312 |
+
-0.011048264225278673,
|
| 313 |
+
-0.9997304346349055,
|
| 314 |
+
0.02042042904327801
|
| 315 |
+
],
|
| 316 |
+
"held_grasp_object_projection_between_fingers": 0.5,
|
| 317 |
+
"held_grasp_object_to_finger_line_xy": 0.004954434344632424,
|
| 318 |
+
"held_grasp_line_xy_max_dist": 0.04746185928583145,
|
| 319 |
+
"held_grasp_object_top_z": 0.045200224965810776,
|
| 320 |
+
"held_grasp_top_clearance": 0.032661119167500016,
|
| 321 |
+
"held_grasp_min_top_clearance": 0.013560067489743232
|
| 322 |
+
},
|
| 323 |
+
"failed_keys": [],
|
| 324 |
+
"failure_code": null,
|
| 325 |
+
"failure_messages": {},
|
| 326 |
+
"safety": {
|
| 327 |
+
"policy": {
|
| 328 |
+
"skill": "shake",
|
| 329 |
+
"target_object": "beaker_b",
|
| 330 |
+
"held_object": "beaker_b",
|
| 331 |
+
"allowed_objects": [
|
| 332 |
+
"beaker_b"
|
| 333 |
+
],
|
| 334 |
+
"allowed_object_paths": [
|
| 335 |
+
"/World/target_beaker"
|
| 336 |
+
],
|
| 337 |
+
"allowed_prim_substrings": [],
|
| 338 |
+
"robot_prim_substrings": [
|
| 339 |
+
"Robotiq2F85",
|
| 340 |
+
"Robotiq_2F_85",
|
| 341 |
+
"contact_sensor",
|
| 342 |
+
"dummy_base_prismatic_x_joint",
|
| 343 |
+
"dummy_base_prismatic_y_joint",
|
| 344 |
+
"dummy_base_revolute_z_joint",
|
| 345 |
+
"elbow_joint",
|
| 346 |
+
"festo",
|
| 347 |
+
"finger",
|
| 348 |
+
"fr3",
|
| 349 |
+
"fr3_duo_mobile",
|
| 350 |
+
"fr3_joint1",
|
| 351 |
+
"fr3_joint2",
|
| 352 |
+
"fr3_joint3",
|
| 353 |
+
"fr3_joint4",
|
| 354 |
+
"fr3_joint5",
|
| 355 |
+
"fr3_joint6",
|
| 356 |
+
"fr3_joint7",
|
| 357 |
+
"fr3_leftfinger",
|
| 358 |
+
"fr3_rightfinger",
|
| 359 |
+
"franka",
|
| 360 |
+
"geometry",
|
| 361 |
+
"gripper",
|
| 362 |
+
"gripper_center",
|
| 363 |
+
"joint1",
|
| 364 |
+
"joint2",
|
| 365 |
+
"joint3",
|
| 366 |
+
"joint4",
|
| 367 |
+
"joint5",
|
| 368 |
+
"joint6",
|
| 369 |
+
"joint7",
|
| 370 |
+
"left_inner_finger",
|
| 371 |
+
"lift2",
|
| 372 |
+
"mobile_rotate",
|
| 373 |
+
"mobile_translate_x",
|
| 374 |
+
"mobile_translate_y",
|
| 375 |
+
"panda_joint1",
|
| 376 |
+
"panda_joint2",
|
| 377 |
+
"panda_joint3",
|
| 378 |
+
"panda_joint4",
|
| 379 |
+
"panda_joint5",
|
| 380 |
+
"panda_joint6",
|
| 381 |
+
"panda_joint7",
|
| 382 |
+
"panda_leftfinger",
|
| 383 |
+
"panda_leftfingertip",
|
| 384 |
+
"panda_rightfinger",
|
| 385 |
+
"panda_rightfingertip",
|
| 386 |
+
"ridgebase",
|
| 387 |
+
"ridgebase_festo",
|
| 388 |
+
"ridgebase_fr3",
|
| 389 |
+
"ridgebase_rizon4",
|
| 390 |
+
"ridgebase_ur16e",
|
| 391 |
+
"ridgebase_ur5e",
|
| 392 |
+
"right_inner_finger",
|
| 393 |
+
"rizon4",
|
| 394 |
+
"robot",
|
| 395 |
+
"robotiq_2f85",
|
| 396 |
+
"shoulder_lift_joint",
|
| 397 |
+
"shoulder_pan_joint",
|
| 398 |
+
"split_aloha",
|
| 399 |
+
"tool_center",
|
| 400 |
+
"ur16e",
|
| 401 |
+
"ur5e",
|
| 402 |
+
"visuals",
|
| 403 |
+
"wrist",
|
| 404 |
+
"wrist_1_joint",
|
| 405 |
+
"wrist_2_joint",
|
| 406 |
+
"wrist_3_joint"
|
| 407 |
+
],
|
| 408 |
+
"ignored_prim_substrings": [
|
| 409 |
+
"base_link",
|
| 410 |
+
"caster",
|
| 411 |
+
"defaultgroundplane",
|
| 412 |
+
"desk",
|
| 413 |
+
"floor",
|
| 414 |
+
"ground",
|
| 415 |
+
"groundplane",
|
| 416 |
+
"link0",
|
| 417 |
+
"table",
|
| 418 |
+
"wheel",
|
| 419 |
+
"workbench"
|
| 420 |
+
],
|
| 421 |
+
"enabled": true
|
| 422 |
+
},
|
| 423 |
+
"status": "active",
|
| 424 |
+
"passed": true,
|
| 425 |
+
"source_missing": false,
|
| 426 |
+
"forbidden": [],
|
| 427 |
+
"disturbances": [],
|
| 428 |
+
"last_frame": {
|
| 429 |
+
"passed": true,
|
| 430 |
+
"source_missing": false,
|
| 431 |
+
"forbidden": [],
|
| 432 |
+
"allowed": [
|
| 433 |
+
{
|
| 434 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 435 |
+
"b": "/World/target_beaker/mesh"
|
| 436 |
+
},
|
| 437 |
+
{
|
| 438 |
+
"a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
|
| 439 |
+
"b": "/World/target_beaker/mesh"
|
| 440 |
+
}
|
| 441 |
+
],
|
| 442 |
+
"ignored": [],
|
| 443 |
+
"failed_keys": []
|
| 444 |
+
},
|
| 445 |
+
"failed_keys": []
|
| 446 |
+
}
|
| 447 |
+
},
|
| 448 |
+
"gripper": null,
|
| 449 |
+
"post_done_wait_frames": 0,
|
| 450 |
+
"post_done_wait_exhausted": false
|
| 451 |
+
},
|
| 452 |
+
"physical_semantics": {
|
| 453 |
+
"skill": "shake",
|
| 454 |
+
"target": "beaker_b",
|
| 455 |
+
"attach_used": false,
|
| 456 |
+
"attach_object": null,
|
| 457 |
+
"attach_object_path": null,
|
| 458 |
+
"attach_allowed": false,
|
| 459 |
+
"ordinary_object_physical_only": true
|
| 460 |
+
}
|
| 461 |
+
},
|
| 462 |
+
{
|
| 463 |
+
"step_index": 2,
|
| 464 |
+
"skill": "place",
|
| 465 |
+
"target": "heater_platform",
|
| 466 |
+
"success": true,
|
| 467 |
+
"reason": "executed",
|
| 468 |
+
"debug": {
|
| 469 |
+
"arm": null,
|
| 470 |
+
"checker": {
|
| 471 |
+
"checker": "PlaceSuccessChecker",
|
| 472 |
+
"skill": "place",
|
| 473 |
+
"target": "heater_platform",
|
| 474 |
+
"passed": true,
|
| 475 |
+
"metrics": {
|
| 476 |
+
"held": "beaker_b",
|
| 477 |
+
"target": "heater_platform",
|
| 478 |
+
"object_position": [
|
| 479 |
+
0.3403329372335192,
|
| 480 |
+
-0.3227512450077427,
|
| 481 |
+
0.8470195086589569
|
| 482 |
+
],
|
| 483 |
+
"target_position": [
|
| 484 |
+
0.33236799835554576,
|
| 485 |
+
-0.32547203938645164,
|
| 486 |
+
0.8084375599031817
|
| 487 |
+
],
|
| 488 |
+
"target_position_source": "target_object:_xform_position",
|
| 489 |
+
"xy_dist": 0.008416826799992205,
|
| 490 |
+
"xy_threshold": 0.08,
|
| 491 |
+
"gripper_dist": 0.18715154391326372,
|
| 492 |
+
"gripper_away_threshold": 0.04,
|
| 493 |
+
"gripper_away_ok": true,
|
| 494 |
+
"object_z": 0.8470195086589569,
|
| 495 |
+
"min_z": 0.5730800627579278,
|
| 496 |
+
"min_z_margin": 0.2,
|
| 497 |
+
"require_object_upright": true,
|
| 498 |
+
"object_upright_reference_source": "scene_initial",
|
| 499 |
+
"release_fingertip_source": "active_contact_pad_positions",
|
| 500 |
+
"release_finger_gap": 0.0755235779895192,
|
| 501 |
+
"release_finger_gap_metric": "3d_contact_pad_distance",
|
| 502 |
+
"release_fingertip_min_gap": 0.08789302309382362,
|
| 503 |
+
"release_gap_margin": 0.02,
|
| 504 |
+
"release_gap_missing_size": false,
|
| 505 |
+
"release_min_pad_clearance": 0.15581419756639658,
|
| 506 |
+
"release_required_pad_clearance": 0.05394651154691181,
|
| 507 |
+
"release_pad_clearance_ok": true,
|
| 508 |
+
"release_gap_ok": false,
|
| 509 |
+
"force_virtual_attach": false,
|
| 510 |
+
"virtual_attach_allowed": false,
|
| 511 |
+
"max_z": 0.9084375599031816,
|
| 512 |
+
"max_z_margin": 0.1,
|
| 513 |
+
"object_tilt_deg": 2.902626313826947,
|
| 514 |
+
"object_max_tilt_deg": 12.0,
|
| 515 |
+
"object_axis_flip_tolerance_deg": 3.0,
|
| 516 |
+
"object_upright_axis_local": null,
|
| 517 |
+
"required_placed_release_frames": 2,
|
| 518 |
+
"placed_release_frames": 156,
|
| 519 |
+
"max_placed_release_frames": 156
|
| 520 |
+
},
|
| 521 |
+
"failed_keys": [],
|
| 522 |
+
"failure_code": null,
|
| 523 |
+
"failure_messages": {},
|
| 524 |
+
"safety": {
|
| 525 |
+
"policy": {
|
| 526 |
+
"skill": "place",
|
| 527 |
+
"target_object": "heater_platform",
|
| 528 |
+
"held_object": "beaker_b",
|
| 529 |
+
"allowed_objects": [
|
| 530 |
+
"beaker_b",
|
| 531 |
+
"heater_platform"
|
| 532 |
+
],
|
| 533 |
+
"allowed_object_paths": [
|
| 534 |
+
"/World/heat_device/heat_device/heat_device/plat",
|
| 535 |
+
"/World/target_beaker"
|
| 536 |
+
],
|
| 537 |
+
"allowed_prim_substrings": [],
|
| 538 |
+
"robot_prim_substrings": [
|
| 539 |
+
"Robotiq2F85",
|
| 540 |
+
"Robotiq_2F_85",
|
| 541 |
+
"contact_sensor",
|
| 542 |
+
"dummy_base_prismatic_x_joint",
|
| 543 |
+
"dummy_base_prismatic_y_joint",
|
| 544 |
+
"dummy_base_revolute_z_joint",
|
| 545 |
+
"elbow_joint",
|
| 546 |
+
"festo",
|
| 547 |
+
"finger",
|
| 548 |
+
"fr3",
|
| 549 |
+
"fr3_duo_mobile",
|
| 550 |
+
"fr3_joint1",
|
| 551 |
+
"fr3_joint2",
|
| 552 |
+
"fr3_joint3",
|
| 553 |
+
"fr3_joint4",
|
| 554 |
+
"fr3_joint5",
|
| 555 |
+
"fr3_joint6",
|
| 556 |
+
"fr3_joint7",
|
| 557 |
+
"fr3_leftfinger",
|
| 558 |
+
"fr3_rightfinger",
|
| 559 |
+
"franka",
|
| 560 |
+
"geometry",
|
| 561 |
+
"gripper",
|
| 562 |
+
"gripper_center",
|
| 563 |
+
"joint1",
|
| 564 |
+
"joint2",
|
| 565 |
+
"joint3",
|
| 566 |
+
"joint4",
|
| 567 |
+
"joint5",
|
| 568 |
+
"joint6",
|
| 569 |
+
"joint7",
|
| 570 |
+
"left_inner_finger",
|
| 571 |
+
"lift2",
|
| 572 |
+
"mobile_rotate",
|
| 573 |
+
"mobile_translate_x",
|
| 574 |
+
"mobile_translate_y",
|
| 575 |
+
"panda_joint1",
|
| 576 |
+
"panda_joint2",
|
| 577 |
+
"panda_joint3",
|
| 578 |
+
"panda_joint4",
|
| 579 |
+
"panda_joint5",
|
| 580 |
+
"panda_joint6",
|
| 581 |
+
"panda_joint7",
|
| 582 |
+
"panda_leftfinger",
|
| 583 |
+
"panda_leftfingertip",
|
| 584 |
+
"panda_rightfinger",
|
| 585 |
+
"panda_rightfingertip",
|
| 586 |
+
"ridgebase",
|
| 587 |
+
"ridgebase_festo",
|
| 588 |
+
"ridgebase_fr3",
|
| 589 |
+
"ridgebase_rizon4",
|
| 590 |
+
"ridgebase_ur16e",
|
| 591 |
+
"ridgebase_ur5e",
|
| 592 |
+
"right_inner_finger",
|
| 593 |
+
"rizon4",
|
| 594 |
+
"robot",
|
| 595 |
+
"robotiq_2f85",
|
| 596 |
+
"shoulder_lift_joint",
|
| 597 |
+
"shoulder_pan_joint",
|
| 598 |
+
"split_aloha",
|
| 599 |
+
"tool_center",
|
| 600 |
+
"ur16e",
|
| 601 |
+
"ur5e",
|
| 602 |
+
"visuals",
|
| 603 |
+
"wrist",
|
| 604 |
+
"wrist_1_joint",
|
| 605 |
+
"wrist_2_joint",
|
| 606 |
+
"wrist_3_joint"
|
| 607 |
+
],
|
| 608 |
+
"ignored_prim_substrings": [
|
| 609 |
+
"base_link",
|
| 610 |
+
"caster",
|
| 611 |
+
"defaultgroundplane",
|
| 612 |
+
"desk",
|
| 613 |
+
"floor",
|
| 614 |
+
"ground",
|
| 615 |
+
"groundplane",
|
| 616 |
+
"link0",
|
| 617 |
+
"table",
|
| 618 |
+
"wheel",
|
| 619 |
+
"workbench"
|
| 620 |
+
],
|
| 621 |
+
"enabled": true
|
| 622 |
+
},
|
| 623 |
+
"status": "active",
|
| 624 |
+
"passed": true,
|
| 625 |
+
"source_missing": false,
|
| 626 |
+
"forbidden": [],
|
| 627 |
+
"disturbances": [],
|
| 628 |
+
"last_frame": {
|
| 629 |
+
"passed": true,
|
| 630 |
+
"source_missing": false,
|
| 631 |
+
"forbidden": [],
|
| 632 |
+
"allowed": [],
|
| 633 |
+
"ignored": [],
|
| 634 |
+
"failed_keys": []
|
| 635 |
+
},
|
| 636 |
+
"failed_keys": []
|
| 637 |
+
}
|
| 638 |
+
},
|
| 639 |
+
"gripper": null,
|
| 640 |
+
"post_done_wait_frames": 0,
|
| 641 |
+
"post_done_wait_exhausted": false
|
| 642 |
+
},
|
| 643 |
+
"physical_semantics": {
|
| 644 |
+
"skill": "place",
|
| 645 |
+
"target": "heater_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 |
+
"step_index": 3,
|
| 655 |
+
"skill": "press",
|
| 656 |
+
"target": "heat_button",
|
| 657 |
+
"success": true,
|
| 658 |
+
"reason": "executed",
|
| 659 |
+
"debug": {
|
| 660 |
+
"arm": null,
|
| 661 |
+
"checker": {
|
| 662 |
+
"checker": "PressSuccessChecker",
|
| 663 |
+
"skill": "press",
|
| 664 |
+
"target": "heat_button",
|
| 665 |
+
"passed": true,
|
| 666 |
+
"metrics": {
|
| 667 |
+
"target": "heat_button",
|
| 668 |
+
"z_decrease": 0.008038163185119629,
|
| 669 |
+
"max_z_decrease": 0.008038163185119629,
|
| 670 |
+
"final_z_decrease": 0.0,
|
| 671 |
+
"z_decrease_threshold": 0.0003,
|
| 672 |
+
"min_ee_to_button": 0.0350294595804522,
|
| 673 |
+
"contact_distance_threshold": 0.08,
|
| 674 |
+
"ee_contact_ok": true,
|
| 675 |
+
"max_z_decrease_with_ee_contact": 0.008038163185119629,
|
| 676 |
+
"ee_contacted_z_ok": true,
|
| 677 |
+
"physical_press_ok": true,
|
| 678 |
+
"required_contacted_press_frames": 2,
|
| 679 |
+
"contacted_z_stable_frames": 0,
|
| 680 |
+
"max_contacted_z_stable_frames": 78,
|
| 681 |
+
"contact_point_distance": 0.02124847298372658,
|
| 682 |
+
"contact_point_source": "active_contact_pad_positions",
|
| 683 |
+
"contact_point_distance_threshold": 0.04,
|
| 684 |
+
"contact_point_seen_ok": true,
|
| 685 |
+
"contact_point_ok": true,
|
| 686 |
+
"contact_point_stable_frames": 0,
|
| 687 |
+
"max_contact_point_stable_frames": 120,
|
| 688 |
+
"max_z_decrease_with_contact_point": 0.008038163185119629,
|
| 689 |
+
"contact_point_contacted_z_ok": true,
|
| 690 |
+
"contact_point_contacted_z_stable_frames": 0,
|
| 691 |
+
"max_contact_point_contacted_z_stable_frames": 78,
|
| 692 |
+
"contact_ok": true,
|
| 693 |
+
"button_final_displacement": 0.0,
|
| 694 |
+
"button_max_displacement": 0.008038191272286508,
|
| 695 |
+
"max_button_displacement": 0.12,
|
| 696 |
+
"button_start": [
|
| 697 |
+
0.18806792795658103,
|
| 698 |
+
-0.38173350691795344,
|
| 699 |
+
0.7768088579177856
|
| 700 |
+
],
|
| 701 |
+
"button_final": [
|
| 702 |
+
0.18806792795658103,
|
| 703 |
+
-0.38173350691795344,
|
| 704 |
+
0.7768088579177856
|
| 705 |
+
],
|
| 706 |
+
"closest_ee": [
|
| 707 |
+
0.1869839948214945,
|
| 708 |
+
-0.38056617234030915,
|
| 709 |
+
0.806748750790608
|
| 710 |
+
],
|
| 711 |
+
"closest_button": [
|
| 712 |
+
0.18805439770221702,
|
| 713 |
+
-0.38173484802246094,
|
| 714 |
+
0.7717551589012146
|
| 715 |
+
],
|
| 716 |
+
"closest_ee_minus_button": [
|
| 717 |
+
-0.0010704028807225208,
|
| 718 |
+
0.0011686756821517874,
|
| 719 |
+
0.03499359188939344
|
| 720 |
+
],
|
| 721 |
+
"button_min_z_position": [
|
| 722 |
+
0.18804670870304102,
|
| 723 |
+
-0.3817346394062042,
|
| 724 |
+
0.768770694732666
|
| 725 |
+
],
|
| 726 |
+
"min_active_finger_to_button": 0.14669446863139476,
|
| 727 |
+
"closest_active_finger": [
|
| 728 |
+
0.05997081845998764,
|
| 729 |
+
-0.4440706968307495,
|
| 730 |
+
0.8078292012214661
|
| 731 |
+
],
|
| 732 |
+
"closest_active_finger_button": [
|
| 733 |
+
0.18807950615882868,
|
| 734 |
+
-0.3817397058010101,
|
| 735 |
+
0.7728680968284607
|
| 736 |
+
],
|
| 737 |
+
"closest_active_finger_index": 1,
|
| 738 |
+
"closest_active_finger_minus_button": [
|
| 739 |
+
-0.12810868769884104,
|
| 740 |
+
-0.062330991029739435,
|
| 741 |
+
0.03496110439300537
|
| 742 |
+
],
|
| 743 |
+
"min_contact_pad_to_button": 0.02124847298372658,
|
| 744 |
+
"closest_contact_pad": [
|
| 745 |
+
0.18804670870304102,
|
| 746 |
+
-0.38178305596720413,
|
| 747 |
+
0.7900191125555718
|
| 748 |
+
],
|
| 749 |
+
"closest_contact_pad_button": [
|
| 750 |
+
0.18804670870304102,
|
| 751 |
+
-0.3817346394062042,
|
| 752 |
+
0.768770694732666
|
| 753 |
+
],
|
| 754 |
+
"closest_contact_pad_index": 0,
|
| 755 |
+
"closest_contact_pad_minus_button": [
|
| 756 |
+
0.0,
|
| 757 |
+
-4.8416560999908764e-05,
|
| 758 |
+
0.021248417822905763
|
| 759 |
+
]
|
| 760 |
+
},
|
| 761 |
+
"failed_keys": [],
|
| 762 |
+
"failure_code": null,
|
| 763 |
+
"failure_messages": {},
|
| 764 |
+
"safety": {
|
| 765 |
+
"policy": {
|
| 766 |
+
"skill": "press",
|
| 767 |
+
"target_object": "heat_button",
|
| 768 |
+
"held_object": null,
|
| 769 |
+
"allowed_objects": [
|
| 770 |
+
"heat_button"
|
| 771 |
+
],
|
| 772 |
+
"allowed_object_paths": [
|
| 773 |
+
"/World/heat_device/button"
|
| 774 |
+
],
|
| 775 |
+
"allowed_prim_substrings": [],
|
| 776 |
+
"robot_prim_substrings": [
|
| 777 |
+
"Robotiq2F85",
|
| 778 |
+
"Robotiq_2F_85",
|
| 779 |
+
"contact_sensor",
|
| 780 |
+
"dummy_base_prismatic_x_joint",
|
| 781 |
+
"dummy_base_prismatic_y_joint",
|
| 782 |
+
"dummy_base_revolute_z_joint",
|
| 783 |
+
"elbow_joint",
|
| 784 |
+
"festo",
|
| 785 |
+
"finger",
|
| 786 |
+
"fr3",
|
| 787 |
+
"fr3_duo_mobile",
|
| 788 |
+
"fr3_joint1",
|
| 789 |
+
"fr3_joint2",
|
| 790 |
+
"fr3_joint3",
|
| 791 |
+
"fr3_joint4",
|
| 792 |
+
"fr3_joint5",
|
| 793 |
+
"fr3_joint6",
|
| 794 |
+
"fr3_joint7",
|
| 795 |
+
"fr3_leftfinger",
|
| 796 |
+
"fr3_rightfinger",
|
| 797 |
+
"franka",
|
| 798 |
+
"geometry",
|
| 799 |
+
"gripper",
|
| 800 |
+
"gripper_center",
|
| 801 |
+
"joint1",
|
| 802 |
+
"joint2",
|
| 803 |
+
"joint3",
|
| 804 |
+
"joint4",
|
| 805 |
+
"joint5",
|
| 806 |
+
"joint6",
|
| 807 |
+
"joint7",
|
| 808 |
+
"left_inner_finger",
|
| 809 |
+
"lift2",
|
| 810 |
+
"mobile_rotate",
|
| 811 |
+
"mobile_translate_x",
|
| 812 |
+
"mobile_translate_y",
|
| 813 |
+
"panda_joint1",
|
| 814 |
+
"panda_joint2",
|
| 815 |
+
"panda_joint3",
|
| 816 |
+
"panda_joint4",
|
| 817 |
+
"panda_joint5",
|
| 818 |
+
"panda_joint6",
|
| 819 |
+
"panda_joint7",
|
| 820 |
+
"panda_leftfinger",
|
| 821 |
+
"panda_leftfingertip",
|
| 822 |
+
"panda_rightfinger",
|
| 823 |
+
"panda_rightfingertip",
|
| 824 |
+
"ridgebase",
|
| 825 |
+
"ridgebase_festo",
|
| 826 |
+
"ridgebase_fr3",
|
| 827 |
+
"ridgebase_rizon4",
|
| 828 |
+
"ridgebase_ur16e",
|
| 829 |
+
"ridgebase_ur5e",
|
| 830 |
+
"right_inner_finger",
|
| 831 |
+
"rizon4",
|
| 832 |
+
"robot",
|
| 833 |
+
"robotiq_2f85",
|
| 834 |
+
"shoulder_lift_joint",
|
| 835 |
+
"shoulder_pan_joint",
|
| 836 |
+
"split_aloha",
|
| 837 |
+
"tool_center",
|
| 838 |
+
"ur16e",
|
| 839 |
+
"ur5e",
|
| 840 |
+
"visuals",
|
| 841 |
+
"wrist",
|
| 842 |
+
"wrist_1_joint",
|
| 843 |
+
"wrist_2_joint",
|
| 844 |
+
"wrist_3_joint"
|
| 845 |
+
],
|
| 846 |
+
"ignored_prim_substrings": [
|
| 847 |
+
"base_link",
|
| 848 |
+
"caster",
|
| 849 |
+
"defaultgroundplane",
|
| 850 |
+
"desk",
|
| 851 |
+
"floor",
|
| 852 |
+
"ground",
|
| 853 |
+
"groundplane",
|
| 854 |
+
"link0",
|
| 855 |
+
"table",
|
| 856 |
+
"wheel",
|
| 857 |
+
"workbench"
|
| 858 |
+
],
|
| 859 |
+
"enabled": true
|
| 860 |
+
},
|
| 861 |
+
"status": "active",
|
| 862 |
+
"passed": true,
|
| 863 |
+
"source_missing": false,
|
| 864 |
+
"forbidden": [],
|
| 865 |
+
"disturbances": [],
|
| 866 |
+
"last_frame": {
|
| 867 |
+
"passed": true,
|
| 868 |
+
"source_missing": false,
|
| 869 |
+
"forbidden": [],
|
| 870 |
+
"allowed": [],
|
| 871 |
+
"ignored": [],
|
| 872 |
+
"failed_keys": []
|
| 873 |
+
},
|
| 874 |
+
"failed_keys": []
|
| 875 |
+
}
|
| 876 |
+
},
|
| 877 |
+
"gripper": null,
|
| 878 |
+
"post_done_wait_frames": 0,
|
| 879 |
+
"post_done_wait_exhausted": false
|
| 880 |
+
},
|
| 881 |
+
"physical_semantics": {
|
| 882 |
+
"skill": "press",
|
| 883 |
+
"target": "heat_button",
|
| 884 |
+
"attach_used": false,
|
| 885 |
+
"attach_object": null,
|
| 886 |
+
"attach_object_path": null,
|
| 887 |
+
"attach_allowed": false,
|
| 888 |
+
"ordinary_object_physical_only": true
|
| 889 |
+
}
|
| 890 |
+
}
|
| 891 |
+
],
|
| 892 |
+
"physical_semantics": {
|
| 893 |
+
"attach_records": [],
|
| 894 |
+
"ordinary_attach_violations": [],
|
| 895 |
+
"forbidden_shortcuts_absent": true
|
| 896 |
+
},
|
| 897 |
+
"h5_episode_index": 9,
|
| 898 |
+
"reproducibility": {
|
| 899 |
+
"enabled": true,
|
| 900 |
+
"action_seed": 6098556129387905517,
|
| 901 |
+
"physical_seed": 7490668268172140043,
|
| 902 |
+
"layout_id": "layout_00031",
|
| 903 |
+
"step_seeds": [
|
| 904 |
+
4567401361451441112,
|
| 905 |
+
7000790218311912638,
|
| 906 |
+
7522013946436761511,
|
| 907 |
+
7728913421038834906
|
| 908 |
+
],
|
| 909 |
+
"workflow_spec_digest": "bc4db0291f406fbd9c91f68a4c7f1acd36da9a03dd09cb73d832a7602138bc78",
|
| 910 |
+
"strict_task_state": false,
|
| 911 |
+
"allow_physical_randomization": true,
|
| 912 |
+
"seed_source": "workflow.reproducibility",
|
| 913 |
+
"task_island_state_digest": "c3777f016068fc858b709828cb23543564606ec3373bb901c7bcc474498badf9",
|
| 914 |
+
"visual_seed": 4835395930822005624,
|
| 915 |
+
"episode_index": 9,
|
| 916 |
+
"physical_randomization_enabled": true,
|
| 917 |
+
"motion_controller_type": "ik_servo",
|
| 918 |
+
"runtime_step_seeds": [
|
| 919 |
+
4567401361451441112,
|
| 920 |
+
7000790218311912638,
|
| 921 |
+
7522013946436761511,
|
| 922 |
+
7728913421038834906
|
| 923 |
+
],
|
| 924 |
+
"runtime_workflow_digest": "45388e27c653b4c58871f8eb0be862a6bfbe31c6d7d135b34c259a2497af3374"
|
| 925 |
+
}
|
| 926 |
+
}
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00031/results/summary.json
ADDED
|
@@ -0,0 +1,9 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"scope": "published_success_subset",
|
| 3 |
+
"case": "lab3_heat_2beaker_s04_pslr_hte_00031",
|
| 4 |
+
"family": "lab3_v1",
|
| 5 |
+
"published_episodes": 100,
|
| 6 |
+
"published_successes": 100,
|
| 7 |
+
"published_failures": 0,
|
| 8 |
+
"matched_success_results": 100
|
| 9 |
+
}
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0000.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:5a49bb3d57906ba0e2574926034d51d9ecd6cbf286c12dd25ee210d687350e5f
|
| 3 |
+
size 6603319
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0001.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:eb194d74b7a74431b5036214c0df56e11bed3fc5f3e651d01115e52ce69bff7a
|
| 3 |
+
size 6134577
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0002.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c2d5a4f75b73524c18dac9726684513af66fb8a7563dea8abe7120b1158355af
|
| 3 |
+
size 5605627
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0003.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d8467ed53d348f410d6f760538453296a36b925508217ce9e47bb02efa3019a0
|
| 3 |
+
size 6293164
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0004.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:7fb1b2e472ed1d1d200bd131b35dccd4ca7b342ae8b02208f77bbe74b43921cb
|
| 3 |
+
size 5477711
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0005.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:55c3e83b2c104351cb1a842fbe6320369c3ccf29d718c658c05fc7476c32930f
|
| 3 |
+
size 6207917
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0006.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:33a133adc214e672e027073fa7c63ddf0bcf311a236f844f38ae1bcaa8e25eb4
|
| 3 |
+
size 7062219
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0007.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:03a9c077c099f65e410f117a16ff8d66bdf2426e68a9a9af1b8f2a121a21ffe4
|
| 3 |
+
size 7580261
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0008.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b443590285711e0bf7937942a0e90a009f0f528a3f292c0418548ec3e420c575
|
| 3 |
+
size 5907551
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0009.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:c61f8b4dab39493b86d4576a327960c323eff68421d5d4deb353f031d750fef4
|
| 3 |
+
size 8532419
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0011.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:b4827d27d4d9006bf8f439fb7d59602c04324242f4dd1e43c164ee1932e8fa6e
|
| 3 |
+
size 8265304
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0012.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:4f78b5d759661982009f52adcf0367d9d3a4b2b35829be3845f86a86363433b8
|
| 3 |
+
size 6635730
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0013.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:95527ffee9f1a3f17d15d208b0fa333873abcb3778afd173eb9b567b22249f5d
|
| 3 |
+
size 6577906
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0015.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:e05712ea4240958385af730f1c8fc4fc49345925eea654d79d0c3a6bf55e565c
|
| 3 |
+
size 6312315
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0016.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:9f44eb95fdacc0bb8f9257ef1ee8b81145564789418edb2cf02ebf275e8df46d
|
| 3 |
+
size 7873250
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0017.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:daea21142a7e01cfa1b072c31e4875f41bdb10ddac6bdb2d3475fcfe803210e2
|
| 3 |
+
size 7164650
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0018.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:70d9e9f03c78454237e2e31f2634ca9ec3c455c539266f343547339ea5fe91d6
|
| 3 |
+
size 6067584
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0019.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ba863a283197f3191a1b5c8feb0e115ce58179b5575bd8255e6eff1206765cf2
|
| 3 |
+
size 7145220
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0020.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ecbdcff7b52e52a2cc04ab090bded800077ed92a3c6b2a2aa697c36d53c0ee48
|
| 3 |
+
size 5978460
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0021.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:3287b88e9d054bd158731e378943c2e2e2e417c814f0f21a82ac9eb3cca1f973
|
| 3 |
+
size 6568589
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0022.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:dc13e2901739325dfa9c69a098dc37b6ea372f7468e77bc79e1b50ac133b8428
|
| 3 |
+
size 8957333
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0023.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d674119617587586f348e25ba41e92fa1677ab2cc9126ad1869bdf56df99503f
|
| 3 |
+
size 6706358
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0024.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:2c04ce7c8cf2061a85018c2c010a5eb21ed23be23fd144033154abbd383b8256
|
| 3 |
+
size 5702912
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0025.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:43c5e5373210a1b4d56c90ff348de08ec018b73c3735ff7af6cdccf25bc2596a
|
| 3 |
+
size 4951678
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0026.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:cee5b10c9efcee135d80ebb1f288e2eaa49d62f6d30ae6323373af20549895d6
|
| 3 |
+
size 7114048
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0027.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:aaa77d44f9c9405727c4da8871c8327adff06a3087af1d9e3bab2f21783ef3c3
|
| 3 |
+
size 5510557
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0028.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:9bbd6d49563111959ac5f6d51da604fec38ae9404f122222af8bb4f7e527c5b8
|
| 3 |
+
size 6080793
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0029.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:295b5ebb96eb65a7a736f032b9dc52477e18b950ce8fc5f1996eabb481fa5cc8
|
| 3 |
+
size 6576163
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0030.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ddd5d7db985dfaf9b3d99b6af0601ff9f6b93bf9848d6221ceb1e4a032c5cb65
|
| 3 |
+
size 6149139
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0031.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:3f0f7afa336087663025973734eaf88001a5835b6112f51559688ae9c1c6121d
|
| 3 |
+
size 5692523
|
ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_hte_00032/dataset/episode_0032.h5
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:087fbdafc303362e2a6038a8fa9954ff0e51efec0007c960d50b2f0fd8ab52b6
|
| 3 |
+
size 5855611
|