Upload folder using huggingface_hub (part 8)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00028/results/episode_94_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00028/results/episode_95_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00028/results/episode_97_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00028/results/episode_98_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00028/results/episode_9_success.json +686 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00028/results/summary.json +9 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00030/dataset/episode_0000.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00030/dataset/episode_0001.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00030/dataset/episode_0002.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00030/dataset/episode_0003.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00030/dataset/episode_0004.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00030/dataset/episode_0005.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00030/dataset/episode_0006.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00030/dataset/episode_0007.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00030/dataset/episode_0008.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00030/dataset/episode_0009.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00030/dataset/episode_0010.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00030/dataset/episode_0011.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00030/dataset/episode_0012.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00030/dataset/episode_0013.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00030/dataset/episode_0014.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00030/dataset/episode_0015.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00030/dataset/episode_0016.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00030/dataset/episode_0017.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00030/dataset/episode_0018.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00030/dataset/episode_0019.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00030/dataset/episode_0020.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00030/dataset/episode_0021.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00030/dataset/episode_0022.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00030/dataset/episode_0023.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00030/dataset/episode_0024.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00030/dataset/episode_0025.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00030/dataset/episode_0026.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00030/dataset/episode_0027.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00030/dataset/episode_0028.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00030/dataset/episode_0029.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00030/dataset/episode_0031.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00030/dataset/episode_0032.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00030/dataset/episode_0033.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00030/dataset/episode_0034.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00030/dataset/episode_0035.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00030/dataset/episode_0036.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00030/dataset/episode_0037.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00030/dataset/episode_0039.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00030/dataset/episode_0040.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00030/dataset/episode_0041.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00030/dataset/episode_0043.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00030/dataset/episode_0044.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00030/dataset/episode_0045.h5 +3 -0
- ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00030/dataset/episode_0047.h5 +3 -0
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00028/results/episode_94_success.json
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|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00028/results/episode_95_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
|
| 1 |
+
{
|
| 2 |
+
"episode": 95,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_a",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_a",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_a",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.3183339959595186,
|
| 26 |
+
-0.037271799059281165,
|
| 27 |
+
1.0498082840107381
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0498082840107381,
|
| 30 |
+
"required_z": 0.8611064484101212,
|
| 31 |
+
"initial_z": 0.7611064484101212,
|
| 32 |
+
"lift_margin": 0.18870183560061693,
|
| 33 |
+
"gripper_z": 1.053005355427172,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.31374904550999216,
|
| 38 |
+
-0.041798975075123146,
|
| 39 |
+
1.053005355427172
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004584950449526448,
|
| 43 |
+
0.004527176015841981,
|
| 44 |
+
-0.003197071416433994
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006443375924391472,
|
| 47 |
+
"object_to_gripper_z": -0.003197071416433994,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.3183339959595186,
|
| 51 |
+
-0.06145265442965677,
|
| 52 |
+
1.0498082840107381
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.30710448978136684,
|
| 56 |
+
-0.037271799059281165,
|
| 57 |
+
1.0498082840107381
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.3127192428704427,
|
| 61 |
+
-0.04936222674446897,
|
| 62 |
+
1.0498082840107381
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005614753089075886,
|
| 66 |
+
0.012090427685187803,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.02666112479713059,
|
| 70 |
+
"fingertip_max_gap": 0.09469678368483317,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013330562398565294,
|
| 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": 1.0498082840107381,
|
| 78 |
+
"object_top_z": 1.1012556030504879,
|
| 79 |
+
"finger_top_clearance": 0.05144731903974975,
|
| 80 |
+
"fingertip_min_top_clearance": 0.015434195711924892,
|
| 81 |
+
"object_projection_between_fingers": 0.8225956023464438,
|
| 82 |
+
"object_to_finger_line_xy": 0.010184831541835455,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.04984839184241659,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 1.9233020596322359,
|
| 89 |
+
"object_max_tilt_deg": 15.0,
|
| 90 |
+
"object_upright_axis_local": [
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
1.0
|
| 94 |
+
],
|
| 95 |
+
"stable_success_frames": 211,
|
| 96 |
+
"max_stable_success_frames": 211,
|
| 97 |
+
"required_stable_lift_frames": 5
|
| 98 |
+
},
|
| 99 |
+
"failed_keys": [],
|
| 100 |
+
"failure_code": null,
|
| 101 |
+
"failure_messages": {},
|
| 102 |
+
"safety": {
|
| 103 |
+
"policy": {
|
| 104 |
+
"skill": "pick",
|
| 105 |
+
"target_object": "beaker_a",
|
| 106 |
+
"held_object": null,
|
| 107 |
+
"allowed_objects": [
|
| 108 |
+
"beaker_a"
|
| 109 |
+
],
|
| 110 |
+
"allowed_object_paths": [
|
| 111 |
+
"/World/beaker_2"
|
| 112 |
+
],
|
| 113 |
+
"allowed_prim_substrings": [],
|
| 114 |
+
"robot_prim_substrings": [
|
| 115 |
+
"Robotiq2F85",
|
| 116 |
+
"Robotiq_2F_85",
|
| 117 |
+
"contact_sensor",
|
| 118 |
+
"dummy_base_prismatic_x_joint",
|
| 119 |
+
"dummy_base_prismatic_y_joint",
|
| 120 |
+
"dummy_base_revolute_z_joint",
|
| 121 |
+
"elbow_joint",
|
| 122 |
+
"festo",
|
| 123 |
+
"finger",
|
| 124 |
+
"fr3",
|
| 125 |
+
"fr3_duo_mobile",
|
| 126 |
+
"fr3_joint1",
|
| 127 |
+
"fr3_joint2",
|
| 128 |
+
"fr3_joint3",
|
| 129 |
+
"fr3_joint4",
|
| 130 |
+
"fr3_joint5",
|
| 131 |
+
"fr3_joint6",
|
| 132 |
+
"fr3_joint7",
|
| 133 |
+
"fr3_leftfinger",
|
| 134 |
+
"fr3_rightfinger",
|
| 135 |
+
"franka",
|
| 136 |
+
"geometry",
|
| 137 |
+
"gripper",
|
| 138 |
+
"gripper_center",
|
| 139 |
+
"joint1",
|
| 140 |
+
"joint2",
|
| 141 |
+
"joint3",
|
| 142 |
+
"joint4",
|
| 143 |
+
"joint5",
|
| 144 |
+
"joint6",
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"policy": {
|
| 526 |
+
"skill": "place",
|
| 527 |
+
"target_object": "inspection_platform",
|
| 528 |
+
"held_object": "beaker_a",
|
| 529 |
+
"allowed_objects": [
|
| 530 |
+
"beaker_a",
|
| 531 |
+
"inspection_platform"
|
| 532 |
+
],
|
| 533 |
+
"allowed_object_paths": [
|
| 534 |
+
"/World/beaker_2",
|
| 535 |
+
"/World/target_plat"
|
| 536 |
+
],
|
| 537 |
+
"allowed_prim_substrings": [],
|
| 538 |
+
"robot_prim_substrings": [
|
| 539 |
+
"Robotiq2F85",
|
| 540 |
+
"Robotiq_2F_85",
|
| 541 |
+
"contact_sensor",
|
| 542 |
+
"dummy_base_prismatic_x_joint",
|
| 543 |
+
"dummy_base_prismatic_y_joint",
|
| 544 |
+
"dummy_base_revolute_z_joint",
|
| 545 |
+
"elbow_joint",
|
| 546 |
+
"festo",
|
| 547 |
+
"finger",
|
| 548 |
+
"fr3",
|
| 549 |
+
"fr3_duo_mobile",
|
| 550 |
+
"fr3_joint1",
|
| 551 |
+
"fr3_joint2",
|
| 552 |
+
"fr3_joint3",
|
| 553 |
+
"fr3_joint4",
|
| 554 |
+
"fr3_joint5",
|
| 555 |
+
"fr3_joint6",
|
| 556 |
+
"fr3_joint7",
|
| 557 |
+
"fr3_leftfinger",
|
| 558 |
+
"fr3_rightfinger",
|
| 559 |
+
"franka",
|
| 560 |
+
"geometry",
|
| 561 |
+
"gripper",
|
| 562 |
+
"gripper_center",
|
| 563 |
+
"joint1",
|
| 564 |
+
"joint2",
|
| 565 |
+
"joint3",
|
| 566 |
+
"joint4",
|
| 567 |
+
"joint5",
|
| 568 |
+
"joint6",
|
| 569 |
+
"joint7",
|
| 570 |
+
"left_inner_finger",
|
| 571 |
+
"lift2",
|
| 572 |
+
"mobile_rotate",
|
| 573 |
+
"mobile_translate_x",
|
| 574 |
+
"mobile_translate_y",
|
| 575 |
+
"panda_joint1",
|
| 576 |
+
"panda_joint2",
|
| 577 |
+
"panda_joint3",
|
| 578 |
+
"panda_joint4",
|
| 579 |
+
"panda_joint5",
|
| 580 |
+
"panda_joint6",
|
| 581 |
+
"panda_joint7",
|
| 582 |
+
"panda_leftfinger",
|
| 583 |
+
"panda_leftfingertip",
|
| 584 |
+
"panda_rightfinger",
|
| 585 |
+
"panda_rightfingertip",
|
| 586 |
+
"ridgebase",
|
| 587 |
+
"ridgebase_festo",
|
| 588 |
+
"ridgebase_fr3",
|
| 589 |
+
"ridgebase_rizon4",
|
| 590 |
+
"ridgebase_ur16e",
|
| 591 |
+
"ridgebase_ur5e",
|
| 592 |
+
"right_inner_finger",
|
| 593 |
+
"rizon4",
|
| 594 |
+
"robot",
|
| 595 |
+
"robotiq_2f85",
|
| 596 |
+
"shoulder_lift_joint",
|
| 597 |
+
"shoulder_pan_joint",
|
| 598 |
+
"split_aloha",
|
| 599 |
+
"tool_center",
|
| 600 |
+
"ur16e",
|
| 601 |
+
"ur5e",
|
| 602 |
+
"visuals",
|
| 603 |
+
"wrist",
|
| 604 |
+
"wrist_1_joint",
|
| 605 |
+
"wrist_2_joint",
|
| 606 |
+
"wrist_3_joint"
|
| 607 |
+
],
|
| 608 |
+
"ignored_prim_substrings": [
|
| 609 |
+
"base_link",
|
| 610 |
+
"caster",
|
| 611 |
+
"defaultgroundplane",
|
| 612 |
+
"desk",
|
| 613 |
+
"floor",
|
| 614 |
+
"ground",
|
| 615 |
+
"groundplane",
|
| 616 |
+
"link0",
|
| 617 |
+
"table",
|
| 618 |
+
"wheel",
|
| 619 |
+
"workbench"
|
| 620 |
+
],
|
| 621 |
+
"enabled": true
|
| 622 |
+
},
|
| 623 |
+
"status": "active",
|
| 624 |
+
"passed": true,
|
| 625 |
+
"source_missing": false,
|
| 626 |
+
"forbidden": [],
|
| 627 |
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"disturbances": [],
|
| 628 |
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"last_frame": {
|
| 629 |
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"passed": true,
|
| 630 |
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"source_missing": false,
|
| 631 |
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"forbidden": [],
|
| 632 |
+
"allowed": [],
|
| 633 |
+
"ignored": [],
|
| 634 |
+
"failed_keys": []
|
| 635 |
+
},
|
| 636 |
+
"failed_keys": []
|
| 637 |
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}
|
| 638 |
+
},
|
| 639 |
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"gripper": null,
|
| 640 |
+
"post_done_wait_frames": 0,
|
| 641 |
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"post_done_wait_exhausted": false
|
| 642 |
+
},
|
| 643 |
+
"physical_semantics": {
|
| 644 |
+
"skill": "place",
|
| 645 |
+
"target": "inspection_platform",
|
| 646 |
+
"attach_used": false,
|
| 647 |
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"attach_object": null,
|
| 648 |
+
"attach_object_path": null,
|
| 649 |
+
"attach_allowed": false,
|
| 650 |
+
"ordinary_object_physical_only": true
|
| 651 |
+
}
|
| 652 |
+
}
|
| 653 |
+
],
|
| 654 |
+
"physical_semantics": {
|
| 655 |
+
"attach_records": [],
|
| 656 |
+
"ordinary_attach_violations": [],
|
| 657 |
+
"forbidden_shortcuts_absent": true
|
| 658 |
+
},
|
| 659 |
+
"h5_episode_index": 95,
|
| 660 |
+
"reproducibility": {
|
| 661 |
+
"enabled": true,
|
| 662 |
+
"action_seed": 1421041467881370917,
|
| 663 |
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"physical_seed": 6425155320322555435,
|
| 664 |
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"layout_id": "layout_00028",
|
| 665 |
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"step_seeds": [
|
| 666 |
+
6877381590794877550,
|
| 667 |
+
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|
| 668 |
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|
| 669 |
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],
|
| 670 |
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"workflow_spec_digest": "d9281b27a5fe87c3d1a74c594ec40332d0bb75d05c918ffa8f2af686aa2cbf1a",
|
| 671 |
+
"strict_task_state": false,
|
| 672 |
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"allow_physical_randomization": true,
|
| 673 |
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"seed_source": "workflow.reproducibility",
|
| 674 |
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"task_island_state_digest": "301adb4381869c144f2e642e4bbc46a266ac6043df53818c6caa53802dbbb419",
|
| 675 |
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"visual_seed": 3826066961417241280,
|
| 676 |
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"episode_index": 95,
|
| 677 |
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"physical_randomization_enabled": true,
|
| 678 |
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"motion_controller_type": "ik_servo",
|
| 679 |
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"runtime_step_seeds": [
|
| 680 |
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|
| 681 |
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|
| 682 |
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|
| 683 |
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],
|
| 684 |
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"runtime_workflow_digest": "5b800c8a56610b58bab0acc194c6879703e126a560fd208048ce156c59922110"
|
| 685 |
+
}
|
| 686 |
+
}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00028/results/episode_97_success.json
ADDED
|
@@ -0,0 +1,686 @@
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| 14 |
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| 18 |
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| 19 |
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|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00028/results/episode_98_success.json
ADDED
|
@@ -0,0 +1,686 @@
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|
| 1 |
+
{
|
| 2 |
+
"episode": 98,
|
| 3 |
+
"success": true,
|
| 4 |
+
"passed_steps": 3,
|
| 5 |
+
"total_steps": 3,
|
| 6 |
+
"step_accuracy": "3/3",
|
| 7 |
+
"step_details": [
|
| 8 |
+
{
|
| 9 |
+
"step_index": 0,
|
| 10 |
+
"skill": "pick",
|
| 11 |
+
"target": "beaker_a",
|
| 12 |
+
"success": true,
|
| 13 |
+
"reason": "executed",
|
| 14 |
+
"debug": {
|
| 15 |
+
"arm": null,
|
| 16 |
+
"checker": {
|
| 17 |
+
"checker": "PickSuccessChecker",
|
| 18 |
+
"skill": "pick",
|
| 19 |
+
"target": "beaker_a",
|
| 20 |
+
"passed": true,
|
| 21 |
+
"metrics": {
|
| 22 |
+
"target": "beaker_a",
|
| 23 |
+
"active_arm": null,
|
| 24 |
+
"object_position": [
|
| 25 |
+
0.31728558188665085,
|
| 26 |
+
-0.04290000881760347,
|
| 27 |
+
1.0503386108365174
|
| 28 |
+
],
|
| 29 |
+
"current_z": 1.0503386108365174,
|
| 30 |
+
"required_z": 0.8611063888054763,
|
| 31 |
+
"initial_z": 0.7611063888054763,
|
| 32 |
+
"lift_margin": 0.18923222203104106,
|
| 33 |
+
"gripper_z": 1.0533473748988627,
|
| 34 |
+
"force_virtual_attach": false,
|
| 35 |
+
"virtual_attach_allowed": false,
|
| 36 |
+
"gripper_position": [
|
| 37 |
+
0.3129746469626943,
|
| 38 |
+
-0.047352097270694435,
|
| 39 |
+
1.0533473748988627
|
| 40 |
+
],
|
| 41 |
+
"object_minus_gripper": [
|
| 42 |
+
0.004310934923956566,
|
| 43 |
+
0.004452088453090967,
|
| 44 |
+
-0.0030087640623452927
|
| 45 |
+
],
|
| 46 |
+
"object_to_gripper_xy": 0.006197197069057457,
|
| 47 |
+
"object_to_gripper_z": -0.0030087640623452927,
|
| 48 |
+
"fingertip_source": "active_contact_pad_positions",
|
| 49 |
+
"finger_a": [
|
| 50 |
+
0.31728558188665085,
|
| 51 |
+
-0.0667626500863446,
|
| 52 |
+
1.0503386108365174
|
| 53 |
+
],
|
| 54 |
+
"finger_b": [
|
| 55 |
+
0.306003325628213,
|
| 56 |
+
-0.04290000881760347,
|
| 57 |
+
1.0503386108365174
|
| 58 |
+
],
|
| 59 |
+
"finger_midpoint": [
|
| 60 |
+
0.3116444537574319,
|
| 61 |
+
-0.05483132945197404,
|
| 62 |
+
1.0503386108365174
|
| 63 |
+
],
|
| 64 |
+
"object_minus_finger_midpoint": [
|
| 65 |
+
0.005641128129218964,
|
| 66 |
+
0.011931320634370572,
|
| 67 |
+
0.0
|
| 68 |
+
],
|
| 69 |
+
"finger_gap": 0.026395358580661263,
|
| 70 |
+
"fingertip_max_gap": 0.09160939355991962,
|
| 71 |
+
"finger_z_skew": 0.0,
|
| 72 |
+
"fingertip_z_skew_max": 0.035,
|
| 73 |
+
"object_to_finger_midpoint_xy": 0.013197679290330647,
|
| 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": 1.0503386108365174,
|
| 78 |
+
"object_top_z": 1.1001142340123475,
|
| 79 |
+
"finger_top_clearance": 0.049775623175830175,
|
| 80 |
+
"fingertip_min_top_clearance": 0.014932686952749052,
|
| 81 |
+
"object_projection_between_fingers": 0.8173007405103975,
|
| 82 |
+
"object_to_finger_line_xy": 0.010199688440465508,
|
| 83 |
+
"fingertip_xy_max_dist": 0.055,
|
| 84 |
+
"fingertip_z_max_dist": 0.1,
|
| 85 |
+
"fingertip_line_xy_max_dist": 0.04830469677995981,
|
| 86 |
+
"require_object_upright": true,
|
| 87 |
+
"object_upright_reference_source": "scene_initial",
|
| 88 |
+
"object_tilt_deg": 1.5258086081258488,
|
| 89 |
+
"object_max_tilt_deg": 15.0,
|
| 90 |
+
"object_upright_axis_local": [
|
| 91 |
+
0.0,
|
| 92 |
+
0.0,
|
| 93 |
+
1.0
|
| 94 |
+
],
|
| 95 |
+
"stable_success_frames": 211,
|
| 96 |
+
"max_stable_success_frames": 211,
|
| 97 |
+
"required_stable_lift_frames": 5
|
| 98 |
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| 491 |
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| 498 |
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|
| 499 |
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|
| 500 |
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| 501 |
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| 502 |
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|
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|
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|
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|
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|
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|
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|
| 526 |
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|
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|
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|
| 529 |
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|
| 530 |
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"beaker_a",
|
| 531 |
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|
| 532 |
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],
|
| 533 |
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|
| 534 |
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"/World/beaker_2",
|
| 535 |
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|
| 536 |
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],
|
| 537 |
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|
| 538 |
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|
| 539 |
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|
| 540 |
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|
| 541 |
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|
| 542 |
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|
| 543 |
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|
| 544 |
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|
| 545 |
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|
| 546 |
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|
| 547 |
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|
| 548 |
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| 549 |
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|
| 550 |
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|
| 551 |
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|
| 552 |
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|
| 553 |
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|
| 554 |
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|
| 555 |
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|
| 556 |
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|
| 557 |
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|
| 558 |
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|
| 559 |
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|
| 560 |
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|
| 561 |
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|
| 562 |
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|
| 563 |
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|
| 564 |
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|
| 565 |
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|
| 566 |
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|
| 567 |
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|
| 568 |
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|
| 569 |
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|
| 570 |
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|
| 571 |
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|
| 572 |
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"mobile_rotate",
|
| 573 |
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"mobile_translate_x",
|
| 574 |
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"mobile_translate_y",
|
| 575 |
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"panda_joint1",
|
| 576 |
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"panda_joint2",
|
| 577 |
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"panda_joint3",
|
| 578 |
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|
| 579 |
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|
| 580 |
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|
| 581 |
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|
| 582 |
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|
| 583 |
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|
| 584 |
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"panda_rightfinger",
|
| 585 |
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|
| 586 |
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|
| 587 |
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|
| 588 |
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|
| 589 |
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|
| 590 |
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|
| 591 |
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|
| 592 |
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"right_inner_finger",
|
| 593 |
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"rizon4",
|
| 594 |
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"robot",
|
| 595 |
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"robotiq_2f85",
|
| 596 |
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|
| 597 |
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|
| 598 |
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"split_aloha",
|
| 599 |
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|
| 600 |
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"ur16e",
|
| 601 |
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"ur5e",
|
| 602 |
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|
| 603 |
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"wrist",
|
| 604 |
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"wrist_1_joint",
|
| 605 |
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"wrist_2_joint",
|
| 606 |
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|
| 607 |
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],
|
| 608 |
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|
| 609 |
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"base_link",
|
| 610 |
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|
| 611 |
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"defaultgroundplane",
|
| 612 |
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"desk",
|
| 613 |
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"floor",
|
| 614 |
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"ground",
|
| 615 |
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|
| 616 |
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|
| 617 |
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| 618 |
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|
| 619 |
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|
| 620 |
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],
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| 621 |
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|
| 622 |
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| 623 |
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| 624 |
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| 625 |
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| 626 |
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| 627 |
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| 628 |
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| 629 |
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| 630 |
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| 631 |
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| 632 |
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| 633 |
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| 634 |
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| 635 |
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| 640 |
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|
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|
| 642 |
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| 643 |
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|
| 644 |
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| 645 |
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| 646 |
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| 647 |
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| 648 |
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| 649 |
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|
| 651 |
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|
| 652 |
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|
| 653 |
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],
|
| 654 |
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|
| 655 |
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| 656 |
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|
| 657 |
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|
| 658 |
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|
| 659 |
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|
| 660 |
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|
| 661 |
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|
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|
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|
| 678 |
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|
| 679 |
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|
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|
| 685 |
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}
|
| 686 |
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}
|
ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00028/results/episode_9_success.json
ADDED
|
@@ -0,0 +1,686 @@
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| 1 |
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{
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| 2 |
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| 3 |
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| 4 |
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| 5 |
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| 8 |
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| 9 |
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| 10 |
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| 11 |
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| 12 |
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| 13 |
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| 14 |
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| 15 |
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| 16 |
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| 17 |
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| 18 |
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| 19 |
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| 20 |
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| 21 |
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| 22 |
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| 23 |
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| 24 |
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| 25 |
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| 26 |
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| 27 |
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| 30 |
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| 31 |
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| 32 |
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| 33 |
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| 34 |
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| 35 |
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| 36 |
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| 37 |
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| 39 |
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| 48 |
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| 49 |
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| 67 |
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| 102 |
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| 111 |
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| 112 |
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| 114 |
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| 115 |
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| 116 |
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| 117 |
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| 118 |
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| 120 |
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| 122 |
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| 123 |
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| 124 |
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| 125 |
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| 126 |
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| 127 |
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| 128 |
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| 129 |
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| 130 |
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| 131 |
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| 132 |
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| 133 |
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| 134 |
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| 135 |
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| 136 |
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| 137 |
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| 146 |
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| 147 |
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| 148 |
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| 149 |
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| 150 |
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| 151 |
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| 152 |
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| 153 |
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| 154 |
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| 159 |
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| 160 |
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| 161 |
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| 162 |
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| 166 |
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| 167 |
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| 168 |
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| 169 |
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| 170 |
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| 171 |
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| 172 |
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| 173 |
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| 174 |
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| 175 |
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| 176 |
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| 177 |
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| 178 |
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| 180 |
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| 183 |
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| 189 |
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| 191 |
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| 193 |
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| 194 |
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ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00030/dataset/episode_0037.h5
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ur5e/fastfix_v3/fast_2beaker_dual_target_s03_psl_knn_00030/dataset/episode_0039.h5
ADDED
|
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ADDED
|
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ADDED
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ADDED
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ADDED
|
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ADDED
|
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